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34results about How to "Guaranteed real-time control" patented technology
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Method for tracking and controlling locus of unmanned bicycle
ActiveCN105320129AGood effectGuaranteed real-time controlVehicle position/course/altitude controlPosition/direction controlLinearizationEquation of state
The invention belongs to the technical field of movement controlling of unmanned vehicles, and especially relates to a method for tracking and controlling a locus of an unmanned bicycle. The method comprises the steps of: firstly, establishing a balance dynamic model of the bicycle, and establishing discrete state equations of a bicycle self-balance control system into which a self-balance controller is added; secondly, establishing a discrete kinetic model of the bicycle, and carrying out linearization; then combining the kinetic model with the self-balance control system, carrying out corresponding simplification processing, and establishing a seven-dimension state predicting model of the bicycle; and finally, using the seven-dimension state predicting model as a prediction model of a bicycle locus tracking algorithm, carrying out locus tracking and controlling on the bicycle, and solving optimal control input of each sampling moment on line. The bicycle locus tracking and controlling method based on the seven-dimension state predicting model is capable of accurately predicting the state of the bicycle in the future time, the calculation amount is small, and a good control effect is ensured by the on-line real-time performance.
Owner:TSINGHUA UNIV
Agricultural vehicle autonomous navigation steering control method
InactiveCN105005196AGood serviceReliable technologyAdaptive controlPosition/course control in two dimensionsControl systemTime delays
The present invention discloses an agricultural vehicle autonomous navigation steering control method which belongs to the agricultural mobile platform intelligent high-precision tracking control field and accords with the standards of modern agriculture and intelligent agriculture. The agricultural vehicle autonomous navigation steering control method based on the integer-order PD and fractional-order PD controllers aims at a time delay link objectively existing in an actual control system, adopts a conventional closed loop control mode, calculates the actual transverse deviation of an agricultural vehicle roughly by an open loop, corrects the transverse deviation in a closed loop manner, eliminates an accumulative error, and restrains a time delay parameter until tracking accurately, thereby realizing the complete control of the agricultural vehicle expected path tracking.
Owner:NANJING AGRICULTURAL UNIVERSITY
Dynamic parameter identification based PTP (peer to peer) acceleration optimization method and device
InactiveCN108890650AImprove accuracyGuaranteed uptimeProgramme-controlled manipulatorDynamic modelsEngineering
The invention discloses a dynamic parameter identification based PTP (peer to peer) acceleration optimization method and device. The method includes: establishing a simplified joint dynamic model of aSCARA (selective compliance assembly robot arm) robot; acquiring an improved friction model and rotor inertia and adding the improved friction model and the rotor inertia into the joint dynamic modelto obtain an improved dynamic model; performing parameter identification on the improved dynamic model to obtain a dynamic model; setting limiting conditions to determine a PTP trajectory planning algorithm of the SCARA robot to obtain PTP motion trajectories of the SCARA robot; substituting the PTP trajectories into the dynamic model for driving torque calculation to obtain predicted peak moments; comparing torques of the predicted peak moments with permissible peak torques of a harmonic reducer to optimize PTP acceleration and ensure that PTP motion driving moments not to excess instantaneous permissible peak torques of the reducer and to be the optimal. The improved friction model and rotor inertia are added in the dynamic model of the robot to obtain the completely improved dynamic model, and precision in parameter identification and accuracy in torque predication are improved.
Owner:WUXI XINJIE ELECTRICAL
Open type service robot system
InactiveCN106182027ASolve the problem of poor versatilityFlexible configurationManipulatorRobotic systemsUser input
The invention relates to an open type service robot system which comprises an expandable man-machine interaction terminal, an expandable robot intelligent system and a function device. The expandable man-machine interaction terminal is used for receiving input data of a user, wirelessly sending a service requirement package to the expandable robot intelligent system and receiving a task execution result fed back by the expandable robot intelligent system. The expandable robot intelligent system is used for receiving the service requirement package sent by the expandable man-machine interaction terminal, parsing the service requirement package into corresponding function command sets, sending a task control instruction to the function device and receiving an execution result fed back by the function device. The function device is used for receiving the task control instruction sent by the expandable robot intelligent system and returning the instruction execution result to the expandable robot intelligent system. By adoption of the open type service robot system, the problem that an existing service robot system is poor in universality is solved, and long-term evolution and appreciation of products are facilitated.
Owner:SOUTHWEAT UNIV OF SCI & TECH
Movement control method of six-degree-of-freedom wrist offset type serial mechanical arm
ActiveCN108673509AReasonable control trajectorySmall amount of calculationProgramme-controlled manipulatorKinematics equationsAngular degrees
The invention provides a movement control method of a six-degree-of-freedom wrist offset type serial mechanical arm, and relates to the technical field of robot kinematics control methods. The methodcomprises the steps of building a connecting rod coordinate system of the mechanical arm; building a kinematical equation of the mechanical arm; obtaining the angle initial value of a joint 1; calculating the angle values of inverse kinematics solutions of joints 2-6; calculating the error of a pose and a given pose of an end effector; judging whether the error is within the error threshold valuerange; screening out the angle value of one set of inverse kinematics solution meeting the condition; and inputting the angle values of the joints of the mechanical arm into a control module of a known robot to finish movement control over the six-degree-of-freedom wrist offset type serial mechanical arm. The movement control method of the six-degree-of-freedom wrist offset type serial mechanicalarm does not need to consider the singular solution problem based on a Jacobian matrix, simplifies the control process, effectively reduces the calculation amount, improves the convergence rate and calculation precision and improves the control precision of the mechanical arm at the same time.
Owner:NORTHEASTERN UNIV
Fuel cell braking energy recovery system of hydrogen energy automobile
PendingCN110576749AMaximize recoveryRealize real-time controlSpeed controllerElectrodynamic brake systemsCapacitanceHydrogen fuel cell
The invention provides a fuel cell braking energy recovery system of a hydrogen energy automobile. The system comprises a vehicle control unit (VCU), a motor control unit (MCU), a super capacitor+bidirectional DC component (SCMS) and a hydrogen fuel cell system (FCU); the SCMS is used for detecting the residual electric quantity (SOC, state of charge) of a super capacitor and the chargeable powerof the super capacitor; the FCU is used for controlling the output power of a fuel cell and controlling the fuel cell to charge power for the super capacitor; the MCU is used for obtaining the rotating speed of a motor and the maximum feedback torque of the motor and controlling the torque of the motor; and the VCU obtains an opening signal of an accelerator pedal as a trigger switch signal for energy recovery, obtains an opening signal of a brake pedal as a judgment basis for the energy recovery power, and obtains the SOC and rechargeable power of the SCMS, the motor rotating speed of the MCU, the maximum feedback torque of the motor and the working state of the fuel cell to recover the brake energy. The fuel cell braking energy recovery system has the beneficial effects that the energy utilization rate of the hydrogen energy fuel cell automobile is improved.
Owner:中极氢能汽车(长治)有限公司
Audio interface-based data transmission method between intelligent terminal and operating handle
InactiveCN103402007ARealize data transmissionGuaranteed real-time controlSubstation equipmentOptical data transmissionDifferential Manchester encoding
The invention discloses an audio interface-based data transmission method between an intelligent terminal and an operating handle. The data transmission method specifically comprises the following steps: receiving a key value signal emitted by the operating handle to be packed into a data frame; coding the data frame into a differential Manchester analog signal according to a specific serial communication protocol to be transmitted to an audio interface of the intelligent terminal; converting the received differential Manchester signal into a handle key value signal by the intelligent terminal to control an executed game; when an instruction is transmitted to the operating handle by the intelligent terminal, coding the instruction into the differential Manchester analog signal to be transmitted to the operating handle; and executing the instruction emitted by the intelligent terminal after decoding the received differential Manchester signal by the operating handle. The data transmission method is based on the audio interface of the intelligent terminal, realizes data transmission between each intelligent terminal and the game operating handle, is low in development cost, has high universality and guarantees the stability of data transmission.
Owner:ANHUI CHANGGAN NETWORK TECH
Refrigerator, control method and control device
ActiveCN104833170ATo meet the needs of flexible adjustment of sensor light control modeImprove experienceLighting and heating apparatusLighting arrangementElectricityEngineering
The invention provides a refrigerator, a control method and a control device. The refrigerator comprises a door, an induction lamp, a photosensitive sensor, an infrared sensor, a switching button and a controller, wherein the induction lamp, the photosensitive sensor, the infrared sensor, the switching button and the controller are arranged on the door, the induction lamp, the photosensitive sensor, the infrared sensor and the switching button are all electrically connected with the controller, the photosensitive sensor is used for detecting the intensity of environmental illumination around the refrigerator, the infrared sensor is used for detecting the movement condition of a human around the refrigerator, the controller is used for sending a control command to the switching button according to at least one of the detection result of the photosensitive sensor, the detection result of the infrared sensor and the current time, and the switching button is used for switching control modes of the induction lamp according to the received control command so that the on-off state of the induction lamp can be controlled. By means of the technical scheme, the requirement of a user for flexibly adjusting the control modes can be met while cost is not increased, user experience is improved, and the cost performance of the induction lamp is improved.
Intelligent manufacturing laboratory management system
InactiveCN110880067ARealize intelligent managementReal-time communicationResourcesManufacturing computing systemsInformatizationInventory management
The invention discloses an intelligent manufacturing experiment platform management system, which comprises a basic data management module, an inventory management module, an order management module,a production process management module, an equipment management module and a quality management module, and is characterized in that the basic data management module comprises user management, warehouse location definition, production process route formulation and inventory early warning quantity setting; the inventory management module is used for executing warehouse-in and warehouse-out and inventory early warning operation according to the product and raw material warehouse-in and warehouse-out plan, recording material warehouse-in and warehouse-out information and updating inventory; the order management module is used for executing production order management; the production process management module is used for tracking a production process; the equipment management module is used for recording equipment use and maintenance conditions; the quality management module is used for recording and counting whether the product quality information is qualified in the production process and displaying the product quality information in a chart mode. According to the system, informatization and intellectualization of the manufacturing process of the experimental platform are realized.
Owner:NANJING UNIV OF SCI & TECH
Method and device for production of gyroscope hardware
ActiveCN102607598AGuaranteed accuracyImprove anti-interference abilityMeasurement devicesGyroscopeLoop analysis
The invention relates to gyroscopes. In order to achieve production of gyroscope control loop hardware and integrate the function of analysis and testing of a gyroscope control loop, and according to the technical scheme, the gyroscope hardware production device comprises a testing component, a processing unit and a power supply device; the testing component comprises a high-precision two-axis positional rate turntable and a gyroscope mounted on the same; the processing unit comprises a data acquisition and control device, a data processing industrial personal computer, a digital rebalance loop and a control circuit; and the power supply device comprises an exciting power supply, a circuit board power supply and a gyroscope power supply. The method and the device are mainly applicable to design and production of the gyroscopes.
Owner:TIANJIN UNIV
Automatic testing method and system for power information communication equipment
PendingCN112115044AMeet the needs of automated testingRealize automatic switchingData processing applicationsSoftware testing/debuggingUser managementTask management
The invention discloses an automatic testing method and system for electric power information communication equipment. The automatic test system comprises a web front end and a server end, the web front end is used for realizing man-machine interaction in service functions such as delegation management, task management, sample management, use case management, instrument management, user management, statistical management and log management related to automatic testing; and the server side is used for realizing test topology automatic configuration based on the physical layer switch and multi-tenant task scheduling based on the disassembly task state machine, implementing a test process and obtaining a test result of the tested electric power information communication equipment from the test instrument. The test method and system are high in automation degree, high in test efficiency and good in test result stability.
Owner:CHINA ELECTRIC POWER RES INST
Two-arm cooperative head and neck auxiliary traction surgical robot and control method thereof
PendingCN114098981AIn line with operating habitsIncrease freedomProgramme-controlled manipulatorSurgical manipulatorsMachineHead and neck
The invention discloses a double-arm cooperative head and neck auxiliary traction surgical robot and a control method thereof. A middle and short distance local area network is established, a master-slave teleoperation mode is adopted, an operator uses a master hand end to control an operating room robot to execute tasks, and complex operation is completed in a narrow space by combining with image feedback; the control precision of the robot and the safety coefficient of man-machine cooperation are improved by integrating three control algorithms, an iterative optimization method, a main hand end force sensing function and the like. The designed system has the advantages of low time delay, high precision, force sensing, high stability, high safety coefficient and the like, double-arm cooperation is adopted, the degree of freedom is high, actual operation of personnel can be reproduced to the maximum extent, and the system better meets actual task requirements in an operation. And meanwhile, practical man-machine interaction functions, such as a force sensing function switch and scene scaling, meeting the actual operation process are added in the system design, so that the operation difficulty can be reduced, and the system practicability can be improved.
Owner:SOUTHEAST UNIV
Heat dissipation system of power distribution cabinet and control method thereof
ActiveCN111342370ARealize real-time adjustment controlReduce computationBoards/switchyards circuit arrangementsSubstation/switching arrangement cooling/ventilationControl theoryMechanical engineering
The invention discloses a heat dissipation system of a power distribution cabinet and a control method of the heat dissipation system. The cabinet comprises a cabinet body, a plurality of reversing fans are mounted on the cabinet body; a first temperature sensor is mounted on the inner side of each reversing fan; a plurality of second temperature sensors are arranged in the cabinet body; the ratioof the maximum value to the minimum value of the distance between any two second temperature sensors is not larger than 3: 1, a controller is arranged in the cabinet body, the input end of the controller is in communication connection with the first temperature sensor and the second temperature sensors, and the output end of the controller is in communication connection with the control end of the reversing fan. The defects in the prior art can be overcome, and accurate control over heat dissipation of the power distribution cabinet is achieved while the cost is effectively controlled.
Owner:广东佰林电气设备厂有限公司
Warning board for construction site
PendingCN112419927AWide range of radiationEasy to replaceIlluminated signsEngineeringStructural engineering
Disclosed is a warning board for a construction site. The warning board comprises a main body, a display surface and a warning lamp, four universal wheels are embedded in the surface, away from the warning lamp, of the main body, the warning lamp is embedded in the surface, away from the universal wheels, of the main body, and the end, close to the universal wheels, of the display surface is fixedly connected with a fixing bolt; the end, close to the universal wheels, of the display face is in threaded connection with a telescopic rod, the end, away from the display face, of the telescopic rodis in transmission connection with a fixing column, the fixing column is fixedly connected into the main body, and reflective strips are embedded in the two faces, perpendicular to the display face,of the main body; two grips are embedded in the faces, away from a storage battery base hole, of the reflective strips, and a construction site illuminating lamp is embedded in the top end of the backface of the display face of the main body. The warning board is simple in structure and novel in design, an LED lamp tube serves as a display slogan, and it is guaranteed that the warning board can be normally used at night.
Owner:江苏玄博智能标识科技有限公司
Flight control panel based on bi-processor configuration
InactiveCN106383481AGuaranteed real-time controlImprove stability and reliabilityProgramme controlComputer controlAerospace engineeringFlight control modes
The invention discloses a flight control panel based on a bi-processor configuration. The flight control panel comprises a flight control sensor, a remote control signal receiving unit, a wireless data transmission unit, an executing mechanism, a first processor, a second processor and a dual-port RAM. The first processor and the second processor are respectively connected with two ports of the dual-port RAM. The flight control sensor, the remote control signal receiving unit and the wireless data transmission unit are connected to the first processor. The second processor is connected to the executing mechanism. The first processor obtains the real-time data by an interruption means and conducts corresponding processing, and real-time data needed for flight control are stored into the dual-port RAM. The second processor calculates based on the real-time data required for flight control and stored in the dual-port RAM, and then the calculated control data for each rotor motor is assigned to the corresponding rotor motor through the executing mechanism. The flight control panel improves the stability and reliability of an aircraft by allocating the calculation of the flight control data to a dedicated processor.
Owner:江苏飞图智能控制技术有限公司
Lithium battery constant current and constant voltage charging control method for solar power generation
ActiveCN105515157BImprove utilization efficiencyImprove reliabilityBatteries circuit arrangementsElectric powerSolar powerLithium-ion battery
The invention discloses a lithium battery constant-current constant-voltage charging control method for solar generating. The method comprises the following steps: step 101, initializing BEA signals to C; step 102, acquiring square-matrix currents, load currents and discharge currents; when the square-matrix currents are greater than the load currents, it being indicated that the solar generating is at an illumination stage, and accordingly executing step 1021; and when the square-matrix currents are not greater than the load currents and the discharge currents are greater than 2A, it being indicated that the solar generating is at an earth shadow stage, and accordingly executing step S1022; step 1021, first of all, charging a lithium battery by use of a constant-current charging mode, when voltages of the lithium battery reach a constant-voltage charging threshold, then successively decreasing the BEA signals by delta c for every time interval t, and finally, controlling charging currents of the lithium battery according to the BEA signals; and step 1022, successively decreasing the BEA signals by delta c for every time interval t, and then controlling the charging currents of the lithium battery according to the BEA signals.
Owner:中电科蓝天科技股份有限公司
Driving method of photoelectric isolation parallel-in-serial-out circuit
InactiveCN102035536AGuaranteed real-time controlStable deliveryLogic circuits using opto-electronic devicesIntegrated circuitInterface circuits
The invention discloses a driving method of a photoelectric isolation parallel-in-serial-out circuit. The method comprises the following steps of: adopting at least one parallel-in-serial-out extended IC (Integrated Circuit) chip and realizing the input of N switching values by using a cascade connection mode; driving the IC chip by adopting an interruption state machine; storing the current state value of the IC chip in a variable FSM (Finite State Machine), wherein the FSM has an initial value of 0 in an initial state of the IC chip; responding timer interception once at set time intervals, processing operations needing finishing in various states of the interception and sequentially entering the next state of the 2*N states in sum; storing the N switching value data in a N-bit variable Shift_R when entering the final state, wherein each bit corresponds to one external switching value input, and then changing the FSM into a value corresponding to the initial state. The driving method of the photoelectric isolation parallel-in-serial-out circuit, which is proposed by the invention, drives the parallel-in-serial-out extended IC chip by adopting athe interception state machine so as to ensure the real-time control of an interface circuit.
Owner:DELTA GREENTECH CHINA CO LTD
Clock domain crossing controller of digital control switch power supply and control method thereof
InactiveCN102025276BOvercoming delayed steady stateLower latencyDc-dc conversionElectric variable regulationHysteresisControl signal
The invention relates to a clock domain crossing controller of a digital control switch power supply and a control method thereof. The controller comprises a potential-divider network, a analog to digital converter, a digital compensator, a digital pulse modulation circuit, a drive circuit and a clock logic circuit, wherein after data at the output end of a switching power supply is acquired, a voltage control signal of the switching power supply is output through carrying out sequential processing on the data by all modules, and the clock logic circuit provides a working clock of the controller. The invention adopts a system structure of synchronous clock two-edge trigger, overcomes the data delay steady state introduced by the clock single-edge trigger, and is used for optimizing the system data processing part on the basis of maintaining the advantages of the common digital control, thereby reducing the control signal hysteresis in the system, realizing a real-time data control system, cutting off the work of the forestage module after the synchronous clock pulse is ended, and saving the system power consumption.
Owner:SOUTHEAST UNIV
Self-adaptive multi-user random water distribution head pressure and flow regulation and control device
InactiveCN112127422AHigh control precisionStable pressureService pipe systemsWater mainsPressure stabilizationWater storage tank
The invention discloses a self-adaptive multi-user random water distribution head pressure and flow regulation and control device. The self-adaptive multi-user random water distribution head pressureand flow regulation and control device comprises a water storage tank, a pressure regulation branch, a water supply branch and a pressure regulation water supply branch, wherein the pressure regulation branch, the water supply branch and the pressure regulation water supply branch are connected between a water distribution pipeline and the water storage tank; a pressure stabilization tank is arranged on the pressure regulation branch; a submersible pump connected with the water storage tank in parallel is arranged on the water supply branch; a pressure regulation submersible pump connected with the water storage tank in parallel is arranged on the pressure regulation water supply branch; and a pressure sensor and a flow sensor are arranged on the water supply branch, the pressure regulation water supply branch and the water distribution pipeline respectively. The head pressure and flow supply range can be enlarged, stable pressure can be regulated and controlled, a guarantee is provided for real-time regulation and control over the adjustable pressure stabilization tank, and water can be distributed according to the actual requirement of multi-user random water demand. Compared with a conventional regulation and control method, the pressure and flow regulation and control range is wider, and control precision is higher; and finally, pressure and flow regulation is achieved, andthe target pressure and flow of multi-user random water distribution can be achieved more accurately and rapidly.
Owner:XI AN JIAOTONG UNIV
A control method for a heat dissipation system of a power distribution cabinet
ActiveCN111342370BRealize real-time adjustment controlReduce computationBoards/switchyards circuit arrangementsSubstation/switching arrangement cooling/ventilationEngineeringControl theory
The invention discloses a cooling system of a power distribution cabinet and a control method thereof. There are several second temperature sensors, the ratio of the maximum value to the minimum value of the distance between any two second temperature sensors is not greater than 3:1, a controller is arranged in the cabinet, and the input terminal of the controller is connected to the first temperature sensor and the second temperature sensor. The temperature sensor is connected in communication, and the output terminal of the controller is connected in communication with the control terminal of the reversing fan. The invention can improve the deficiencies of the prior art, realize precise control of the heat dissipation of the power distribution cabinet while effectively controlling the cost.
Owner:广东佰林电气设备厂有限公司
An open service robot system
InactiveCN106182027BSolve the problem of poor versatilityFlexible configurationManipulatorRobotic systemsUser input
The invention relates to an open type service robot system which comprises an expandable man-machine interaction terminal, an expandable robot intelligent system and a function device. The expandable man-machine interaction terminal is used for receiving input data of a user, wirelessly sending a service requirement package to the expandable robot intelligent system and receiving a task execution result fed back by the expandable robot intelligent system. The expandable robot intelligent system is used for receiving the service requirement package sent by the expandable man-machine interaction terminal, parsing the service requirement package into corresponding function command sets, sending a task control instruction to the function device and receiving an execution result fed back by the function device. The function device is used for receiving the task control instruction sent by the expandable robot intelligent system and returning the instruction execution result to the expandable robot intelligent system. By adoption of the open type service robot system, the problem that an existing service robot system is poor in universality is solved, and long-term evolution and appreciation of products are facilitated.
Owner:SOUTHWEAT UNIV OF SCI & TECH
A method for trajectory tracking control of an unmanned bicycle
ActiveCN105320129BGuaranteed real-time controlGood control effectVehicle position/course/altitude controlPosition/direction controlDynamic modelsControl system
The invention belongs to the technical field of movement controlling of unmanned vehicles, and especially relates to a method for tracking and controlling a locus of an unmanned bicycle. The method comprises the steps of: firstly, establishing a balance dynamic model of the bicycle, and establishing discrete state equations of a bicycle self-balance control system into which a self-balance controller is added; secondly, establishing a discrete kinetic model of the bicycle, and carrying out linearization; then combining the kinetic model with the self-balance control system, carrying out corresponding simplification processing, and establishing a seven-dimension state predicting model of the bicycle; and finally, using the seven-dimension state predicting model as a prediction model of a bicycle locus tracking algorithm, carrying out locus tracking and controlling on the bicycle, and solving optimal control input of each sampling moment on line. The bicycle locus tracking and controlling method based on the seven-dimension state predicting model is capable of accurately predicting the state of the bicycle in the future time, the calculation amount is small, and a good control effect is ensured by the on-line real-time performance.
Owner:TSINGHUA UNIV
Method and device for production of gyroscope hardware
ActiveCN102607598BGuaranteed accuracyImprove anti-interference abilityMeasurement devicesLoop analysisGyroscope
The invention relates to gyroscopes. In order to achieve production of gyroscope control loop hardware and integrate the function of analysis and testing of a gyroscope control loop, and according to the technical scheme, the gyroscope hardware production device comprises a testing component, a processing unit and a power supply device; the testing component comprises a high-precision two-axis positional rate turntable and a gyroscope mounted on the same; the processing unit comprises a data acquisition and control device, a data processing industrial personal computer, a digital rebalance loop and a control circuit; and the power supply device comprises an exciting power supply, a circuit board power supply and a gyroscope power supply. The method and the device are mainly applicable to design and production of the gyroscopes.
Owner:TIANJIN UNIV
Autonomous navigation steering control method for agricultural vehicles
InactiveCN105005196BGood serviceReliable technologyAdaptive controlPosition/course control in two dimensionsControl systemTime delays
The present invention discloses an agricultural vehicle autonomous navigation steering control method which belongs to the agricultural mobile platform intelligent high-precision tracking control field and accords with the standards of modern agriculture and intelligent agriculture. The agricultural vehicle autonomous navigation steering control method based on the integer-order PD and fractional-order PD controllers aims at a time delay link objectively existing in an actual control system, adopts a conventional closed loop control mode, calculates the actual transverse deviation of an agricultural vehicle roughly by an open loop, corrects the transverse deviation in a closed loop manner, eliminates an accumulative error, and restrains a time delay parameter until tracking accurately, thereby realizing the complete control of the agricultural vehicle expected path tracking.
Owner:NANJING AGRICULTURAL UNIVERSITY
A motion control method of a six-degree-of-freedom wrist-biased series manipulator
ActiveCN108673509BReasonable control trajectorySmall amount of calculationProgramme-controlled manipulatorKinematics equationsRobotic arm
The invention provides a motion control method of a six-degree-of-freedom wrist offset series mechanical arm, and relates to the technical field of robot kinematics control methods. Including: establish the link coordinate system of the manipulator; establish the forward kinematic equation of the manipulator; obtain the initial value of the angle of joint 1; calculate the angle value of the inverse kinematics solution of joint 2 to joint 6; calculate the pose of the end effector The error with the given pose; judge whether the error is within the error threshold; filter out the angle values of a group of inverse kinematics solutions that meet the conditions; input the angle values of each joint of the manipulator to the control module of the known robot, and complete the comparison of six Motion control of a wrist-biased tandem manipulator with degrees of freedom. The motion control method of a six-degree-of-freedom wrist offset series mechanical arm provided by the present invention does not need to consider the singular solution problem based on the Jacobian matrix, simplifies the control process, effectively reduces the amount of calculation, and improves the convergence speed and calculation accuracy , while improving the control accuracy of the manipulator.
Owner:NORTHEASTERN UNIV LIAONING
Ultrasonic oil-water interface detection system based on large oil storage tank
InactiveCN114001799AAccurate detectionGuaranteed real-time controlMachines/enginesLevel indicatorsWireless dataDisplay device
The invention relates to the technical field of petrochemical engineering, and provides an ultrasonic oil-water interface detection system based on a large oil storage tank. An oil-water interface detection module is integrated on a steel hammer floater, a driving motor controls the steel hammer floater to detect an oil-water interface, a Hall sensor measures the height of the floater, and detection data is displayed on a display device. According to the oil-water interface detection system, a wireless data receiving and transmitting module is integrated, data collected by the system is remotely sent to a cloud server, the data can be dynamically displayed on the mobile terminal, an operator can visually see detection data of an oil-water interface, and the oil-water interface detection system can be suitable for various oil products and oil-water interface conditions and can be suitable for various regular and irregular tank bodies.
Owner:CHINA JILIANG UNIV
Non-slip multi-purpose hydraulic expansion machine
The invention discloses an anti-slip multipurpose hydraulic expander. The anti-slip multipurpose hydraulic expander comprises an expansion arm main body, a barb belt and an inner insertion block, wherein the expansion arm main body is of a two-part symmetrical clamp type structure, each expansion arm main body is composed of two layers of symmetrical buckling structures, and the upper portion andthe lower portion of the expansion arm body are fixed through at least two bolts; a second rotating pin is vertically inserted into the two corners at the left end of the expansion arm main body, a connecting plate is fixedly connected to the top surface and the bottom surface of the second rotating pin, and the other end of the connecting plate is fixedly connected to the top surface and the bottom surface of the first rotating pin inserted into the two corners at the right end of the hydraulic machine body. According to the anti-slip multipurpose hydraulic expander, the various structures are matched with each other, so that an anti-slip multi-purpose hydraulic expansion machine structure is formed, the real-time control of expansion is guaranteed, the expansion speed and the expansion degree can be accurately controlled, and the smooth rescue can be guaranteed, a plurality of functions are achieved, multiple functions can be realized by one device, and the use value of the device isimproved.
Owner:德润液压科技(常州)有限公司
Lithium battery constant-current constant-voltage charging control method for solar generating
ActiveCN105515157AImprove utilization efficiencyImprove reliabilityBatteries circuit arrangementsElectric powerCharge currentPower flow
The invention discloses a lithium battery constant-current constant-voltage charging control method for solar generating. The method comprises the following steps: step 101, initializing BEA signals to C; step 102, acquiring square-matrix currents, load currents and discharge currents; when the square-matrix currents are greater than the load currents, it being indicated that the solar generating is at an illumination stage, and accordingly executing step 1021; and when the square-matrix currents are not greater than the load currents and the discharge currents are greater than 2A, it being indicated that the solar generating is at an earth shadow stage, and accordingly executing step S1022; step 1021, first of all, charging a lithium battery by use of a constant-current charging mode, when voltages of the lithium battery reach a constant-voltage charging threshold, then successively decreasing the BEA signals by delta c for every time interval t, and finally, controlling charging currents of the lithium battery according to the BEA signals; and step 1022, successively decreasing the BEA signals by delta c for every time interval t, and then controlling the charging currents of the lithium battery according to the BEA signals.
Owner:中电科能源有限公司
Driving method of photoelectric isolation parallel-in-serial-out circuit
InactiveCN102035536BGuaranteed real-time controlStable deliveryLogic circuits using opto-electronic devicesElectric digital data processingFinite-state machineEngineering
Owner:DELTA GREENTECH CHINA CO LTD
Internet-based science and technology service service data cooperation system
InactiveCN108737518AAchieve integrationGuaranteed normal transmissionTransmissionSpecial data processing applicationsTechnology developmentData collaboration
The invention discloses an Internet-based science and technology service data cooperation system, comprising a wireless network service system, the Internet, a data regulation and control module, a scientific service data transmission interface, an external monitoring module, a data query module, a network cloud database, a network cloud data transmission line, a data statistical module, a data classification module, a data analysis module, a data calculation module and a data storage module, the integration of relevant data and effective high-efficiency transmission and check are realized, the data quick advantage in the science and technology development process is utilized, the real-time data control in the entire process can be effectively ensured by efficient and fast data monitoringand real-time query, the statistics, classification, analysis, calculation and storage of data are performed by using miniature systems, the high efficiency and stability of the entire science and technology data service are improved, and the error rate is reduced.
Owner:WUHU LERUISI INFORMATION CONSULTING
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