34results about How to "Guaranteed real-time control" patented technology

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.