82552results about How to "Guaranteed stability" patented technology

The invention relates to an air-powered engine assembly, which comprises an air tank, an air valve, an air distributor, an intake pipe, camshafts, an intake duct, an exhaust control device, air cylinders, pistons, crankshafts, couplers, clutches, automatic gearboxes and differentials connected with the outside. The assembly is characterized in that the air valve, a constant pressure chamber and a pressure controller are arranged between the air tank and the air distributor; the air distributor is connected with a plurality of air cylinders on an air cylinder gasket; each air cylinder is connected with an exhaust chamber through an exhaust manifold; the exhaust chamber is provided with a turbine generator which is connected with a storage batter; the air cylinders are provided with the camshafts for controlling the air intake and exhaust of the air cylinders; the air cylinders are provided inside with the pistons for driving the crankshafts to rotate; the camshafts and the crankshafts are connected by chains; and the crankshafts are connected with the differentials through the couplers, the clutches and the gearboxes in turn. Therefore, doing work through air compression rather than fuel, the air-powered engine assembly has the advantages of avoiding waste gas discharge and air pollution, along with reliable operation, convenient operation, economical efficiency, practicality and so on. In addition, due to recycle of the waste gas for power generation, the air-powered engine assembly saves energy and reduces costs.

The invention discloses a light five-cylinder plunger pump. The light five-cylinder plunger pump comprises a power end assembly and a hydraulic end assembly, wherein the power end assembly is connected with the hydraulic end assembly; the cylinder spacing of the light five-cylinder plunger pump is 9in; the power end assembly comprises a crank shaft, the crank shaft comprises six crank necks and five crank throws, the crank necks and the crank throws are fixedly connected, the distance between rotating centers of the crank necks and the crank throws is 101.6 mm, and the stroke distance of the light five-cylinder plunger pump is 203.2 mm. According to the light five-cylinder plunger pump, power is increased by increasing stroke, reducing transmission ratio and improving bearing capacity, andmeanwhile, dead weight is reduced by reducing the cylinder spacing, the tooth number of a big gear and the tooth thickness of the big gear and a pinion. The light five-cylinder plunger pump meets conditions of working in the area with severe well cementing operation conditions in aspects of weight and power simultaneously, and working efficiency is increased.

The invention discloses a battery management system of a vehicle-mounted lithium power battery. The system includes a master control unit and slave control units. The master control unit is in communication connection with the multiple slave control units through a data bus. The master control unit is in connection with battery groups, the total voltage and total current of which are acquired. The master control unit is also connected to a DC power supply, and is in connection with a charger through an external CAN bus. The master control unit mainly includes: a master microcontroller module, a total voltage detection module, a total current detection module, a battery system insulation detection module, a battery operating environment temperature detection module, a relay driving module, a data storage module, a bus communication module, an isolated power supply module, and a physical interface module of power supplies, data, signals, etc. The system provided in the invention has the advantages of simple structure, strong expansibility, and adaptability to different numbers of batteries. Being fully functional, the system has the functions of temperature control, equalization processing, battery performance evaluation, and battery self-protection, etc.

The invention relates to a centralized heating whole-network heat balance control method, in particular to a control system which is charged on area, which can eliminate the heat imbalance of the whole network and balance the heating effect. The control method adopts different control strategies for a heat source and two links of a primary side in the heating system so as to meet the requirement of users. For the heat source, the online prediction of the heat load is realized according to external temperature variation, and a running instruction is supplied for the heat source; a uniform control strategy is adopted for a primary network, automatic adjustment of a primary valve of a heat exchanging station of the heat network can be realized, a weighted value can be manually given to a special heat exchanging station, and the heat imbalance degree is used for analyzing and evaluating a whole-network heat balance control effect; and the control method can effectively solve the problems of the heating system such as imbalance heat and energy waste, a great amount of manpower and material resource can be saved in the adjustment process of the heat network, and the balance and consistency of the heat supply effect can be guaranteed.

The invention relates to a PMSM servo system control method based on fuzzy and active disturbance rejection control. A position signal is given by a differential tracker to arrange a transition process so that the contradiction between rapidness and overshoot of a system is solved, and uncertainty, friction torques and external disturbance due to modeling errors of the system are observed via an expansion state observer; according to the error between the differentials generated by the differential tracker and state variation generated by the expansion state observer, a fuzzy inference rule is obtained with application of experimental experience of technical staff, so that a fuzzy rule control table of an error proportion coefficient, a differential coefficient and an integration coefficient is established; accurate control amount is obtained after de-fuzzification, so that parameter self-adaptive adjustment of a nonlinear error feedback control law is realized; and compensation amounts of the nonlinear error feedback control law and the expansion state observer to the total disturbance forms the control amount, thereby realizing optimal control for an controlled object. The method of the invention improves both tracking precision and disturbance rejection capability of the system.

The present invention provides a fast high-precision geometric template matching method enabling rotation and scaling functions. According to the method, based on image edge information, with the sub-pixel edge points of a template image adopted as feature points, the tangent directions of the gradient directions of a target image adopted as feature lines, and based on the local extremum points of a similarity value, the similarity and the candidate positions of the template image and the target image are calculated from fine to rough through adopting a Pyramid algorithm and according to a similarity function; and pixel-level positioning accuracy is obtained at the bottommost layer of a Pyramid, the least squares method is adopted to carry out fin adjustment, so that sub-pixel positioning accuracy, higher-precision angle and size scaling accuracy can be achieved. The method can realize fast, stable and high-precision positioning and identification of target images which are moved, rotated, scaled and is partially shielded, and where the brightness of illumination changes, illumination is uneven, and cluttered background exists. The method can be applied to situations which require machine vision to carry out target positioning and identification.

The invention discloses a method and a device for synchronizing a master clock and a slave clock, the method comprises: sending synchronous request message to the master clock for many times in a simultaneous cycle by the slave clock, recording the corresponding the time value, then, utilizing a median average filtering algorithm to obtain the optimum time migration amount, utilizing the time migration amount to adjust the slave clock, eliminating the delay inequality which is caused by stochastic disturbance and burst interference of a network communication channel between the master clock and the slave clock, guaranteeing the stability of slave clock signals, and increasing the synchronous preciseness of the master clock and the slave clock.

The present invention relates to a building block of ecological slope protection vegetation, a fabrication method and a construction technique. The building block is composed of a growing bed body, a lath crib, planting troughs, a vegetation layer and a plant, the lath crib wraps the circumference of the growing bed body, the upper plane of the growing bed body is lower than the upper plane of the lath crib and concave, the vegetation layer is formed on the growing bed body, which matches the inner walls of the sectional area of the lath crib to form an integral building block, and more than one planting troughs are arranged on and run through the growing bed body. The design of the present invention is scientific, the structure is reasonable, the restoration of water ecology can reduce the operating cost, environment is improved, ecology is reinstated, harmonious natural beauty is enhanced, and the present invention is suitable for the nidification of small living creatures and the habitation and the survival of aquatic fishes, so that the cutting-off continuity of water and land regions is restored. The present invention is widely applied to channel slope protection, levee slopes, roadsides, airports, parks, public lands, household lawns, sports grounds, etc. The present invention is suitable for cold regions, damp regions, warm and damp intermediate zone, etc.

The invention discloses an integrated control method of cold-rolling strip steel flatness and lateral thickness difference, comprising: moderately and mainly controlling the shape of the strip steel section on the upstream rack of a cold-rolling mill, and mainly controlling strip steel flatness on the downstream rack; based on a profiler configured on a No.1 rack inlet of the cold-rolling mill, actually measuring and hot rolling incoming material section shape and flatness and rolling technological parameter measured values of each rack, wherein the rolling technological parameter measured values comprise rolling force and a plate shape regulating mechanism measured value; actually measuring the cold-rolling strip steel flatness on the basis of a shape meter configured on the cold-rollingmill outlet; performing feed-forward control to the shape of the strip steel section by taking the upstream rack, in particular the No. 1 rack as a key point; and performing feedback control to the strip steel flatness by taking the downstream rack, in particular an end rack as a key point to realize integrated control to the cold-rolling strip steel flatness and lateral thickness difference. Theinvention performs integrated coordination control by the strip steel flatness and section shape and reduces cold-rolling strip steel lateral thickness difference on the basis of further improving cold-rolling strip steel flatness quality.

The invention relates to a micro material mechanical performance testing platform under stretching-bending-twisting multi-loads, and belongs to the field of electromechanics. The micro material mechanical performance testing platform comprises a tension and compression module, a bending module, a twisting module, a detection control module and a test-piece clamping module, wherein the testing platform takes the tension and compression module as a basic function module; the twisting module is arranged at one end of the tension and compression module; the test-piece clamping module is arranged on the tension and compression module; the bending module is independently arranged at one side of a portal frame. The micro material mechanical performance testing platform can be taken as a material mechanical performance test device with an independent stretching/compressing mode or an independent bending mode or independent twisting mode, namely a single load testing mode, and can be applied to a material mechanical performance test of a twisting load under the given stretching/compressing stress level or a material mechanical performance test of a bending load under the given stretching/compressing stress level, namely a composite load testing mode. The stress strain process of a material under the effect of a composite load can be detected by the collection of a load/displacement signal by using the detection control module.

The present invention discloses parallel mass data transmitting middleware of Internet of things and a working method thereof. The invention includes: a data collection module, for forwarding data collected from different types of sensors to an application interaction module after analysis; the application interaction module, for achieving communication between the parallel mass data transmitting middleware of the Internet of things and an application system of the Internet of things, analyzing a control command of the application system of the Internet of things, transmitting to the data collection module, and further transmitting the analyzed sensor data to a data management module; the data management module, for performing data screening, fusion, conversion on the mass data analyzed by the application interaction module, and finally storing the calculated data into the application system of the Internet of things; and a developing regulation module, for setting out a protocol plug-in regulation, a communication channel plug-in regulation, a service field metadata plug-in regulation, etc. The present invention can meet high concurrency access and management of the large scale sensing apparatus of different application fields, various communication channels and various communication protocols.

The invention relates to a walk-aiding exoskeleton robot system and a control method, which belong to the technical field of rehabilitation engineering. The system comprises a hanging support, a moving platform, joints, protecting sleeves, a sensor module, a signal acquisition module, a central processing module and a motion control module, wherein the hanging support is fixed on the moving platform, the joints are connected with the hanging support to form an exoskeleton robot, the sensor module, the signal acquisition module, the central processing module and the motion control module are sequentially connected, the sensor module is used for acquiring joint angles, the interacting force of the exoskeleton robot and the human being and the myoelectric signals of the muscles of the human body, the signal acquisition module carries out signal conditioning and digital-to-analog conversion, the central processing module carries out action generation and the reverse solution of motion, and transmits an action command to the motion control module, and the motion control module is connected with the exoskeleton robot and generates a pulse signal to control the coordinated motion of the exoskeleton robot. The invention realizes the synchronous motion of the exoskeleton robot and the human body and real-time active control.

The invention belongs to the field of intelligent safe driving, and particularly discloses a people-avoidance and collision-avoidance system and method for vehicles at a crossroad without signal lights. The system includes a crossroad terminal, a wireless communication module, a vehicle information acquisition module, a central processing module, a collision pre-warning module and a brake controlmodule; the crossroad terminal, the wireless communication module, the vehicle information acquisition module, and the collision pre-warning module are connected with the central processing module. The system is a system based on an LTE-V communication mode, a millimeter-wave radar and GPS positioning, through a vehicle-vehicle communication mode and a vehicle-road communication mode, the states of pedestrians at the dead zone of the crossroad and the motion states of surrounding vehicles are obtained, whether risks of collision exist or not is judged, alarming is conducted through a HIM interface so as to remind a driver of reducing the speed or changing lanes, and when necessary, the speed of a vehicle is controlled to be reduced so as to avoid collision.

The invention discloses an isolated-section grouting filling coal-mining method for mining overburden rock, which comprises the following steps of: dividing the mining area into a plurality of coal faces, arranging isolation coal pillars among the coal faces; drilling a plurality of groups of inlet wells above the plurality of coal faces towards a coal bed direction, wherein each group of inlet wells are provided with a primary inlet well and a secondary inlet well, and the final hole depth of the primary inlet well is 15-40 times higher than the coal bed mining height above the coal bed; the final hole depth of the secondary inlet well is located at 30-50m place above the final hole depth of the primary inlet well; and when the coal face is mined to 10-30m from the primary or secondary inlet well, injecting coal ash slurry in abscission zones in the rock strata above the coal face until finishing isolated-section grouting filling coal mining in the mining area. The method is fit for coal mining under buildings with a high recovery ratio, small interference to filling and coal mining, low filling cost and good control effect to sink, and can facilitate coal mining without village migration under sufficient mining conditions.

The invention relates to a trajectory tracking control method and a control device for a driverless vehicle. The control method comprises that error of present driving trajectory and a reference trajectory of a vehicle is calculated by a data preprocessor, a target performance indicator function which is corresponding to the present driving model is obtained simultaneously; an upper layer controller predicts driving states of the vehicle over a period of time through a vehicle dynamics model; transition switch is conducted to function parameters according to switching control algorithm, and a performance indicator function at present sampling time is obtained; optimal controlled quantity of present time is calculated by considering performance requirement constraint conditions at the same time according to predicted driving states and the performance indicator function; a lower layer controller calculates throttle opening, braking pedal pressure and steering wheel turning angle according to the optimal controlled quantity; and the control device comprises the data preprocessor, the upper layer controller and the lower layer controller. Compared with the prior art, the trajectory tracking control method and the control device for the driverless vehicle have the advantages of being good in control effect, high in practicability, capable of improving stability and safety of vehicles and the like.

The invention discloses an ArcGIS-based map building and intelligent vehicle autonomous navigation method and system. The method comprises the following steps: 1, acquiring longitude and latitude information of a region to be navigated through equipment; 2, building and drawing a two-dimensional vector map and a road section text file of a fork road by using an ArcGIS tool; 3, obtaining the shortest path by using a path planning tool, and extracting a track from the path; 4, carrying out coordinate system conversion on the track, wherein during autonomous navigation, a 5-meter interpolation algorithm is used; obtained path points are very smooth; the number of the path points is increased, path precision of the road section is improved, and driving steadiness is guaranteed; furthermore, the time for path searching is not obviously prolonged. The method can supply more precise and more intensive tracking points to intelligent vehicle autonomous navigation under a condition of use of a map with the same complexity, and the tracking points are converted into coordinates under an intelligent vehicle coordinate system, so that the curve fitting difficulty is reduced.

The invention relates to a driving behavior assessment and vehicle driving state monitoring early warning system and method. The method comprises a video information collection unit, a video information processing unit, an identity information verification unit, a vehicle running state collection unit, an integrated information processing unit and an information management unit. The system constructs an assessment mechanism specific to driving behaviors, collects road condition video information, vehicle driving state information and driver vehicle operation process data information, excavates data characteristics, and performs weight distribution, information fusion and comprehensive determination, thereby realizing real time assessment of driving behaviors, and providing early warning specific to possible dangers.

The present invention relates to a magnet powder formula of hexagonal type magnetoplumbite permanent magnetic ferrite, sintered magnet and method of producing the same. The invention provides a sintered permanent magnetic ferrite and magnet powder capable of acquiring remanence of more than 4500 Gs and Intrinsic coercivity of more than 5000 Oe at the same time, pointing to problems of unable to acquire high magnetic property and high Intrinsic coercivity at the same time in prior technology, and method of producing the same. major formula of the invention is a permanent magnetic ferrite powder containing hexagonal type magnetoplumbite permanent magnetic ferrite of the following formula as main phase: A[1-x-y]Ca[x]R[y]Fe[2n-z]M[z]O[19], A represents Sr or Sr and Ba, R represents at least one of La, Pr, Nd or Bi, and La is needed; M represents at least one of Co, Ni and Zn, and Co is needed; x, y, z represents addition percentage of each main metal elements.

The invention discloses a method for controlling a PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation. In the method, a feedforward compensation method based on a friction model is combined with an auto disturbance rejection technology and the feedforward compensation method is complementary with the auto disturbance rejection technology mutually. In the method, a Stribeck friction model is utilized to carry out modeling on system frictions, a GA (genetic algorithm) is adopted to carry out offline identification on parameters, and an estimated value generated by an identification model carries out feedforward compensation; a state observer in the auto disturbance rejection technology observes and compensates overcompensation or undercompensation of the frictions as well as nondeterminacy and external disturbance caused by modeling errors in the system; and finally a differential tracker and a nonlinear control law are used to arrange a transient process for fixed position signals, thus solving the conflict between rapidity and overstrike and ensuring stability of the system and finite time convergence. By using the combined control, the compensation capacity of the system for the frictional nonlinearity can be improved effectively, the low-speed performance of the system is improved, and the tracking accuracy and the anti-disturbance capacity of the system are enhanced.

The invention relates to a production process for vinegar, in particular to the standardized and industrialized production process for Shanxi mature vinegar, which solves the problems of long production process period, complex process, unstable product quality, low raw material utilization rate and the like, of the prior production process. The production process comprises the following steps of: performing material processing before alcoholic fermentation, crushing, mixing, liquefaction and saccharification; selecting high-temperature resistant and high-alcoholic strength resistant saccharomyces, and adding a composite yeast to perform alcoholic fermentation; adding the composite acetic bacteria into vinegar residue, stirring with a vinegar residue stirrer, fermenting the vinegar residue in an acetyl hydrate fermenting tank, and turning the vinegar residue with a vinegar residue turning machine; tamping the vinegar residue in the acetyl hydrate fermenting tank, covering a layer of table salt on the tamped vinegar residue, and standing the vinegar residue; fuming the vinegar residue by the combination of a vinegar residue fuming furnace and a steam vinegar residue fuming jar; pouring vinegar; ageing the vinegar; clarifying the vinegar with a crude acidic protease, and filtering the vinegar with kieselguhr; blending the vinegar and the traditional Shanxi mature vinegar; sterilizing the vinegar; and packing the vinegar. The process of the invention has the advantages of systematized flow, standardized technological parameters, scale production procedure, normalized product quality and optimized production process.