11results about How to "Improve control characteristics" patented technology

The invention discloses a driving control method and system of a floatable vehicle and the floatable vehicle, and the driving control method comprises the steps that when the vehicle is in a floating state, according to the target yaw velocity and the actual yaw velocity of the vehicle and the pre-control target wheel speed and the actual wheel speed of each wheel of the vehicle, the pre-control target wheel speed and the actual wheel speed of each wheel of the vehicle are calculated; determining a pre-control torque and a torque correction amount of each wheel of the vehicle by adopting a motion control algorithm; and according to the pre-control torque and the torque correction amount of each wheel of the vehicle, target torque output by a motor corresponding to each wheel of the vehicle is determined so as to control the vehicle to run. On the basis of a double-closed-loop control scheme of a wheel speed closed loop and a yaw velocity closed loop, a complete double-closed-loop control loop composed of the wheel speed and the yaw velocity, feedforward control formed by pre-control torque / wheel speed and controller feedback control is formed, and good control precision and control response characteristics are achieved.

The invention discloses a composite adjustment wide-load steam turbine bypass valve, belongs to the technical field of power station valves, and aims to solve the problems that the load adjustment range of a steam turbine bypass valve is limited, and the stability is insufficient under the condition of frequent adjustment actions. Comprising a valve body, a first throttling sleeve is arranged between a valve cover and a valve seat, a large valve plug is arranged in the first throttling sleeve in a sliding mode, a second throttling sleeve and the large valve plug are sleeved inside and outside, a small valve plug is arranged at the lower end of the valve cover, the small valve plug is arranged in the second throttling sleeve in a sliding mode, and a plurality of throttling pressure reducing hole sets are formed in the first throttling sleeve. The second throttling sleeve is provided with a plurality of labyrinth pressure reducing hole groups, the large valve plug blocks or opens the plurality of throttling pressure reducing hole groups, and the small valve plug blocks or opens the plurality of labyrinth pressure reducing hole groups, the two pressure reducing units are arranged, and it can be ensured that the valve has the good control characteristic within the whole load range from small to large.

The invention discloses a signal interaction control expansion circuit and an electronic control system. The signal interaction control expansion circuit comprises a first differential amplification circuit, a relay, a second differential amplification circuit, a third differential amplification circuit, an analog-to-digital conversion circuit and a control circuit. According to the invention, differential amplification processing is carried out on an output signal of the electronic control system through the first differential amplification circuit; the control circuit outputs a corresponding interaction control signal according to the output signal and controls the relay to be in a release state, so that the electronic control systems are connected in series; or, the relay is controlled to be in a pull-in state, so that the electronic control systems are connected in parallel, the control characteristic of the single electronic control system is expanded, the response speed of the multi-electronic control system is improved, the linearity is improved, and the problems that the control signal of the multi-electronic control system is poor in following performance and the precision is distorted are solved.

The present invention discloses a multi-axis turntable, comprising a base, a rocker arm and a first driving device capable of driving the rocker arm to rock around a first rotation axis on the base, the rocker arm is provided with a swing arm and a second driving device capable of driving the swing arm to swing around a second rotation axis on the rocker arm, the swing arm is provided with a worktable and a third driving device for driving the worktable to rotate around a third rotation axis, and the second rotation axis and the third rotation axis are parallel to each other or out of plane with each other. Compared with the existing double-rotating-axis turntable, the multi-axis turntable of the present invention has a tool system with good and stable rigidity, so that the workpiece can obtain consistent and stable surface quality, has better control characteristics and processing accuracy, has a small interference area, better accessibility, and is also conducive to obtaining good overall machine rigidity. In the transformation of old equipment, the present invention can be applied to expand the processing range of the machine tool without changing the three-axis stroke, and has broad application prospects in many industries.

The invention provides a corn oligopeptide quality control method and application thereof, and relates to the technical field of oligopeptide quality control methods. The corn oligopeptide quality control method comprises the following steps: (A) preparing an alanine-tyrosine peptide standard substance solution and a corn oligopeptide sample solution to be detected; (B) performing component separation on the standard substance solution and the to-be-detected sample solution by using liquid chromatography to obtain an effluent component; and (C) carrying out mass spectrometric detection on an effluent component obtained after the standard substance and the sample to be detected are subjected to liquid chromatography separation, and carrying out qualitative and quantitative analysis on the alanine-tyrosine peptide according to mass spectrometric data. According to the method, alanine-tyrosine peptide with a high composition ratio in the corn oligopeptide is used as a characteristic peptide to establish a quality control method, a liquid chromatography-mass spectrometry analysis technology is adopted to carry out quality control and quality identification on a corn oligopeptide raw material, and compared with traditional evaluation modes such as peptide molecular weight distribution and hydrolysis degree, the quality control method has the advantages that the quality control method is established; the quality control and quality identification specificity is greatly enhanced, and the analysis efficiency is greatly improved.

The utility model belongs to the technical field of artificial heart-left ventricle auxiliary circulation equipment, and particularly discloses an LVAD motor stator system, which comprises an outer stator, an inner stator and a winding arranged between the outer stator and the inner stator, the inner stator is formed by stacking a plurality of silicon steel ring sheets, an axial modulation groove is arranged along the circumferential direction of the inner side of the inner stator, and the inner side of the inner stator is connected with the winding. According to the utility model, the modulation grooves are arranged in the inner stator, so that the harmonic amplitude is reduced, and the fluctuation of the torque is reduced. The utility model also discloses a motor which is filled with epoxy resin, so that the relative positions of related parts are ensured, the coaxiality and dynamic balance of the related parts are ensured, the motor is stable in high-speed operation, the vibration can be reduced, the motor has relatively good biological safety, relatively high heat conductivity coefficient and chemical stability, and the heat is quickly dissipated when the motor is in high-speed operation. The device is suitable for being placed in a human body.

The invention belongs to the technical field of intelligent speech synthesis, and discloses a ByT5-based cross-language emotional speech synthesis method, device and equipment and a medium, and the method comprises the steps: obtaining a part-of-speech information embedding vector, a syntactic information embedding vector and a text feature vector of an input text; performing feature fusion to obtain an emotion text implicit vector and a speaker text implicit vector; according to the emotion text implicit vector and the speaker text implicit vector, respectively generating an emotion speech MEL spectrum and a speaker speech MEL spectrum, generating a target MEL spectrum by using the emotion speech MEL spectrum and the speaker speech MEL spectrum, and discriminating the target MEL spectrum by using a discriminator; and respectively performing adversarial training on a generator and a discriminator of the cross-language emotional speech synthesis model by utilizing the generation loss function and the discrimination loss function until the model converges. The problem that a token-based model is limited by a dictionary is solved, the robustness of the model is improved, the quality and naturalness of the synthesized speech are effectively improved, and the speaker characteristics and emotion characteristics of the speech are controllable.

The utility model discloses a deburring device for an 8-shaped oil groove of a shaft sleeve inner hole. Comprising a clamping device and a corresponding grinding machine, the clamping device comprises a rotary clamping device and a corresponding driving controller, the rotary clamping device comprises a plurality of clamping wheels rotationally arranged on corresponding supports, and the multiple clamping wheels are arranged on the corresponding outer sides of a workpiece in a rotating contact mode respectively; and the driving controller is in transmission connection with the clamping wheels. The deburring device for the 8-shaped oil groove of the shaft sleeve inner hole is high in machining efficiency and low in labor intensity.

The application discloses a high-load leg-foot robot based on hydraulic static support and a control method, and belongs to the field of leg-foot robots. The robot comprises a lower leg rod, a thigh rod, a thigh parallel rod, a lower leg parallel rod, a lower leg steering rod, a thigh steering rod, a thigh slider connecting rod, a lower leg slider connecting rod, a thigh slider, a lower leg slider and a hydraulic drive unit. The application adopts a structure form of connecting rods plus a hydraulic drive unit, can transfer the load of the leg-foot robot support phase to the hydraulic drive unit, and supports statically by the hydraulic drive unit. Moreover, in the motion state, the hydraulic drive unit does not cause interference to the motion of the leg swing phase. The application can be used for the structural optimization of the existing leg-foot robot, and can effectively improve the load capacity of the leg-foot robot.

This invention discloses an electromagnetic chuck control device and a control method for the electromagnetic chuck control device. The electromagnetic chuck control device includes: a command input module, a main controller, a phase-shift trigger, a thyristor module, an electromagnetic chuck, and a sampling feedback module. The command input module is connected to the main controller and is used to transmit external commands to the main controller. The sampling feedback module is connected between the electromagnetic chuck and the main controller and is used to sample the current and voltage of the electromagnetic chuck and feed them back to the main controller. The phase-shift trigger is connected between the main controller and the thyristor module and is used to trigger the thyristor module according to the trigger signal sent by the main controller. The thyristor module is connected to the electromagnetic chuck and is used to rectify AC voltage into DC voltage and control the electromagnetic chuck. This invention can improve the adjustment accuracy and working efficiency of the electromagnetic chuck's magnetic force and enhance the intelligence level of the electromagnetic chuck device.

The invention discloses a method for preparing a graphene-diamond composite material by utilizing microwaves, which comprises the following steps of: depositing a diamond film on the surface of a single crystal diamond by adopting a microwave chemical vapor deposition method, and respectively preparing single crystal diamond films with (111) oriented upper and lower surfaces by adopting a slicing and polishing method to obtain a diamond substrate; putting the diamond substrate into a vacuum chamber of microwave plasma chemical vapor deposition equipment to form a diamond substrate with a hydrogen terminal surface structure; and then heating a sample table where the diamond substrate is located, introducing methane, ionizing gas by using microwave energy to form microwave plasma, exciting methane and hydrogen to generate active hydrocarbon groups and hydrogen atoms, and depositing a film on the surface of the diamond to obtain the graphene-diamond composite material. According to the method disclosed by the invention, damage to the graphene layer caused by layer transfer is avoided, and the composite structure can be controlled to present conductor or semiconductor characteristics.