10results about How to "Improve dynamic control performance" patented technology

The invention discloses an intelligent container truck path planning control method and device, equipment and a medium, and relates to the field of path planning control, and the method comprises the steps: decomposing a path planning optimization problem into a plurality of independent time domain sub-blocks based on a time domain decomposition method, and obtaining a plurality of control periods of a prediction time domain; for each control period, based on the vehicle dynamics model, the state evolution equation and the operation state data, the current state and control input of the intelligent container truck are updated, and the updated state quantity and the updated control input are obtained; establishing a path planning sub-model of each time domain sub-block based on a Lagrange function, and updating the Lagrange dual variables to obtain updated dual variables; calculating a block moment according to the updated dual variable and the updated state quantity; determining whether a stop criterion is satisfied based on the block moment and the path performance index; and if yes, determining the current target trajectory as a final path planning result, and improving the calculation efficiency and the control precision.

The invention provides a magnetic suspension bearing motor structure and method, the magnetic suspension bearing motor structure comprises a motor stator (2) arranged in a shell (1) and a rotor (3) which is arranged in a center shaft area of the motor stator and is provided with a thrust shaft shoulder (32), and a bearing structure of the rotor comprises a radial magnetic suspension bearing (5) and an axial magnetic suspension bearing (6) which are arranged from inside to outside; the rotor is of an integrated rotating shaft structure formed by assembling and combining a rotating shaft and a permanent magnet, and the thrust shaft shoulders are arranged at the two ends of the integrated rotating shaft structure. In a magnetic circuit of the axial magnetic suspension bearing, the axial magnetic suspension bearing forms an axial magnetic field capable of being coupled with a thrust shaft shoulder of the rotor through a magnetic conducting ring (62) of the axial magnetic suspension bearing, and axial magnetic force is applied to the thrust shaft shoulder, so that the rotor is kept stable in the axial direction during operation; according to the invention, the design of the magnetic suspension bearing motor without the thrust disc can be realized.

The application discloses a kind of rigid-flexible coupling dexterous hand fingers, including a finger base, a fingertip module and multiple knuckles;The fingertip module includes fingertip, tendon, fingertip base and fingertip fixing frame, the tendon and fingertip are made of flexible elastic material, the fingertip is installed on the fingertip fixing frame, the tendon is used to connect the fingertip fixing frame and the fingertip base;Each knuckle includes knuckle bracket and a knuckle servo fixedly installed on knuckle bracket, and finger base servo is also fixedly installed on the finger base;In order from the finger base to the fingertip, the finger base servo is used to control the movement of the first knuckle, the last knuckle servo is used to control the movement of the fingertip base, and the other knuckle servo is used to control the movement of the next knuckle.The application also discloses a kind of rigid-flexible coupling dexterous hand finger control method.

The invention provides a reinforcing steel bar semi-finished product automatic detection method and device, and relates to the technical field of reinforcing steel bar construction.According to the reinforcing steel bar semi-finished product automatic detection method and device, bending angles are synchronously monitored through elastic rubber strips with indication marks, and changes of all bending sections in step-by-step bending can be reflected in real time; the angle of the bent steel bar can be accurately detected, and the detection precision and efficiency are improved; in addition, by collecting and analyzing surface abnormal change data of each bending section, a defect evaluation coefficient and an angle deviation evaluation coefficient can be accurately calculated; the parameters provide detailed quality evaluation and feedback for each bending section, so that the processing quality of the semi-finished reinforcing steel bar piece is improved; meanwhile, through comprehensive analysis of the evaluation coefficients, a bending compensation adjustment strategy can be formulated, and the dynamic control capability of the multi-step bending operation is remarkably enhanced.

The utility model discloses a high-precision regulating valve, and relates to the field of regulating valves. A traditional adjusting valve has the problems of low adjusting precision, response lag, poor working condition adaptability and the like. The valve comprises a valve body, a valve seat, a sleeve, a valve rod, a valve core, an adaptive ring, a valve cover, a bracket, a pneumatic straight stroke film actuator, an electrical valve positioner and an air filtering pressure reducing valve. The valve element is matched with a valve seat wedge angle structure, the electric valve positioner and the air filtering pressure reducing valve work cooperatively, precise adjustment is achieved, the air filtering pressure reducing valve purifies and stabilizes an air source, the electric valve positioner constructs a closed loop to control and correct the valve position, and the response speed and the control precision are effectively improved. A metal winding gasket and a V-shaped packing assembly are arranged at key positions of the valve, the sealing performance is enhanced, and the valve adapts to high-temperature, high-pressure and corrosive environments. The problems that a traditional valve is low in adjusting precision, slow in response and poor in adaptability are solved, and the valve is suitable for fluid control systems in multiple industries such as chemical engineering and energy.

The invention provides a voltage control circuit, a voltage control method, air conditioning equipment and a storage medium, the voltage control circuit comprises a main control module, a voltage boosting module, a piezoelectric resonance control module, a stepless voltage regulation module and an inversion module, the main control module receives input voltage and turns off or outputs power supply voltage through an output end; the voltage boosting module regulates the power supply voltage to obtain an output voltage; the piezoelectric resonance control module outputs a waveform signal and adjusts the duty ratio of the waveform signal; the stepless voltage regulation module performs stepless voltage regulation processing on the output voltage according to the waveform signal duty ratio; the input side of the inversion module is connected to the output end of the voltage boosting module and the piezoelectric resonance control module, and the output side of the inversion module outputs alternating voltage to the piezoelectric load so that the piezoelectric load can vibrate under the alternating voltage. According to the invention, the main control module stops outputting the power supply voltage when the piezoelectric resonance control module is started, so that the situation that the output voltage drops in the starting process can be prevented.

The invention provides a voltage control circuit, a voltage control method, air conditioning equipment and a storage medium, the voltage control circuit comprises a voltage boosting module, a signal generation module, a stepless voltage regulation module and an inversion module, the voltage boosting module regulates an input voltage to obtain an initial output voltage; the signal generation module outputs a waveform signal and adjusts the duty ratio of the waveform signal; the stepless voltage regulation module performs stepless voltage regulation processing on the initial output voltage according to the duty ratio of the waveform signal to obtain a target output voltage; the input side of the inversion module is connected to the output end of the voltage boosting module, and the output side of the inversion module is used for outputting the alternating voltage to the piezoelectric load, so that the piezoelectric load vibrates under the alternating voltage. Any bus voltage is output by adjusting the duty ratio, in the gear switching process, the dynamic stepless voltage regulation mode plays a current buffering role, the problems of input current overshoot and input voltage drop in the gear switching process are solved, and the dynamic control effect of the active wind field is improved.

The invention discloses a wind field networking type SVG overcurrent suppression method and device, electronic equipment and a medium, and belongs to the technical field of wind field grid-connected converter control. The invention aims to construct an effective current limiting method so as to prevent the wind field networking type SVG overcurrent suppression method and device caused by fault (or wind turbine generator switching) overcurrent, electronic equipment and a medium. The method comprises the steps of obtaining a virtual reactance initial value according to a rated capacity and a grid-connected voltage level of a wind field networking type SVG; designing a voltage difference between a virtual internal potential and a grid-connected point of the wind field networking type SVG, and converting the voltage difference to obtain a virtual reactance coefficient; the jth output current instruction value of the wind field networking type SVG is obtained; and embedding the virtual reactance coefficient and the wind field networking type SVG output current instruction value into the adaptive virtual reactance, and then performing adaptive adjustment on the virtual reactance in the inner potential control loop. According to the method, the equipment hardware manufacturing cost is saved, and the virtual impedance can be reasonably adjusted according to the out-of-limit degree of the output current of the network-forming SVG, so that the dynamic control performance of the equipment is improved, and the method has engineering practical value.

The present application relates to the technical field of frequency measurement system and method, and discloses a kind of based on self-adjusting equal-precision frequency measurement system and method, comprising: CPLD and MCU;CPLD includes PLL phase-locked loop module, PLL phase-locked loop module generates required clock, including reference clock, multi-level filter clock;Parallel communication module, parallel communication module simulates Flash read-write timing, simplifies the data read-write interaction of MCU side and CPLD, while ensuring the timeliness of data interaction;Pulse filter module, pulse filter module carries out filtering operation according to the filter level set, to avoid the pulse signal acquisition error caused by high-frequency interference.The present application adopts two kinds of design methods of double-edge collection self-adjustment and collection window self-adjustment, improves the response time of frequency measurement while ensuring the frequency measurement accuracy, compared with traditional frequency measurement mode, can improve the frequency response time by a factor of two at the fastest, meet the higher control demand of industrial field for speed device, improve dynamic control performance.

The invention relates to a simulation engine adaptation method and system and computer equipment. Comprising the steps that the type and model information of a simulation model are accurately determined, state monitoring is conducted on the simulation model, and a control function is determined, so that control parameters can be adjusted in the simulation process according to real-time data, the dynamic control capacity and flexibility of simulation are enhanced, and the simulation efficiency is improved. The simulation models in different simulation software can be adjusted according to different control parameters, so that the different simulation models can be suitable for various different simulation scenes, and the adaptability and expandability of the models are enhanced.