82results about How to "Improve dynamic stability" patented technology

According to the lower limb structure and the humanoid robot, the lower limb structure comprises a yaw driving part, a pitching driving part, a thigh assembly and a shank assembly, the pitching driving part is connected with the yaw driving part, the yaw driving part is used for driving the pitching driving part to rotate around a yaw shaft, and the thigh assembly comprises a thigh shell and a driving mechanism; the thigh shell comprises a first shell and a second shell, the first shell and the second shell are connected in the first direction, one end of the second shell is connected with the pitching driving piece, the pitching driving piece is used for driving the thigh assembly to rotate around the pitching axis, and the driving mechanism is installed in the end, close to the pitching driving piece, of the thigh shell. The connecting face of the first shell and the second shell is a plane, the yaw axis coincides with the connecting face, the pitch axis intersects and is perpendicular to the yaw axis, the shank assembly is rotationally connected with the end, away from the yaw driving piece, of the thigh shell and connected with the driving mechanism, and the static stability and the dynamic stability of the humanoid robot are improved.

The invention discloses a high-stability GaN bidirectional device which comprises a substrate and a transition layer, a buffer layer, a back barrier layer, a channel layer and a barrier layer which are sequentially stacked on the substrate, a first grid electrode and a second grid electrode are prepared on a first hole injection layer and a second hole injection layer respectively, and the first hole injection layer and the second hole injection layer are located on the barrier layer; the first source electrode and the second source electrode are prepared on the barrier layer in an ohmic contact mode and located on the two sides of the first hole injection layer and the second hole injection layer; the first source electrode, the first hole injection layer, the second hole injection layer and the second source electrode are isolated from one another through passivation layers; from the angle of energy band, the valence band top of the back barrier layer is lower than the valence band top of the channel layer, so that the hole is prevented from being injected into the substrate. The device has the functions of bidirectional conduction and bidirectional voltage resistance, can effectively inhibit a current collapse effect caused by a surface trap and a substrate effect, and has high dynamic stability and low dynamic conduction resistance; the substrate can be connected with any source electrode and can also be electrically suspended so as to improve the breakdown voltage of the device.

The invention discloses an ABS control strategy optimization method and system based on indirect tire pressure monitoring. The ABS control strategy optimization method comprises the following steps that S1, vehicle driving state information is collected in real time; s2, the driving state information is processed, and the dynamic behavior of the tire is recognized; s3, estimating the tire pressure state of the wheel; s4, the braking risk in the current driving state is evaluated; s5, ABS control parameters are generated; s6, generating a control instruction and transmitting the control instruction to an ABS actuator; s7, adjusting the pressure of the hydraulic system; s8, evaluating the validity of the ABS control parameters, and adjusting the ABS control parameters based on a feedback result; and S9, outputting and displaying the working state information and the tire pressure information of the ABS. According to the ABS control strategy optimization method and system based on indirect tire pressure monitoring, the control strategy can be dynamically adjusted according to the actual operation state, and the braking performance and safety are improved.

The present invention discloses a low dynamic resistance enhanced GaN device. In the conventional enhanced HEMT enhanced device preparation process, an additional P-type doped GaN thin layer (i.e., p-GaN thin layer) is introduced by selectively etching the p-GaN epitaxial layer. The surface trap shielding effect and hole injection effect formed by the p-GaN thin layer in the device structure effectively suppress the ionization of traps in the device, and have a strong inhibitory effect on the current collapse effect. Therefore, the resistance degradation of the GaN device is improved, the dynamic stability of the device is improved, and the conduction characteristics of the device are optimized.

The invention belongs to the field of product mechanical structure design, and discloses a pneumatic servo control type fan air valve which comprises a channel butterfly plate assembly, a pilot valve assembly, a torque motor assembly, a filter assembly, an upper die cavity assembly, a lower die cavity assembly and a pressure guide pipe. Gas introduced by a pressure guiding pipe sequentially passes through the filtering assembly and the pilot valve assembly to enter the torque motor assembly, the torque motor assembly adjusts the opening degree and exhausts the gas according to the magnitude of applied current, the gas flow subjected to opening degree adjustment enters the upper membrane cavity assembly, and a membrane type differential pressure structure is formed between the upper membrane cavity assembly and the lower membrane cavity assembly. The lower die cavity assembly controls the opening degree of the channel butterfly plate assembly according to the air pressure in the upper die cavity assembly, and the channel butterfly plate assembly is arranged on an airplane pre-cooling air path. According to the invention, the torque motor with extremely high precision and small adjustable flow is applied to the high-flow butterfly plate channel, so that stepless adjustment and high-precision adjustment of the temperature of the aircraft air source system are achieved, and the adjustment precision far exceeds the use requirement of + / -6 DEG C of a civil aircraft air source system, specifically, the adjustment precision can be within + / -1 DEG C. The valve is high in dynamic stability, rapid in response and stable and reliable in quality, and the product can meet the requirement for temperature adjustment of a civil aircraft air source system and can meet the requirement for the civil aircraft air source system.

The present invention provides a superconducting magnetic suspension damping system and a control method thereof, which relate to the technical field of superconducting magnetic suspension, and include a permanent magnet track, a suspension dewar, a superconductor block and a shunt damping system, wherein the superconductor block is arranged in the suspension dewar, and under the temperature environment provided by the suspension dewar, the superconductor block repels the permanent magnet track to provide a suspension force for the train; and the shunt damping system is arranged in the suspension dewar, and the shunt damping system is arranged on the inner wall of the suspension dewar, and when the train is running, the shunt damping system generates an induced magnetic field that repels the magnetic field of the permanent magnet track, and by arranging a vertical stabilizing component in the suspension dewar, through the electromagnetic induction phenomenon, the magnetic field gradient generated by the permanent magnet track in the vertical direction is utilized to reduce the vertical vibration of the train, improve the dynamic stability of the train, and improve the comfort of the train using this embodiment.

This invention relates to the field of precision mechanical control technology, specifically to a method based on a magnetoelectric converter and linearity control. The method includes: acquiring raw magnetic induction data through a magnetoelectric converter; obtaining a three-dimensional magnetic field distribution through electromagnetic field spatial mapping and extracting the axial gradient vector field; constructing a virtual magnetic streamline model based on this to identify local disturbance regions where magnetic field distortion exceeds a threshold; performing multi-scale time-frequency analysis on the data in this region to separate high-frequency fluctuations caused by mechanical vibration and low-frequency drift components caused by thermal deformation; inputting the two components into a cross-coupled compensation decision network to generate high-frequency suppression commands and low-frequency compensation trajectories, which are then merged to form a comprehensive drive signal for compensation. This method can accurately locate the source of linearity disturbance and perform targeted decoupling control of errors from different physical sources, improving control accuracy and stability under complex operating conditions.

The application relates to the technical field of robots, and discloses a kind of two-degree-of-freedom parallel ankle joint mechanism of humanoid robot and kinematics and mechanics solving method, including seven-link transmission structure, which is composed of two groups of closed-chain transmission of parallel four-bar linkages.Motor I and II are installed on the upper end of the lower leg, and the rotation drives link IV and III to move through link I, II, V and VI, and then coupled control ankle joint pitch and lateral freedom degree.The mechanism realizes load balancing of double motors through parallel transmission, improves equivalent torque, and can combine kinematics and mechanics solving method, so that precise control can be realized only by motor feedback, sensor cost is reduced, and is suitable for high stability motion demand of biped robot.

The utility model relates to the technical field of power assisting instruments, in particular to power assisting exoskeleton equipment which comprises a waist support, and a waist containing cavity with a wearing opening reserved in the front side is formed in the waist support. A waist fixing belt is arranged at a wearing opening of the waist accommodating cavity; two groups of thigh brackets are movably connected below the waist support along the outer sides of two legs of a wearer, and thigh bandages are arranged on the thigh brackets; a shank support and a foot support which are movably connected with each other are sequentially arranged below the thigh support. The thigh support, the shank support and the foot support provide support for the lower body of the user, especially when the user walks, stands or does other activities. The telescopic supporting rod can stretch out and draw back according to the actions of the user, power assistance is provided for the leg actions of the user, the user is helped to walk, lift the legs and the like more easily, and therefore the physical burden of the user is relieved.

The application discloses an anti-deformation crown-shaped cage of a super-speed motor bearing and a manufacturing method, and belongs to the technical field of motor bearings. The anti-deformation crown-shaped cage of the super-speed motor bearing is printed by a functionally graded material, the functionally graded material comprises hard-phase material and soft-phase material, the hard-phase material is glass fiber, and the soft-phase material is nylon 66; the equivalent elastic modulus of the functionally graded material continuously and gradually changes along the axial direction from the bottom of the pocket hole to the end of the locking claw, so that the elastic modulus of the bottom area of the pocket hole is higher than that of the end area of the locking claw, and the ovalization deformation of the pocket hole and the centrifugal deformation of the locking claw are cooperatively inhibited; the functionally graded material is introduced to actively reconstruct the stiffness field of the crown-shaped cage; the toughness phase is constructed in the locking claw area to absorb collision energy, the reinforced phase is formed in the pocket hole area to weaken stress concentration, and the stiffness gradient is established at the connecting position to inhibit the umbrella effect; and the application provides the crown-shaped cage with the characteristics of high toughness, gradient and high strength and a design method thereof.

The invention provides a multi-dimensional vibration platform with oppositely-arranged double-sandwich piezoelectric actuators and an excitation method of the multi-dimensional vibration platform, and belongs to the technical field of high-frequency vibration engineering and micro-nano machining.The vibration platform comprises a center platform, the two oppositely-arranged piezoelectric actuators, two end covers and two bolts, wherein the center platform is integrated with the tail end platform, the two flexible hinges and the two amplitude-change poles, and the center platform is slender and is in mirror symmetry about the longitudinal symmetry plane of the tail end platform. The piezoelectric actuator comprises a longitudinal vibration ceramic group, a bending vibration ceramic group around the Y axis and a bending vibration ceramic group around the Z axis, translation along the X / Y / Z axis and rotation around the Y / Z axis can be realized through in-phase or anti-phase excitation different combinations under the condition of not increasing extra driving channels, and five-degree-of-freedom high-frequency micro-vibration output can be achieved at most. The structure has high symmetry, low parasitic vibration, compact size and high integration, and is suitable for precise engineering scenes such as micro-nano processing, laser-assisted manufacturing, cell manipulation and active vibration suppression.

The present application relates to the technical field of pipeline construction, and provides a pipeline intelligent assembly robot and an automatic assembly method, the robot comprising: a mobile carriage provided with a plurality of supporting legs at the bottom, and each supporting leg is provided with a mobile pulley at the bottom; a mobile sliding rail provided on the top surface of the mobile carriage along the length direction of the mobile carriage; two sliding plates, each provided with a driving assembly and a lifting assembly, the driving assembly being used for moving the sliding plate along the mobile sliding rail; an image acquisition sensor provided on the sliding plate; an intelligent remote controller in communication connection with the driving assembly, the lifting assembly and the image acquisition sensor; wherein the lifting assembly is used for hoisting the pipeline, and the image acquisition sensor is used for acquiring the position information of the pipeline interface; the assembly method comprising: S1, transportation preparation; S2, visual positioning; S3, intelligent centering; S4, fixed evacuation; having the characteristics of compact structure, high assembly precision and high construction safety and efficiency.

The invention discloses a high-stability static pressure guide rail device for heavy equipment, and relates to the technical field of precision mechanical guide rails, the bottom surface of a movable sliding table is fixedly connected with a pull-down constraint support, a plane static pressure oil cavity group is located on the bottom surface of the pull-down constraint support, and the bottom end of a plane oil supply channel extends into the plane static pressure oil cavity group; and the V-shaped sliding rails are fixedly connected to the two sides of the bottom face of the movable sliding table, the V-shaped static pressure oil cavity sets are located on the side faces of the bottoms of the V-shaped sliding rails, and the bottom ends of the V-shaped oil supply channels extend into the V-shaped static pressure oil cavity sets. The comprehensive bearing capacity of the guide rail is remarkably improved, the large-load requirement of heavy equipment is met, the central plane supporting area provides main vertical bearing capacity, the double-V-shaped guide rail provides multidirectional constraint and auxiliary bearing, and the lateral constraint structure provides static pressure support in the horizontal direction.

The present application relates to the technical field of data processing, in particular to a data processing method and system based on unmanned aerial vehicle video and vector data fusion. By calculating the deviation of the predicted position and the actual detection position of each reference point in the image, the reference points with large errors are screened and the camera pose parameters are adjusted using the random consistency algorithm and the iterative optimization method to improve the projection accuracy and stability. Through grid division, corner detection and feature descriptor extraction, a reference point set is established, the parallax change standard deviation is introduced, and the unstable reference points with large fluctuations are removed to ensure the reliability of the pose solving process and the consistency of spatial registration. According to the registration and fusion of unmanned aerial vehicle video and vector geographic data, the problems of current vector element drift, occlusion determination difficulty and attitude error dynamic correction are solved, the spatial reality and dynamic stability of the augmented reality scene are enhanced, and the industrial needs of various application scenarios such as underground pipe network inspection are met.

The present application relates to the technical field of liquid flow control, and particularly relates to a kind of integrated perfusion and negative pressure suction pyelostasis control method, comprising: in the embodiment of the present application, according to the size of renal pelvis pressure and the difference of renal pelvis pressure at adjacent time, determine the severity of each time suspected problem, according to the difference of renal pelvis pressure in different period, and the change related situation of each dimension data in the same period, determine the corresponding pressure effective dangerous fluctuation factor of each time, to determine the control weight of each time renal pelvis pressure, to constitute time weight time sequence, and then output perfusion pump flow adjustment instruction and negative pressure suction pump flow adjustment instruction through fuzzy controller, realize pyelostasis control.The present application enhances the identification ability of the change trend of renal pelvis pressure data in key period by introducing time weight, so as to more accurately and more stably maintain the constant of renal pelvis pressure.

The utility model discloses a hydro-pneumatic spring with a heat dissipation function, and belongs to the technical field of hydro-pneumatic springs. The device comprises a hydro-pneumatic spring body, a floating piston, a one-way check valve, a cooler and a pipeline system. The floating piston achieves oil-gas isolation, the main piston divides an inner cavity of the cylinder body into a center cavity and an annular cavity, and the center cavity and the annular cavity are communicated through a piston rod damping oil channel and an external pipeline. The core innovation is that in the active cooling circulation, in the compression stroke, hot oil in a central cavity is pressed out, is forcibly guided into an external cooler through a one-way check valve to be cooled, and then is injected into an annular cavity; and in the stretching stroke, the oil flows back to the central cavity through the damping hole. By means of the structure, a double heat dissipation mechanism combining cylinder barrel convection radiation heat dissipation and oil liquid replacement convection heat dissipation is formed, the limitation that a traditional hydro-pneumatic spring only relies on a cylinder body for heat dissipation is broken through, the temperature of oil liquid and gas can be actively and efficiently controlled, temperature rise is remarkably restrained, and sealing reliability and system work stability are guaranteed.

The invention discloses an air magnetic spring with a cooling function, and belongs to the technical field of elastic elements. The device comprises an upper cover plate, a lower base and a main rubber air bag, and is characterized in that an upper auxiliary rubber air bag, a lower auxiliary rubber air bag, an upper magnetic ring and a lower magnetic ring are additionally arranged, the auxiliary rubber air bag is fixed to the center of the upper cover plate and the lower cover plate and located in the main air bag. The magnetic rings are embedded in the cover plates and pressed by the auxiliary air bag. And communicated cooling water channels are arranged in the upper cover plate, the lower cover plate and the auxiliary air bag. When the main air bag loses efficacy, the auxiliary air bag provides emergency buffering, and double failure protection is achieved in combination with repulsive force of the magnetic ring; under extreme impact, the repulsive force of the magnetic ring can enhance the breakdown resistance; the cooling water channel can effectively reduce the working temperature of the spring and delay rubber aging. The spring integrates the functions of failure protection, strong impact resistance and active cooling, and the reliability and environmental adaptability are remarkably improved.

The application discloses a flower-shaped solar photovoltaic module, which comprises a device base and a flower-shaped photovoltaic array, a plurality of cross support rods are arranged on the device base, one end of the cross support rods is connected to the device base, and the other end is connected to the flower-shaped photovoltaic array, the flower-shaped photovoltaic array comprises a flower center part and a plurality of petal parts, the petal parts are arranged outside the flower center part, and solar photovoltaic plates are arranged on the flower center part and the petal parts; in the application, the petal parts of the flower-shaped photovoltaic array are arranged outside the flower center part in a slanting angle direction and are overlapped, when the sunlight is directly incident, the effective light receiving area of the solar photovoltaic plates of the petal parts and the flower center part is completely unfolded, the three-dimensional overlapping structure makes the effective light receiving area greater than the plane occupied area, and the light coverage area can reach 120%-200% of the plane occupied area at noon.

The utility model discloses a kind of intelligent mower of quick detach self-locking cutterhead, it is related to mower technical field, including machine body;Output shaft, set in the bottom of the machine body, the output shaft is connected with the output end transmission of machine body internal drive motor;Base, fixed on the output shaft;Cutterhead assembly, including blade and the mounting seat for installing blade, the mounting seat is detachably connected on base;Manual unlocking mechanism, set on mounting seat, for the mounting seat and base fixed connection or disconnection;Centrifugal self-locking device, integrated in the base interior.The utility model passes through integrated electronic safety interlock system, through sensor and intelligent control, ensure that cutterhead is not correctly installed or locked when machine cannot start, and cutterhead state is monitored in real time in operation, immediately stop once abnormal, greatly improve the safety performance of product.

This utility model relates to the field of constant temperature testing technology for ice-water mixtures, and discloses a constant temperature testing device for ice-water mixtures, comprising: a cylindrical assembly, including a cylindrical stirring tank and four support legs fixedly welded to its bottom end, with an axially penetrating transmission hole on the upper part of the tank wall; a power system, including a servo motor fixedly installed on the outside of the stirring tank, a drive gear coaxially connected to the motor output shaft, and a waterproof protective cover covering the outside of the motor, the protective cover forming a sealed connection with the outer wall of the stirring tank; and a stirring assembly, including at least three sets of inclined stirring blades radially and evenly distributed at the bottom of the rotating platform. This constant temperature testing device for ice-water mixtures features efficient constant temperature control. The precise power ratio between the semiconductor refrigeration module and the volume of the stirring tank, combined with the forced convection of the inclined stirring blades, achieves rapid heat exchange, improving temperature uniformity by more than 40%. The composite structure of the annular insulation layer reduces heat loss by 60%, and its insulation performance is superior to traditional single-layer materials.

The present application discloses a building seismic isolation and shock absorption device that can be restored to its original position, which relates to the field of building vibration isolation technology, and includes a base, a connection part and a top seat from bottom to top; the base is arranged on the ground, and the top seat is located above the base, and is used to build a building body; the connection part includes a rubber vibration isolation support, a sensing column, a reset movable support mechanism, an auxiliary adjustment mechanism, a damping limit mechanism, a control box, a circular position sensor and an edge connection mechanism; the rubber vibration isolation support is fixedly arranged on the top end face of the base, and the sensing column is fixedly arranged on the bottom end face of the top seat, and abuts against the top end face of the rubber vibration isolation support to form a rubber vibration isolation structure for absorbing and dispersing the energy of the earthquake; a plurality of the damping limit mechanisms are arranged on the outside of the auxiliary adjustment mechanism, providing double damping protection. The present invention can enable the building to quickly return to its original position after an earthquake, and improve the seismic performance and seismic toughness of the building.

The invention belongs to the technical field of medical detection, and particularly relates to a polysaccharide contrast agent capable of realizing kidney metabolism and a preparation method thereof. The polysaccharide contrast agent has a structure as shown in a formula (I), the particle size is smaller than or equal to 8 nm, and the polysaccharide contrast agent can be rapidly metabolized through the kidney. The preparation method comprises the following steps: grafting a metal macrocyclic ligand to nano cross-linked polysaccharide particles, and carrying out deprotection and metal ion chelation to prepare the nano cross-linked polysaccharide. The contrast agent has the characteristic of kidney metabolism, so that the phagocytosis of a reticuloendothelial system is reduced, the in-vivo deposition of the contrast agent is reduced, and the biological safety is improved. Due to the use of the macrocyclic chelating ligand, good dynamic stability is achieved, the risk of in-vivo metal ion deposition is reduced, and clear imaging can be conducted on cardiovascular, lymph nodes, livers and other parts when the compound is applied to in-vivo imaging. The preparation method disclosed by the invention is simple and easy to implement, mild in reaction condition and beneficial to large-scale production and clinical conversion, and has a wide biomedical application prospect.

The invention belongs to the technical field of biochemical engineering, and particularly relates to a fermentation preparation method of a sweetening agent. The method is based on a recombinant saccharomyces cerevisiae strain, a compound carbon source is adopted, the content of residual ethanol and the range of RQ are strictly controlled to feed back, regulate and control material supplementation so as to regulate and control a cell metabolic pathway, and meanwhile, a nonionic surfactant is added to realize large-scale stable output of a target sweetening agent. The method disclosed by the invention has the beneficial effects that the utilization rate of a carbon source is increased, the accumulation of intermediate products is reduced, the dynamic stability of cell membranes and the transmembrane transport capacity of cells are enhanced, and the yield of rubusoside and rebaudioside M in the sweetening agent is greatly increased; the problems of low yield, more byproducts, high cost, difficulty in later-stage purification treatment and the like which are difficult to meet industrial production in the prior art are solved.

The application discloses a carbon material cutting positioning table, a cutting equipment and a cutting process, and belongs to the technical field of carbon processing. The carbon material cutting equipment includes a carbon material cutting positioning table, a self-protection cutting mechanism and a vibration suppression protection mechanism. The application realizes coupling enhancement of positioning stability and vibration suppression efficiency in the cutting and processing of special-shaped carbon materials through deep cooperation of the material self-adaptive positioning mechanism, the special-shaped positioning assembly, the self-protection cutting mechanism and the vibration suppression protection mechanism. The overall technical effect of single mechanism independent operation is significantly better. The cutting edge collapse rate of the special-shaped carbon material is significantly reduced, the section quality is greatly improved, and automatic, self-adaptive and efficient precision cutting is realized.

The vibration isolator is installed between a carrier and a sensor and comprises an upper metal piece, a lower metal piece and an installation base which are sequentially connected from top to bottom, the top of the upper metal piece is connected with a screw, the screw is connected with the sensor, and a rubber element is arranged between the lower metal piece and the installation base. Compared with the prior art, through the metal-rubber-metal sandwich structure in the longitudinal direction and the rubber-metal-rubber sandwich structure in the transverse direction, the bearing capacity of the vibration isolator in the longitudinal direction and the transverse direction can be improved on the basis that good vibration isolation performance is guaranteed; the transverse swing of the vibration isolator under the dynamic load of the vehicle and the deformation of the vibration isolator under transverse and longitudinal impact excitation generated when the vehicle is started and stopped are reduced, and the service life of the vibration isolator is prolonged. In addition, the vibration isolator is simple in structure, the upper metal piece and the lower metal piece are detachable, and installation and replacement are convenient.

The invention discloses a method for preparing asphalt concrete by using surface modified ceramsite, and belongs to the field of composite materials. The ceramsite is modified by the oleic acid / coupling agent, and then the ceramsite is used for preparing the asphalt concrete. According to the method disclosed by the invention, tight combination of the ceramsite and the asphalt concrete is realized, so that the adhesion and the water damage property of the asphalt mixture are improved. The ceramsite modification process of the method is simple and controllable, industrial production can be performed after simple modification, and the obtained asphalt concrete treated by the oleic acid / coupling agent has the advantages of light weight, good mechanical properties, aging resistance, heat preservation, heat resistance and noise reduction, and has wide application potential in the fields of bridges, high-quality roads, environmental protection and the like. The method is low in process requirement, simple, easy to implement and suitable for large-scale engineering application.

The invention discloses an electric vehicle charging pile control method based on generalized second-order differential, and belongs to the technical field of electrics. The charging pile topology comprises a three-phase alternating current power grid, a filter inductor L, a three-phase VIENNA rectifier, a full-bridge three-level DC / DC converter, an LC filter circuit and a load resistor R. The control method comprises the steps of sampling, rectifier control and converter control. Wherein the three-phase VIENNA rectifier adopts common PI control based on voltage and current double closed loops, and the full-bridge three-level DC / DC converter adopts double-loop control based on a generalized second-order differential PID (Proportion Integration Differentiation) controller. The generalized second-order differential function not only retains the phase lead compensation differential effect on a specific frequency range, but also eliminates the inherent high-frequency noise amplification effect of the traditional differential function. According to the control method, the dynamic performance of the system can be effectively improved, the output signal ripple is small, and the control speed is high.

The application discloses a leg movement mechanism of a humanoid robot, which comprises a hip joint structure, a thigh structure, a knee joint structure, a shank structure, an ankle joint structure and a foot sole structure, an ankle joint pitching driving motor and an ankle joint horizontal rolling driving motor are fixedly installed at the thigh structure close to the hip joint structure, the two motors are connected to two power input gears of a differential mechanism through a transmission mechanism, a power output gear of the differential mechanism is connected to a shank connecting rod through a spherical hinge, and the shank connecting rod is connected to the foot sole structure at the end. The ankle joint pitching driving motor and the ankle joint horizontal rolling driving motor are moved upward to the thigh structure close to the hip joint structure, the mass and the rotational inertia of the shank structure are effectively reduced, the energy consumption is reduced, the movement flexibility and the response speed are improved, and the adaptability to different movement modes and terrains is enhanced through coupling and decoupling control.

The application discloses a method and device for suppressing wide-frequency oscillation of a converter, equipment and a medium, and belongs to the field of power grid safety. The method is as follows: obtaining the fundamental equivalent impedance of the converter corresponding to the fundamental frequency and the wide-frequency equivalent impedance corresponding to each interference frequency through a preset interference signal; judging the damping characteristic of the converter according to the real part of the fundamental equivalent impedance; if the damping characteristic is positive, and the imaginary part of at least one wide-frequency equivalent impedance satisfies a preset resonance criterion, determining a resonance frequency band from all interference frequencies, and adjusting the current control loop parameters of the converter according to the resonance frequency band until all imaginary parts do not satisfy the preset resonance criterion, so as to realize wide-frequency oscillation suppression; wherein, the preset resonance criterion is determined according to the reactance characteristic of the wide-frequency equivalent impedance. The application can improve the accuracy of wide-frequency oscillation suppression of the converter.

The invention relates to the technical field of maglev train control, in particular to a sliding mode active-disturbance-rejection control method of a permanent magnet and electromagnetic hybrid suspension electromagnet. Comprising the following steps: step 1, establishing a hybrid suspension electromagnet model based on a magnetic diversion type hybrid suspension electromagnet system; 2, carrying out suspension force modeling according to the hybrid suspension electromagnet model, and establishing a suspension force equation of the magnetic diversion type hybrid suspension control system by enabling the suspension force to be equal to the gravity of the train; the sliding mode active-disturbance-rejection control method provided by the invention is applied to the magnetic diversion type hybrid suspension system, and the dynamic stability and robustness of the system are remarkably improved. According to the method, the advantages of sliding mode control and active disturbance rejection control (ADRC) are fused, the defects of a traditional control strategy (such as PID) in coping with load change, airflow disturbance and parameter uncertainty are effectively overcome, and high-precision air gap position control and rapid dynamic response are achieved.