6results about How to "Improve real-time control" patented technology

The invention relates to the technical field of vehicle control, and discloses a vehicle starting control method and device, a vehicle and a medium, and the method comprises the following steps: in response to starting operation of the vehicle in an automatic parking state, adjusting parking release control parameters according to current road surface information and vehicle parameters; and releasing the automatic parking state according to the adjusted parking release control parameter. The parking release control parameters are dynamically adjusted according to real-time road surface information and vehicle parameters through a dynamic and self-adaptive parameter adjusting mechanism, the limitation of traditional fixed calibration is eliminated, different road conditions and vehicle states can be adapted, the vehicle starting quality in the automatic parking state is remarkably improved, and the vehicle starting speed is increased. And fixed parameters under the automatic parking function can be continuously optimized, so that the method adapts to individual manufacturing differences of different vehicles, starting abnormities such as slope sliding, dragging and vehicle channeling of the vehicles can be effectively avoided, the safety and smoothness of vehicle starting are improved, and meanwhile the user driving experience and the vehicle intelligent control level are greatly improved.

The utility model discloses a parallel tail end multi-degree-of-freedom mechanical arm which comprises two groups of branch chains which are symmetrically arranged and fixed at two ends of a platform, each group of branch chains comprises a base, a first motor and a second motor are respectively arranged on two sides of the base, the first motor is connected with a first short connecting rod through a rocker arm, and the second motor is connected with a middle supporting piece. One end of the supporting piece is hung below the base through a support, the other end of the supporting piece is movably connected with the middle of the first long connecting rod, one end of the first long connecting rod is connected with the first short connecting rod, and the other end of the first long connecting rod is movably connected with the tail end platform. The other end of the second long connecting rod is movably connected with the tail end platform. According to the mechanical arm, the multi-degree-of-freedom parallel mechanical arm of the end effector can be achieved, and the problems that an existing parallel mechanical arm is complex in structure and high in control coupling degree, the degree of freedom of the end effector is limited, and installation and maintenance are difficult are solved.

The application relates to the field of mechanical arm control, and discloses a mechanical arm speed control method and device, computer equipment and a storage medium, the method comprising the following steps: acquiring an actual position of a robot end flange at a current moment, and acquiring a desired position of the end flange of the mechanical arm at a next moment according to path planning of the mechanical arm; calculating a control speed of the mechanical arm at the current moment according to the actual position, the desired position and a preset trajectory tracking model; performing inverse Jacobian transformation on the control speed to obtain corresponding motor output force, and performing corresponding control according to the motor output force. The movement of the mechanical arm can be controlled in a speed control mode, the control speed and real-time performance are improved, and control errors are reduced.

The invention relates to the technical field of power electronics, in particular to a diesel generator test system control method based on a moving average filter, and the method comprises the steps: collecting an output voltage instantaneous value of a diesel generator in real time, and obtaining a voltage sampling sequence; inputting the voltage sampling sequence into a pre-constructed moving average filter; performing moving average processing on the input voltage sampling sequence through a moving average filter to obtain an output signal; generating a current command signal based on an output signal of the moving average filter; and according to the current instruction signal, driving the diesel generator test system to simulate a load with a specific power factor through current closed-loop control, and carrying out load simulation test on the diesel generator. The moving average filter is directly used for generating a current instruction of the test system, and the lag angle of the current instruction is linearly adjusted by adjusting the point number of the filter through the linear phase-frequency characteristic of the filter, so that the accurate and convenient control of the simulation load power factor of the diesel generator test system is realized.

The invention discloses a high-altitude operation safety state monitoring device, and relates to the technical field of high-altitude operation, the inner side of a fixed support frame is rotatably connected with a hollow rotating rod, one end of the hollow rotating rod is provided with a clamping gear, one end of the fixed support frame is rotatably connected with a reciprocating screw rod in a penetrating manner, and the side end of the reciprocating screw rod is provided with a multi-tooth inserting and clamping block through a screw rod seat; according to the safety rope pressing device, pressing adjustment is carried out through the dead weight of a safety rope and the dead weight of a worker, the tightness of the safety rope is monitored and processed in real time in cooperation with reciprocating pushing limitation of a spring, and the safety rope pressing device has the advantages that the safety rope pressing device is simple in structure, convenient to operate and high in practicability. By means of the safety rope control device, a worker can conveniently know the state of the safety rope in real time in the using process, real-time control over the safety rope by the worker is improved, the safety rope control convenience is improved, and the safety coefficient of the worker in the working process is guaranteed.

The invention relates to an actuating unit excited bearing rotor position and attitude prediction and calculation method, which is characterized in that gas film mechanics numerical solution is taken as a physical basis, a prediction model is constructed in combination with a multi-input multi-output neural network, and the precision of the prediction model is verified on a test set by using indexes such as multiple correlation coefficients and the like. According to the method, the parameters of the actuating unit can be quickly predicted and reversely solved, so that the rotor position attitude is quickly and reversely solved, the active regulation and control of the rotor position attitude are realized by changing the excitation parameters of the actuating unit and dynamically adjusting the distribution of a gas film pressure field, the time delay can be remarkably reduced, and the control real-time performance and stability are improved; moreover, the method can cover various bearings and different actuation excitation modes, gives consideration to the solving speed, the application range and the convenience, and is higher in practical value.