174results about How to "Improve riding performance" patented technology

The invention relates to the technical field of computers, and discloses a steering wheel control method based on an SBW system, and the method comprises the steps: obtaining corresponding real-time steering angle data through a steering angle sensor installed on a steering wheel, detecting a steering intention corresponding to a driver based on the real-time steering angle data, converting the steering intention into a steering electric signal, and outputting the steering electric signal; transmitting the steering electric signal to an electronic control unit through a high-speed communication bus; corresponding vehicle speed data and corresponding environment data in the current state of the vehicle are obtained, and the electronic control unit determines corresponding target steering torque based on the real-time steering angle data, the vehicle speed data and the environment data; a corresponding control instruction is generated based on the target steering torque, a motor installed on a steering mechanism is driven to generate corresponding steering torque according to the control instruction, and real-time road surface feedback corresponding to the driver is collected. The performance of the steering system can be improved.

The invention discloses a high-integration full-active electromechanical suspension actuator which comprises an electric driving mechanism, a motion conversion mechanism and a basic damping mechanism, and the output end of the electric driving mechanism is in transmission connection with the vibration output end of the motion conversion mechanism through a power transmission mechanism in a rotating motion mode. The input end of the basic damping mechanism is in transmission connection with the power transmission mechanism; the motion conversion mechanism achieves mutual conversion between linear motion and rotary motion, the linear motion end of the motion conversion mechanism serves as a vibration input end, the rotary motion end of the motion conversion mechanism serves as a vibration output end, and main power is provided for vibration reduction of vibration of the motion conversion mechanism through the electric driving mechanism. Passive damping force is provided for vibration reduction of vibration of the motion conversion mechanism through the basic damping mechanism. The damping device has the advantages that active and passive damping mechanisms are effectively combined, the excellent damping effect can be achieved under the low-frequency, intermediate-frequency and high-frequency working conditions, and the smoothness and the handling stability of an automobile are improved.

The invention discloses a high-speed railway fine tuning optimization method suitable for multiple working conditions. The method comprises the steps that S1, high-speed railway ballastless track fine tuning basic data are obtained; s2, establishing a high-speed rail ballastless track double-track multi-target optimization model; s3, solving a double-track adjustment amount based on an interior point method; and S4, obtaining a fastener adjustment grade. According to the method, the adjustment amount of the fastener is used as a decision variable, irregularity indexes such as the adjustable allowance of the fastener, the long-medium-short wave irregularity of double rails, the track gauge and the level are used as constraints, and on the basis, linear weighting is carried out through three targets of minimum adjustment amount, linear regression and track smoothness to establish a target function; the track adjustment amount optimization suitable for various working conditions is achieved, the use amount of fastener accessories in the fine adjustment process is reduced, track double-track fine adjustment is achieved in place at a time, and the track fine adjustment process is simplified.

The invention discloses a pressure control method, device, equipment and medium for semi-combination points of double clutches. The method comprises the following steps: acquiring a first pressure of a historical round in a self-learning process of a semi-combination point of the double clutch; when the system main oil pressure is set to the maximum value, the pressure of the double clutch is adjusted with the first pressure as the target; with the second pressure as the target, the pressure of the double clutches is adjusted, and the target current when the double clutches are maintained at the second pressure is obtained; with the first pressure as a target, the pressure of the double clutches is adjusted, and the initial current when the double clutches are maintained at the first pressure is obtained; the double clutches are adjusted to reach the target current from the initial current, and real-time pressure change data of the double clutches in the adjusting process are obtained; according to the real-time pressure change data of the double clutches, the maximum pressure slope is determined; according to the maximum pressure slope, whether the first pressure of the half-combination point of the double clutches is adjusted or not is detected. According to the embodiment of the invention, the accuracy of self-learning of the half-joint points of the double clutches can be improved.

The invention discloses a carrying control method and a material carrying system.The material carrying system comprises an upper control system, TCSs, a track and carrying equipment running along the track, the track is divided into a plurality of independent and continuous track subareas, and each track subarea and each carrying equipment are configured to be managed only by one of the multiple TCSs; each of the TCSs is configured to manage at least one track partition. According to the method and the system, the track of one factory is divided into a plurality of independent and continuous track subareas, the independent and continuous track subareas are respectively managed through a plurality of TCSs, and each TCS only needs to manage a small number of track subareas, so that the computing power requirement on each TCS can be effectively reduced, the load of each TCS during operation can be reduced, and the operation efficiency of each TCS is improved. The timeliness of carrying instruction execution is improved, the carrying efficiency is improved, the computing power resources of each TCS can be utilized in real time, the utilization rate of the computing power resources can be effectively improved, and waste of the computing power resources is avoided.

The utility model relates to the field of water-jet looms, and discloses a novel yarn guide plate for a water-jet loom, which comprises a bottom plate, a plurality of placing grooves are arranged on the upper surface of the bottom plate, positioning grooves are arranged on the outer walls of two sides of each placing groove, and fixing grooves are arranged at the front end and the rear end of the inner bottom surface of each placing groove. A supporting rod is arranged in the containing groove, and positioning blocks are fixedly connected to the front end and the rear end of the lower end of the outer wall of the supporting rod. Compared with an existing yarn guide plate, the yarn guide plate has the advantages that through the arrangement of the oleophobic box, the spinning yarn penetrates through the upper end of the oleophobic groove and the lower end of the oleophobic block, and then the oleophobic cover is connected with the oleophobic box through the connecting block, so that the oil absorption sponge is attached to the spinning yarn; and therefore, stretching oil in the oil storage box flows into the oleophobic block through the circulating hole and then is wiped on the spinning yarn through the oil absorption sponge, and the smoothness and the antistatic property of the spinning yarn are improved.

The invention relates to a vehicle regenerative braking control method, device and system, a vehicle and a storage medium. The vehicle regenerative braking control method comprises the following steps that in response to starting of an anti-lock braking system, a wheel speed signal of the vehicle is obtained; judging whether the vehicle vibrates or not based on the obtained wheel speed signal; under the condition that the vehicle does not generate vibration, the braking of the vehicle is kept in a common ABS hydraulic braking mode; in a case where vibration is generated in a vehicle, it is determined whether to execute electric regenerative braking based on a maximum recoverable torque currently executable by a motor and a target electric braking torque, and in a case where the maximum recoverable torque is greater than a predetermined value and the target electric braking torque is less than or equal to the maximum recoverable torque, the maximum recoverable torque is greater than a predetermined value and the target electric braking torque is greater than or equal to a predetermined value. Gradually converting braking of the vehicle into an electric regenerative braking mode; otherwise, the braking of the vehicle is kept in a common ABS hydraulic braking mode. According to the invention, vibration generated during low-load braking of the vehicle can be reduced or completely eliminated.

The invention belongs to the technical field of butterfly valves, and discloses a composite metal sealing type three-eccentric center butterfly valve which comprises a valve body, a valve rod, a valve seat and a control mechanism, the valve seat is fixedly sleeved with the valve body, a valve plate assembly is rotationally arranged in the valve body and fixedly sleeved with the valve rod, a filter plate is fixedly sleeved with the valve body, and the valve rod is fixedly sleeved with the filter plate. And the side surface of the filter plate is elastically connected with a blockage clearing mechanism. By means of rotation opening and closing control of the valve plate assembly and cooperation of elastic connection and arc-shaped arrangement of the unblocking mechanism, in the reciprocating rotation process of the valve plate assembly, reciprocating movement of the unblocking mechanism is achieved, a filter plate is subjected to reciprocating treatment, automatic unblocking is achieved through the vibration or direct pushing effect, disassembly treatment is not needed, and operation is convenient. And additional unblocking power does not need to be provided, simple and effective automatic unblocking operation is achieved, particulate matter is effectively prevented from being blocked between the valve seat and the valve plate assembly, and meanwhile simple and effective unblocking operation is achieved.

The invention discloses a single-motor hybrid power system based on an automatic mechanical transmission and a control method. The system comprises an engine, an automatic clutch, a motor and the automatic mechanical transmission which are connected in sequence. The automatic mechanical transmission comprises an input shaft, a transmission driving gear set, a main shaft, a main shaft gear set, an auxiliary shaft, an auxiliary shaft gear set, a planetary gear mechanism and an output shaft, the planetary gear mechanism comprises a gear ring, a planet gear, a planet carrier and a sun gear; the motor is fixedly connected with the engine, the input shaft is sleeved with the automatic clutch in an empty mode, and the motor is fixedly connected with the automatic mechanical transmission and conducts power transmission through meshing of an input shaft outer spline and a motor inner spline. Different driving modes such as engine driving, motor driving, hybrid driving and energy recovery of the vehicle can be achieved by selecting the working modes of the driving motor, the engine and the automatic mechanical transmission.

The invention provides a high-speed magnetic suspension two-stage fine adjustment track structure which comprises a track plate, a base, a cast-in-place concrete adjusting layer, an adjustable connecting piece and a concrete bearing platform, the lower end of the base is connected to a foundation through the concrete bearing platform, the track plate is arranged above the base, and the base and the track plate are connected through the cast-in-place concrete adjusting layer; the functional area components are installed on the two sides of the track plate through adjustable connecting pieces respectively. According to the high-speed magnetic suspension two-stage fine adjustment track structure, the on-site concrete cast-in-place workload is reduced; meanwhile, in the construction process, two-stage fine adjustment of the track structure can be achieved through the cast-in-place concrete adjusting layer and the two-way adjustable connecting piece; in the operation and maintenance process, fine adjustment is achieved through the two-way adjustable connecting piece, and high smoothness of the track is guaranteed.

The invention discloses a longitudinal driving method and device for automatic parking of a traditional fuel vehicle, the vehicle and a medium, a transmission control unit (TCU) is actively introduced into a control loop of a parking working condition, two interfaces of a longitudinal control signal and a target creeping speed are introduced to be respectively sent to an IPB and the TCU, and a staged arbitration mechanism is introduced into an engine controller (EMS), so that the automatic parking of the traditional fuel vehicle is realized. Smooth starting of the vehicle is ensured, backward sliding and accurate following of the target crawling speed are effectively prevented, and the common problems of unsmooth vehicle speed, rushing and the like in the automatic parking process of a traditional fuel vehicle are solved from the source.

The application discloses a kind of cartoon doll head eyebrow eye independent driving mechanism and control method thereof, including head silica gel skin, support frame one and support frame two.Brows adjusting mechanism and eyelash adjusting mechanism are arranged on support frame one, respectively through motor, gear, rack and magnetic block cooperation drive eyebrow piece and eyelash piece action;Lower eyelid adjusting mechanism and display screen are arranged on support frame two, and connecting piece in the lower eyelid adjusting mechanism is moved in the inboard installation slot of head silica gel skin, to drive lower eyelid part deformation.Display screen front side is provided for shielding part light emitting area and simulating the light-shielding film of upper eyelid, and its outside covers four elastic cloth similar to the color of head silica gel skin.The mechanism can realize the independent or cooperation action of eyebrow, eyelash and lower eyelid, and make eye display and mechanical action coordinate.

The application discloses a vehicle control method and device on a transverse slope road, equipment and medium, relates to the field of advanced driving assistance, and comprises the following steps: acquiring the vehicle speed, yaw angular velocity and first lateral acceleration of a vehicle, determining the second lateral acceleration based on the vehicle speed and yaw angular velocity; high-order filtering the first lateral acceleration and the second lateral acceleration respectively; determining the target acceleration based on the filtered first lateral acceleration and the filtered second lateral acceleration, and high-order filtering the target acceleration; determining the transverse slope compensation torque through the filtered target acceleration and a torque compensation coefficient, so as to control the vehicle. The vehicle speed, yaw angular velocity and first lateral acceleration and other information in the application are information that can be acquired in a low-cost manner, therefore, the application reduces the calculation cost of the transverse slope compensation torque, and through high-order filtering of the lateral acceleration and the target acceleration, the application improves the smoothness of the vehicle in a curve and reduces oscillation.

The invention provides a vehicle curve control method, device and equipment, a medium and a computer program product. The method comprises the steps that the real-time turning radius of a target vehicle is determined; under the condition that the load of the target vehicle is within a target load range and the real-time turning radius is smaller than a target threshold value, the target vehicle is controlled to enter a curve exit mode; in the curve exit mode, vehicle turning time is determined based on driving data of the target vehicle; and controlling the gear of the target vehicle based on the vehicle turning time and the operation data of the target vehicle. According to the vehicle control method in the curve exit mode, the vehicle with the trailer is prevented from forming a circulation gear during turning, and the power performance and smoothness of the vehicle are improved.

The present invention provides a method and device for starting an engine in a dual-motor hybrid power system and a vehicle, belonging to the field of vehicle technology. The dual-motor hybrid power system includes an engine, a first motor connected to the engine, and a clutch connected between the first motor and a transmission system. The starting method includes: upon receiving an engine start request, obtaining the current state of the first motor; if the current state of the first motor is a fault, obtaining the current state data of the vehicle, the current state data of the vehicle including the current speed of the vehicle; determining whether the current speed of the vehicle is less than or equal to a preset speed threshold and whether other current state data of the vehicle meets the conditions for waiting for the clutch to start; if so, monitoring the speed of the vehicle in real time until the speed of the vehicle is greater than the preset speed threshold to control the clutch to drag the engine to start. The present invention can improve the NVH performance and stability of the vehicle when the engine is started.

This invention discloses a driver state monitoring and safety early warning method based on millimeter-wave radar, comprising: acquiring driver physiological micro-motion signals and driver macro-behavioral signals respectively through millimeter-wave radar to obtain driving environment information in real time; denoising the driver physiological micro-motion signals and extracting features to obtain driver physiological feature signals; constructing a time-frequency spectrum using driver macro-behavioral signals; determining the driver physiological arousal index and driver emotional state risk value based on the physiological feature signals; obtaining the driver dynamic behavior risk value based on the time-frequency spectrum; calculating an environmental complexity index based on driving environment information; constructing a driver state risk field model based on the driver physiological arousal index, driver emotional state risk value, and driver dynamic behavior risk value; calculating the driver state risk value using the driver state risk field model and environmental complexity index; and providing graded early warning based on the driver state risk value.

The application discloses a bearing inner and outer ring reciprocating screen washing device, which comprises a rack, a driving mechanism, a reciprocating motion conversion mechanism, a lifting beam and a plurality of screen washing assemblies. The reciprocating motion conversion mechanism comprises a transmission main shaft, an eccentric wheel, a connecting rod, a guide sliding seat and a guide column, the transmission main shaft is in transmission connection with the driving mechanism, the eccentric wheel is fixed to the transmission main shaft, the connecting rod connects the eccentric wheel and the guide column, and the guide column is in sliding fit with the guide sliding seat in the vertical direction and is connected with the lifting beam. The lifting beam has a plurality of outward extending ends, and the plurality of screen washing assemblies are arranged at the corresponding outward extending ends respectively. When the driving mechanism drives the transmission main shaft to rotate, the eccentric wheel drives the guide column and the lifting beam to vertically reciprocate through the connecting rod, so that the plurality of cleaning screen baskets are synchronously up and down for screen washing. The application can realize multi-station synchronous cleaning, and improve the reciprocating motion stability and cleaning uniformity.

The invention relates to the technical field of vehicle control, and provides a clutch oil pre-charging control method and device. The method comprises the steps that the current gearbox oil temperature, the accelerator pedal opening degree and the clutch front and rear end rotating speed difference of a vehicle are obtained; determining an oil pre-charging step target current of the clutch according to the oil temperature of the gearbox, and determining the step maintaining duration of the oil pre-charging step target current according to the opening degree of the accelerator pedal and the oil temperature of the gearbox; according to the oil temperature of the gearbox and the rotating speed difference of the front end and the rear end of the clutch, the target maintaining duration of the pre-charging oil maintaining target current of the clutch is determined, and the pre-charging oil maintaining target current is the current corresponding to the expected pressure of the clutch; and under the condition that clutch oil pre-charging control activation is detected, the clutch is controlled to maintain the step maintaining duration for the oil pre-charging step target current, and the clutch is controlled to maintain the target maintaining duration for the oil pre-charging maintaining target current. According to the invention, the efficiency and smoothness of the whole switching process are improved.

The invention discloses a gear shifting control method and system of an electric commercial vehicle, a medium and the electric commercial vehicle. The method comprises the steps that if it is detected that the electric commercial vehicle is in an emergency braking working condition, a target drive axle to be controlled is determined, the torque of the target drive axle is controlled to be reduced by referring to the vehicle speed of the electric commercial vehicle, and a corresponding gear shifting hub is arranged in a neutral gear; wherein the target drive axle is any drive axle in double drive axles of the electric commercial vehicle; when the gear shifting hub corresponding to the target drive axle is in the neutral gear, the drive motor of the target drive axle is switched from the torque control mode to the rotating speed control mode; in the rotating speed control mode, whether the target drive axle executes dynamic gear shifting or static gear shifting is judged according to the rotating speed of the output shaft, and the corresponding target rotating speed is determined; the driving motor of the target driving axle is controlled to adjust the speed according to the target rotating speed, and whether the driving motor of the target driving axle meets the corresponding gear shifting synchronization condition or not is judged; and if yes, the gear shifting hub corresponding to the target drive axle is changed from the neutral gear to the target gear.

The utility model discloses a top-mounted oscillating fan which comprises a base used for being fixed on a wall body, a reversing ring is rotatably installed below the base, a reversing seat is rotatably installed in an inner ring of the reversing ring, an inserting portion with the upper end and the lower end penetrating through is arranged on the bottom face of the reversing seat, and a motor stator is sleeved on the outer side of the inserting portion. A rotating shaft is installed in the center of the motor stator, the upper end of the rotating shaft extends out of the top face of the inserting part, a head shaking motor is installed on the base, an output shaft of the head shaking motor is connected with the upper end of the rotating shaft through an eccentric connecting piece, fan blades are fixed to the lower end of the rotating shaft, and the head shaking motor enables the rotating shaft to shake through the eccentric connecting piece. Compared with a four-connecting-rod structure or a gear structure, friction force is smaller, using is stable and reliable, effectiveness and smoothness of fan head shaking can be improved, the service life is prolonged, the blowing range can be greatly widened, dead-corner-free blowing can be achieved, applicability is high, and practicability is good.

This invention discloses a creep control method and device for a new energy heavy-duty truck, belonging to the field of new energy vehicle control technology. The method includes the following steps: in response to vehicle power-on, determining whether the vehicle is currently in a creep basic state, and if the doors are closed and the driver is in position, entering a creep waiting-to-recognize state; in the creep waiting-to-recognize state, if it is detected that the accelerator pedal is depressed beyond a preset opening degree and then released and returned to zero opening degree, then a creep power latch flag is set to an active state; when the creep power latch flag is active, the corresponding creep mode is activated according to the current vehicle gear information, the creep mode including a forward creep mode and a reverse creep mode; during creeping, creep torque is feedforward compensated according to the real-time slope value; when any one of the preset exit conditions is met, the creep mode is exited; wherein, if the met exit condition includes a creep basic state failure, the creep power latch flag is set to an inactive state. This invention improves the safety and driving smoothness of creep control under complex working conditions.

This utility model discloses a door hinge assembly, including a top hinge group and a bottom hinge group. The top hinge group includes an upper bearing mounting seat and an upper shaft core mounting seat. An upper bearing is disposed in the upper bearing mounting seat, and an upper shaft core and an upper locking bushing are disposed in the upper shaft core mounting seat. A first tightening screw passes through the door leaf profile and the upper shaft core mounting seat and abuts against the upper locking bushing. The bottom hinge group includes a lower shaft sleeve mounting seat and a lower shaft core mounting seat. A lower shaft sleeve and a lower locking bushing are disposed in the lower shaft sleeve mounting seat, and a lower shaft core is disposed on the lower shaft core mounting seat. This door hinge assembly has the advantages of simple structure, convenient and quick installation and disassembly, high maintenance efficiency, and low replacement cost.

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 present invention relates to a clutch control method for starting a heavy-duty AMT vehicle on a hill, comprising the steps of: obtaining input conditions; executing a clutch fast idle stroke elimination phase; executing a clutch fast engagement phase; judging whether the clutch fast engagement phase is completed; executing a slipping and friction starting phase; performing a clutch engagement rate correction operation; judging whether the starting is completed; and terminating the process of the clutch control method for starting on a hill. The present invention enables the clutch to quickly reach a torque balance point, avoids vehicle slippage, and improves the starting response speed; enables the clutch to quickly reach a torque balance point, can significantly reduce clutch slippage, and improves the clutch life; effectively avoids the occurrence of starting failure problems, and improves the smoothness and starting speed of the starting process.

The invention discloses a mobile robot control method and system based on multi-source fusion dynamic trajectory re-planning. The method comprises the steps that vehicle kinematics data and environment characteristic observation data are acquired in real time; state prediction is carried out based on a kinematic model; performing multi-dimensional feature extraction and confidence evaluation on the environment features; carrying out measurement updating by utilizing extended Kalman filtering; performing time domain differential analysis on the posterior state; when the state jump is detected, generating a smooth dynamic transition track by taking the current posterior state as a starting point; acquiring predicted curvature information of the front path from the global map; inputting the confidence score and the predictive curvature into a fuzzy logic controller, and calculating the adjustment amount of PID control gain; and calculating a motor control instruction based on the dynamic transition trajectory by using an adaptive PID algorithm, and outputting a final control signal. According to the method, high-precision positioning and stable control can be realized only by depending on a low-cost vehicle-mounted sensor, the cost is low, the universality is high, and the method is suitable for various complex indoor scenes.

The application discloses a control method of a transmission intermediate shaft brake, a vehicle and a storage medium. The method comprises the following steps: starting the intermediate shaft brake; acquiring a target rotating speed difference estimation value at a brake starting moment, and a first brake basic characteristic parameter array; acquiring a stable brake demand rotating speed difference array, a theoretical stable brake demand time array and a theoretical total demand brake time; determining a total demand brake target time under different upshift types; acquiring a difference value between the total demand brake target time and the theoretical total demand brake time, selecting a theoretical total demand brake time corresponding to a minimum difference value, and determining an actual opening valve time of an intake valve of the intermediate shaft brake according to the theoretical total demand brake time. The actual opening valve time of the intake valve of the intermediate shaft brake is confirmed, so that accurate control of the intermediate shaft brake is ensured, and the smoothness and speed of a gear shifting process are improved.

The invention provides an electric power-assisted locking device for a main shaft of a fan, which comprises a positioning assembly which is matched with a protective shell of the fan and is detachably fixed in a groove formed in the protective shell; the braking assembly is arranged on the positioning assembly and is used for locking rotor blades of the fan; the brake assembly comprises a support, a power source and a brake mechanism. The power source is fixedly mounted on the bracket; the braking mechanism at least comprises a rotating element, braking elements are arranged at the two ends of the rotating element in a central symmetry mode, the braking elements are embedded into transverse grooves correspondingly formed in the rotating element and connected with the transverse grooves through elastic reset pieces, and the power source is coupled with the rotating element and drives the rotating element to rotate. And the two brake elements are alternately contacted with the surface of a stop disc of the fan to realize a brake function. Free movement of the fan rotor blade can be effectively prevented, and the purpose of immediate locking is achieved.

The embodiment of the present application discloses an air spring shock absorber assembly and a vehicle, which relates to the field of automobile manufacturing technology and can solve the problems of complex structure, high manufacturing and maintenance costs, and inconvenient disassembly and maintenance. The air spring shock absorber assembly includes an air spring sub-assembly and a shock absorber sub-assembly, wherein the air spring sub-assembly includes an upper top seat assembly and a lower air spring assembly; the shock absorber sub-assembly is vertically fixedly connected to the air spring sub-assembly. The upper top seat assembly includes an upper top seat and a support member, and the upper top seat has a accommodating cavity for accommodating at least part of the piston rod of the shock absorber sub-assembly and a bushing sleeved on the piston rod; in addition, the support member has a through hole, and at least part of the upper top seat is sleeved in the through hole and is detachably connected to the support member. The air spring shock absorber assembly of the present application is used for vibration isolation and buffering during vehicle driving.

The present application relates to the technical field of vehicles, and discloses a motor torque zero-crossing control method and device, a vehicle, electronic equipment and a medium. The method controls the motor to sequentially output a first direction torque and a second direction torque when the vehicle is in a continuous high-speed sliding state, so that the gear moves on different sides of the teeth. The motor rotor angular velocity and the vehicle tire rotation angular velocity in this process are collected, the transmission system gap is determined, and the target torque gradient correction value is matched to determine the current torque zero-crossing gradient of the vehicle, thereby performing torque zero-crossing control on the motor of the vehicle. The current torque zero-crossing gradient is corrected during vehicle driving, and the determination and correction of the current torque zero-crossing gradient are personalized for each vehicle, thereby improving the adaptability of the current torque zero-crossing gradient, the smoothness of the power system output torque, and the user experience.

The present invention provides a track-type robot motion mechanism and a robot system thereof, comprising a frame, a driving mechanism, a hydraulic cylinder, a side wheel I, a rack, a connecting rod, a gear, a side support assembly and an anti-deviation assembly, wherein the driving mechanism is rotatably mounted on the frame, and the driving mechanism is used for frictionally contacting with a guide rail and providing power for traveling. The hydraulic cylinder drives the side wheel I to always keep in contact with the side of the guide rail, and then the hydraulic cylinder drives the rack to move synchronously, at which time the rack drives the gear to rotate to realize the steering of the driving mechanism, and then when moving to the turning point of the track, the driving mechanism as an active component can realize steering, thereby increasing the smoothness of the entire mechanism and reducing the friction resistance generated when turning, and when the side wheel I moves in a direction away from the guide rail, the anti-deviation assembly flips to realize contact with the end face of the guide rail, avoiding the deviation caused by insufficient support force of the side support assembly when reaching the track bend.