17results about How to "Increase dynamics" patented technology

The invention discloses an electric energy metering method and device based on harmonic self-adaptive observation and zero point tracking type SOGI-FLL. The electric energy metering method comprises the following steps: step 1, carrying out ADC sampling on voltage and current signals of a power grid; 2, performing frequency rapid estimation on the voltage signal based on a zero point tracking frequency-locked loop, and obtaining a fundamental wave angular frequency of a power grid in real time; step 3, constructing adaptive observers of voltage and current by using the fundamental wave angular frequency, and estimating parameters of fundamental waves, harmonic waves and direct current components in voltage and current signals in real time through an adaptive law based on Lyapunov stability; 4, according to the parameter estimation value, the amplitude and phase of the voltage and current are calculated; and step 5, calculating active power and reactive power of each harmonic based on the voltage and current amplitudes and phases obtained in the step 4, and summing to obtain total active power and total reactive power so as to realize metering of active electric energy and reactive electric energy. According to the invention, rapid and accurate metering of fundamental wave and harmonic wave electric energy under complex working conditions is realized.

The invention relates to a model prediction fault-tolerant control method and system for a dual three-phase permanent magnet synchronous motor, and the method comprises the steps: estimating the lumped disturbance in the operation process of the motor in real time based on an extended state observer, and carrying out the feed-forward compensation of the reference voltage of the motor according to the lumped disturbance information; and based on the compensated voltage reference value, constructing a dynamic voltage vector set and correcting an initial voltage vector set, searching an optimal voltage vector in the dynamic voltage vector set, and driving the motor through three-phase decoupling space vector pulse width modulation. According to the field loss fault-tolerant control strategy designed by the invention, phase current harmonics caused by local field loss faults of the dual three-phase permanent magnet synchronous motor can be effectively suppressed, and the steady-state precision and the dynamic response capability of the system under the local field loss faults are enhanced.

This invention belongs to the field of polyurethane elastomer technology and discloses a high-strength, room-temperature self-healing lignin / polyurethane composite elastomer, its preparation method, and its applications. The preparation method includes the following steps: First, a long-chain diol, irregular isocyanate, hydrazine chain extender, and dioxime chain extender are progressively polymerized to obtain a polyurethane matrix with multiple dynamic bonds. Then, high-rigidity lignin and metal ions are introduced to prepare a lignin-reinforced polyurethane composite elastomer. The lignin / polyurethane composite elastomer prepared by this invention exhibits good compatibility, high strength, room-temperature self-healing, and repeatable heat processing characteristics, overcoming the problems of poor compatibility and the inability to simultaneously achieve high strength and low-temperature self-healing in general lignin-based polyurethane elastomers.

The application discloses a resonant converter control method and device based on threshold voltage control, and the method comprises the following steps: comparing an input voltage with a primary side equivalent voltage to determine whether the resonant converter is currently working in a boost mode or a buck mode; determining threshold voltages of a resonant capacitor in the boost mode and the buck mode; comparing the threshold voltages with collected resonant capacitor voltages to determine switching signals of an inverter circuit; and the threshold voltages of the resonant capacitor in the boost mode and the buck mode are calculated based on P-stage cosine response parameters and N-stage cosine response parameters of the resonant capacitor voltages. By using the above technical scheme, the resonant converter has strong voltage ripple suppression capability, effectively suppresses secondary harmonic voltage ripples from a previous stage, and the control signals are directly determined by input and output states, thereby having excellent dynamic performance.

The invention provides a mechanical arm self-adaptive grading grabbing control method and system based on visual feedback, and belongs to the technical field of robot control. The method comprises the steps that target position information is obtained through a visual sensor, and contact state information of the tail end of a mechanical arm and a target is obtained through a force sensor; according to the target position information and the contact state information, the current control stage of the mechanical arm is judged, and the control stage comprises the vision dominant stage that the mechanical arm approaches the target but does not make contact with the target, the force dominant stage that the mechanical arm grabs the target and the transition stage from the vision dominant stage to the force dominant stage; generating a first control component and a second control component based on the target position information, and generating a third control component based on the contact state information; according to the current control stage of the mechanical arm, the weights of the first control component, the second control component and the third control component are dynamically distributed and fused to generate a comprehensive control instruction; and the mechanical arm is driven to grab the target according to the comprehensive control instruction, and jumping of the control instruction is avoided.

The invention relates to an exhaust brake electromagnetic valve. According to the electromagnetic valve, a main gas circuit unit, a proportional electromagnetic driving structure, a gas circuit switching structure and a gas pressure detection structure are integrated. Continuous and linear accurate adjustment of output air pressure is realized through a proportional electromagnetic driving structure; the gas path switching structure can intelligently switch gas flow between the first gas outlet and the second gas outlet according to an instruction; the pressure sensor integrated in the valve body monitors the actual output air pressure in real time, closed-loop feedback control is formed, and accurate matching of braking force is ensured. The system is compact in structure, remarkably reduces external pipelines and leakage points, has the advantages of being rapid in response, accurate in control, high in reliability and high in adaptability, and remarkably improves the smoothness and safety of vehicle braking.

The invention provides an EGR (Exhaust Gas Recirculation) system for preventing gas leakage and a control method, and belongs to the technical field of engine exhaust gas recirculation control. The EGR valve is used for controlling the flow of exhaust gas extracted from the exhaust pipe; the EGR cooler is used for cooling flowing waste gas; an air inlet of the EGR proportional valve is connected with a vehicle compressed air source, and an air outlet of the EGR proportional valve is connected with the EGR valve cylinder through an air path pipeline; the engine ECU controller is used for controlling the output pressure of the EGR proportional valve; the engine ECU controller is configured to control the EGR proportional valve to output preset holding pressure if the EGR valve does not need to be opened at present after the engine is powered on; the value of the holding pressure is set to enable the sealing structure in the cylinder of the EGR valve to be sealed and to be lower than a pressure threshold value required for starting to open the EGR valve. The air leakage abnormal sound of the EGR system is effectively solved, the sealing performance and reliability are improved, the cost is optimized, and the user experience is enhanced.

The invention provides a permanent magnet synchronous motor current controller design method, a current controller and a permanent magnet synchronous motor. The permanent magnet synchronous motor current controller design method comprises the steps of 1, designing a model-free nonsingular terminal sliding mode current controller; 2, designing a quasi-resonance regulator; and step 3, a quasi-resonance compensation step: respectively connecting two ends of the d-axis model-free nonsingular terminal sliding mode current controller and the q-axis model-free nonsingular terminal sliding mode current controller in parallel with a quasi-resonance regulator. According to the current controller design method, a current tracking controller of a permanent magnet synchronous motor with a current tracking function is designed, and the two ends of a d-axis model-free nonsingular terminal sliding mode current controller and the two ends of a q-axis model-free nonsingular terminal sliding mode current controller are respectively connected with a quasi-resonance regulator in parallel. Therefore, the motor not only has good dynamic performance, but also can effectively reduce the current fluctuation, suppress the torque ripple and improve the steady-state performance.

The invention belongs to the technical field of unmanned aerial vehicle flight control, and discloses an unmanned aerial vehicle rapid composite control method and system based on fuzzy asymptotic. In the aspect of steady-state precision, the method breaks through the inherent limitation that traditional finite time control can only achieve bounded neighborhood convergence, and the reliability and execution capacity of the system in a high-precision task are remarkably improved. In the aspect of transient response, a nonlinear feedback mechanism in a fractional power form is introduced, so that the system can obtain a super-linear convergence rate in an initial stage or when encountering large-deviation disturbance. In terms of robustness and realizability, a structure combining low-pass filtering and dynamic error compensation is adopted in the method, and implementation difficulty caused by high-order differential calculation is effectively avoided; meanwhile, parameter perturbation, unmodeled dynamics, external wind disturbance and the like are estimated and compensated in combination with an adaptive fuzzy system, and the adaptive capacity and anti-interference performance of the system in a strong-coupling and nonlinear environment are remarkably enhanced.

The application discloses a kind of centrifugal pump dynamic performance optimization method under given flow mutation, first deduce the maximum slope when motor torque rises and falls;Second, the turning point of torque instruction mutation is deduced;Finally, the corresponding torque instruction is sent out: when flow mutation time to turning point, this section of time gives forward vector, so that torque rises according to maximum slope, after reaching turning point, give retreat vector, so that torque falls at maximum slope, until torque returns to initial value, speed tracks on mutation after given speed, flow reaches given flow, system reaches stable state.The application controls torque linearly in dynamic time, and the control rate is the hardware limit value.A linear differential equation is constructed with the torque integral of dynamic imbalance and the given speed increment being equal as a constraint to solve the torque turning point, which makes up for the speed overshoot of traditional speed PI loop, and realizes the optimal torque control curve and optimal flow response curve under dynamic linear control.

The application discloses a kind of laser scanning cutting endoscope robots based on carbon fiber paper micro-vibration mirror, the endoscope robot is fixedly installed with paper transmission structure in one end of support structure, and the other end is fixedly installed with GRIN lens;Fixed mirror, X galvanometer and Y galvanometer are fixedly installed in paper transmission structure, and optical path is formed by optical fiber, GRIN lens, fixed mirror, X galvanometer and Y galvanometer;First piezoelectric bimorph driver and second piezoelectric bimorph driver are piezoelectric bimorph driver installed between support structure and paper transmission structure;First piezoelectric bimorph driver is used to drive X galvanometer to rotate around Y axis and / or by paper transmission structure;Second piezoelectric bimorph driver is used to drive Y galvanometer to rotate around Z axis by paper transmission structure.The above-mentioned endoscope robot is compact, light, stable in motion and has excellent dynamic performance by using piezoelectric bimorph driver and paper transmission structure.

The invention relates to robot equipment, in particular to few-joint branch redundant drive over-constraint heavy-load milling parallel robot equipment. The invention aims to provide few-joint branch redundant drive over-constrained heavy-load milling parallel robot equipment so as to overcome the defects that a traditional series machine tool is insufficient in rigidity, poor in dynamic performance and limited in precision, and an existing parallel mechanism is small in working space, too many in joints and difficult to consider bearing and flexibility at the same time. According to the technical scheme, the few-joint branch redundant drive over-constraint heavy-load milling parallel robot equipment comprises a machining base frame fixed to the ground. The two stand columns are arranged on the two sides of the machining base frame in the X-axis direction and can slide in the X-axis direction, the X rack is horizontally arranged on the X-axis direction and supported by the two stand columns, and the fixed platform is horizontally arranged and can slide in the X-axis direction. The movable platform is positioned below the fixed platform; and the four branch chains are connected between the fixed platform and the movable platform in parallel and are provided with main shaft heads.

The application provides an event camera-based vibration measurement method and device, equipment and a storage medium. The method comprises the following steps: converting an event stream corresponding to a vibrating object collected by an event camera into a complex image; decomposing the complex image into a plurality of subbands of different scales and directions; calculating a phase change signal of the vibrating object in combination with phase information of each subband; and determining a vibration frequency of the vibrating object according to the phase change signal. Through implementation of the application, the vibration frequency of the object is measured by using a non-contact measurement method. The event camera has the characteristics of high time resolution and high dynamicity, can support capturing high-speed motion of the object under low brightness conditions, and the collected data is only related to the motion of the object, thereby reducing data redundancy. Therefore, the accuracy of the vibration measurement result is effectively improved, and the data processing amount is reduced.

The application belongs to the technical field of unmanned aerial vehicle flight control, and discloses a kind of unmanned aerial vehicle fast compound control method and system based on fuzzy asymptotic, in steady accuracy aspect, the method of the application breaks through the inherent limitation that traditional finite time control can only realize the convergence of bounded neighborhood, significantly improves the reliability and execution ability of system in high-precision task.In transient response aspect, the method of the application introduces the nonlinear feedback mechanism of fractional power form, and the system can obtain super-linear convergence rate in the initial stage or when encountering large deviation disturbance.In robustness and realizability, the method of the application adopts the structure of low-pass filtering combined with dynamic error compensation, effectively avoids the implementation difficulty brought by high-order differential calculation;At the same time, combined with adaptive fuzzy system, parameter perturbation, unmodeled dynamics and external wind disturbance are estimated and compensated, which significantly enhances the adaptive ability and anti-interference performance of the system in strong coupling and nonlinear environment.

The application is suitable for the field of mechanical device clamping, and relates to a constant load clamping device for a coiled tubing drilling machine injection head, characterized in that the device comprises a sheet-cable structure, two ends of the sheet-cable structure are connected with a first connecting piece and a second connecting piece, the sheet-cable structure is symmetrically provided with a first sheet and a second sheet, the first sheet and the second sheet are arranged in parallel, one cable is arranged between the first sheet and the second sheet, one end of the first sheet, one end of the second sheet and one end of the cable are fixed to a first fixed position of the first connecting piece, the other end of the first sheet, the other end of the second sheet and the other end of the cable are fixed to a second fixed position of the second connecting piece, and the sheet-cable structure enables the clamping device to have the characteristics of high static and low dynamic and good vibration isolation.

The application discloses a laser device, comprising a conical lens, a focusing lens, a galvanometer and a focusing lens group, the conical lens, the focusing lens, the galvanometer and the focusing lens group are sequentially arranged along the propagation direction of light, the conical lens is used for forming a laser beam into a Bessel beam and transmitting the Bessel beam to the focusing lens, the focusing lens focuses the Bessel beam and transmits the Bessel beam to the galvanometer, the galvanometer can deflect and adjust the beam direction of the Bessel beam along the X-axis direction and the Y-axis direction and transmit the Bessel beam to the focusing lens group, and the focusing lens group forms the Bessel beam into a target Bessel beam perpendicular to the glass to be processed. Since the dynamic performance of the galvanometer is far superior to that of the motion platform, in the prior art, the motion platform needs to walk a polygonal path, in the application, the motion platform only needs to walk a macro trajectory, the beam direction is quickly changed by the galvanometer, the combined motion trajectory of the platform and the galvanometer is a polygonal line, and the laser processing requirement can be met, so that the laser processing efficiency is remarkably improved.

The invention provides a high-strength and high-toughness polyurethane under-rail elastic backing plate for a heavy haul railway and a preparation method thereof, and belongs to the technical field of high polymer materials. The base plate is prepared through a reaction of a component A and a component B. The component A comprises 55-75 parts of polycarbonate diol, 8-15 parts of castor oil-based polyol, 10-16 parts of a composite chain extender composed of 1, 4-butanediol and isophorone diamine, 3-6 parts of reaction type liquid nitrile rubber and the like. And the component B is an isocyanate prepolymer prepared by reaction of MDI, polycarbonate diol and the like. The preparation method comprises the steps of prepolymer synthesis, component mixing, medium-temperature curing forming and the like. Through multi-level collaborative optimization of a molecular chain structure, a phase structure and a foam structure, the obtained base plate has high tensile strength and excellent toughness, meanwhile, low dynamic and static stiffness ratio and good low-temperature performance are achieved, and the technical problems that strength and toughness of an existing base plate are difficult to consider and durability is insufficient are solved; the method is especially suitable for harsh service conditions of heavy haul railways.