7results about How to "Lighten the control burden" patented technology

The present invention discloses a motor active response hybrid transmission mode switching oscillation suppression method based on MPC, which is suitable for the rapid following of the motor speed and rapid power compensation of hybrid electric vehicles. An active response oscillation suppressor is established, and the rapid response of the motor speed following is achieved through the MPC control strategy. The prediction control module and the torque compensation module in the oscillation suppressor cooperate with each other to finally output a set of reference voltages to the modulator. The oscillation during the mode switching of the hybrid vehicle is mainly due to the relative speed of the clutch friction plate. By actively responding the motor speed to the clutch active plate speed, the clutch engagement process is fast and smooth, reducing the system oscillation caused by the motor cutting in. The torque compensation module is used to realize the rapid power compensation of the motor, and the control in the VCU is previously sunk to the MCU, bypassing the communication delay problem, greatly improving the power compensation speed, and realizing the smooth switching of the vehicle mode.

The invention belongs to the technical field of intelligent robots, and particularly relates to a wearable man-machine co-fusion wheel-foot robot which comprises a connecting platform, a left wheel leg, a right wheel leg, a butt joint module, a connecting spine and a lock catch. The left wheel leg comprises a thigh, a transmission connecting rod group, a shank and a wheel group; the shank comprises an ankle joint motor layout assembly, two ankle joint connecting rod lead screws and carbon tubes, a shank carbon tube, a knee-shank connecting plate and an ankle joint assembly; the thigh and the transmission connecting rod group are movably connected with the knee-shank connecting plate and the swinging motor; the shank carbon tube is connected with the knee-shank connecting plate, and the other two ends of the shank carbon tube are connected with the wheel set and the ankle joint motor layout assembly respectively; the two ankle joint connecting rod lead screws and the carbon tube are movably connected with the ankle joint motor layout assembly and the wheel set respectively; by driving the two ankle joint connecting rod lead screws and the carbon tubes to move, stable switching of the wheels and the feet is achieved; through the butt joint module, the spine and the lock catch, butt joint with the human body is achieved, left-right translation and swinging of the spine are achieved, and the wearing restraint feeling is reduced.

The invention provides a micro-grid fixed time dynamic event trigger control method based on an observer, and belongs to the technical field of micro-grid operation control. The control method comprises the following steps: judging whether the voltage and frequency of primary droop control of a power control variable of an ith DG unit in the time-delay island micro-grid deviate from reference values or not, if so, performing secondary control, and if not, performing secondary droop control; by designing a voltage recovery variable, a frequency recovery variable and an active power recovery variable of micro-grid fixed time dynamic event trigger control based on an observer, the output voltage and the output frequency of a distributed generator are recovered to reference values within convergence time. According to the optimization method, the fixed-time dynamic event triggering observer with the confidence factor observes the transmission delay state, the adverse effect of delay on the control performance is limited, operation of each DG unit in the micro-grid is coordinated, the control performance of the micro-grid is guaranteed, and the stability of the system is improved.

This application relates to the field of compound wing aircraft technology, and discloses a yaw control method and control system, flight equipment, and storage medium for compound wing aircraft. The yaw control method of this application includes: acquiring real-time rotor motor health status information, and activating a tail thrust control strategy of the tail thrust motor based on the rotor motor health status information to achieve active yaw of the aircraft and maintain the aircraft's current flight speed. In this embodiment, the yaw control method of the compound wing aircraft uses the tail thrust motor to assist yaw control when the rotor motor fails, reducing the control burden on the rotor motor and thus improving handling performance.

The invention provides a traffic light signal intelligent adjustment method. The method comprises the following steps: acquiring image information of lanes around a connection intersection at preset time intervals; the image information is processed, vehicle data of lanes around the intersection are obtained, and the vehicle data of the lanes around the intersection comprise vehicle data of two crossing lanes of the current intersection; according to the vehicle data of the two cross lanes of the current intersection, whether the vehicle data of the two cross lanes of the current intersection meet an approaching standard is judged, and the approaching standard is that the difference value between the vehicle congestion degrees of the two cross lanes of the current intersection is smaller than a preset standard difference value; and if not, circularly adjusting the green light time of the high-congestion-degree lane in the two cross lanes of the current intersection according to a step-by-step adjustment rule, so that the vehicle congestion degrees of the two cross lanes of the current intersection tend to approach the standard. The adaptive concept similar to a single neural network is applied, and the control burden of a traffic cloud platform is relieved.

The application discloses an automatic charging mechanical arm of an electric vehicle and belongs to the technical field of automatic charging of electric vehicles. The mechanical arm body comprises a first linear driving mechanism, a second linear driving mechanism, and a first rotary driving mechanism, a second rotary driving mechanism and a third rotary driving mechanism which are sequentially and serially arranged. A pitch angle adjusting mechanism is used for actively adjusting the pitch angle of an automatic charging gun. A yaw angle adjusting mechanism is used for actively adjusting the yaw angle of the automatic charging gun. A floating compensation mechanism has two passive degrees of freedom and is used for compensating for positioning deviation during plugging or unplugging of the automatic charging gun and a charging port of the electric vehicle. The application enables the mechanical arm body to complete large-range position adjustment and basic attitude adjustment of the automatic charging gun in a fixed parking space scene. The control burden of multi-joint coupling interpolation is reduced, and the installation adaptability of narrow civil scenes such as underground garages and building exclusive parking spaces is improved.

The application discloses a kind of fusion pushing mode and gesture recognition's underground unmanned vehicle control method, system and unmanned vehicle, comprising: with the tracking result of unmanned vehicle to guide personnel and gesture recognition result as input, the cycle control decision of unmanned vehicle working mode is carried out in combination with environmental perception information, comprising: in response to single control period, guide personnel station position and instruction intention are identified based on tracking result, gesture recognition result and environmental perception information;According to guide personnel station position and instruction intention, the working mode of unmanned vehicle is decided;In response to the working mode decided, the environment passability check result is calculated and the chassis control instruction of unmanned vehicle is output, and the working mode, direction intention, executability state and safety keeping instruction are synchronously controlled unmanned vehicle and visualized display is shown outside;The application can be based on guide personnel continuous tracking combined with the core control scheme of gesture recognition, realize the autonomous switching of unmanned vehicle between following, pushing, parking and other working modes.