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158results about How to "Prevent chatter" patented technology

Temperature differential eliminator

The present invention relates to a device and method for providing precise temperature control using inexpensive temperature controllers and / or thermostats. Specifically the invention provides modifications to either a temperature controller and / or a thermostat that enables precise temperature control using inexpensive components. The series rheostat type differential eliminator (SRDE) is an inexpensive circuit that interfaces between a temperature controller and a thermistor or other temperature sensor element. The SRDE is essentially a circuit that switches the thermistor between a shunt and a rheostat in a manner that reduces or eliminates the temperature differential, while preventing the system from going into “chatter.” The heating resistor type differential eliminator (HRDE) is an inexpensive and simple circuit design that uses a thermostat and heating resistor to provide both direct and accurate temperature control for a heating and / or cooling control element, while also preventing the system from chattering. Either of these devices can be used with a temperature-controlled device for sleeping. Both the SRDE and HRDE embodiments reduce the temperature differential of simple automatic temperature controllers so that they are better capable of achieving precise temperature control.
Owner:VERVE

Adaptive inversion integral nonsingular fast terminal sliding mode controller design method

The invention discloses an adaptive inversion integral nonsingular fast terminal sliding mode controller design method based on an extended state observer for mechanical arm trajectory tracking control. Firstly, in order to better reflect the state of the mechanical arm in actual work and improve the control precision, a LuGre friction force model is combined with a mechanical arm kinetic model. And a novel integral fast terminal sliding mode surface is designed on the basis, so that the convergence speed and the tracking precision can be greatly improved, and a reasonable saturation functionis designed for a singular item to avoid singularity. Due to the fact that external disturbance and system uncertainty are unknown, an extended state observer is adopted to estimate and compensate theexternal disturbance and the system uncertainty, and meanwhile buffeting can be effectively eliminated. The speed information of the mechanical arm joint can be obtained through the expansion observer, and therefore people only need to measure the position information of the joint through the encoder. And finally, a control moment is designed by using a backstepping method to realize global asymptotic stability based on the Lyapunov theorem.
Owner:NANCHANG UNIV

Adaptive robust slip form control method for hybrid robot used for automobile electrophoretic painting transportation

ActiveCN110007594AGain real-time adjustmentSuppress chatterAdaptive controlRobustificationRobotic systems
The invention discloses an adaptive robust slip form control method for a hybrid robot used for automobile electrophoretic painting transportation, and belongs to the technical field of automobile electrophoretic painting. The method comprises the following steps that: firstly, aiming at the hybrid robot to adopt a Lagrange method to establish a kinetic model of the hybrid model for carrying out trajectory planning; then, on the basis of the kinetic model, designing an adaptive superhelix slip form controller, dynamically regulating a gain through an adaptive rule to avoid the selection of anoverhigh gain so as to inhibit slip form control buffeting; meanwhile, introducing a disturbance observer to estimate and compensate uncertainty in the hybrid robot and improve the anti-interference performance of the system; and finally, combining the disturbance observer with the adaptive slip form controller to form an adaptive robust slip form controller. By use of the method, the robustness and the anti-interference performance of the hybrid robot control system can be enhanced, in addition, the problems of slip form control buffeting and executor saturation can be solved, and the high-performance control of the hybrid robot used for automobile electrophoretic painting transportation can be realized.
Owner:JIANGSU UNIV

Fixed time dynamic surface high-order sliding-mode suppression method for chaotic oscillation of power system

The invention discloses a fixed time dynamic surface high-order sliding-mode suppression method for chaotic oscillation of a power system. The suppression method comprises the steps of (1) determining the reactive power of the to-be-compensated power system; (2) establishing a mathematical model of a current source type static synchronous compensation controller, and determining the output and reference value of the current source type static synchronous compensation controller; (3) determining a control target value, wherein the output can achieve an adjacent domain with an arbitrarily small reference value within finite time, and the upper bound of the convergence time does not depend on the initial value; (4) designing a fixed time dynamic surface high-order sliding-mode surface and control law to realize target control; and (5) determining the control parameter of the designed control law according to stability analysis of the Liapunov function. By adoption of the method, system stability can be realized within predetermined time under any initial starting condition of the system; and in addition, a buffeting phenomenon is overcome, higher transient response is obtained, the convergence speed is accelerated and the stability of the power system is improved.
Owner:丰县世丰技术产权交易有限公司

Movement decoupling hydraulic driving three-degree-of-freedom spherical wrist

The invention belongs to the technical field of robots, and particularly relates to a movement decoupling hydraulic driving three-degree-of-freedom spherical wrist. The problems that the flexibility,the posture adjustment capacity and the precision positioning capacity of an end effector are conducted due to the fact that a wrist is complex in structure, incompact, small in power intensity, low in integration level and high in self weight, a transmission chain is long, and movement coupling exists are solved. The movement decoupling hydraulic driving three-degree-of-freedom spherical wrist comprises a rotation hydraulic motor, an angle sensor, a machine frame, a displacement sensor, a pitching hydraulic oil cylinder, a pitching ring, a side-sway end cover, a bearing, a transmission shaft,a transmission shaft coupler and a side-sway hydraulic oil cylinder. The pitching axis, the side-sway axis and the rotation axis of the movement decoupling hydraulic driving three-degree-of-freedom spherical wrist cross at one point, uncoupling of three active input movements including pitching, side-sway and rotation can be achieved, thus, the posture of the wrist is easy and convenient to control, the control precision is high, the posture capacity is high, and the mechanical arm vibrating phenomenon caused by movement coupling generated during joint matching adjustment is avoided.
Owner:TAIYUAN UNIV OF TECH
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