38results about How to "Realize closed-loop feedback control" patented technology

The invention discloses a critical care, transfusion control, and diagnosis and treatment integrated system and a control method thereof. The system comprises a transfusion device, a transfusion care base station, a central monitoring server and a medical PDA, wherein the transfusion care base station forms a transfusion scheme and performs open-loop control on the transfusion device by a wireless or wire mode, or adjusts transfusion parameters according to a corresponding closed-loop algorithm by monitoring and analyzing physiological parameters of patients during the transfusion execution, and performs closed-loop control on the transfusion device by the wireless or wire mode; the central monitoring server is connected with the transfusion care base station by the wireless or wire mode and monitors the operating state of the transfusion care base station; and the medical PDA is connected with the transfusion care base station and/or the central monitoring server by the wireless mode and is used for displaying transfusion condition and managing transfusion process. The system organically combines a treatment means (venous transfusion) and the effect of the treatment means (the monitoring of the physiological parameters) into one system, thereby realizing the closed-loop control of one or more transfusion devices, and improving medical quality and work efficiency of medical personnel.

The invention relates to a laser tailored welding curved surface abutted seam measuring method and a realization device thereof. The method comprises the following steps: generating circular structured light by utilizing a circular laser, and generating horizontal-I linear structured light by utilizing a horizontal-I linear laser, wherein the circular structured light and the horizontal-I linear structured light are projected to the surface of a curved surface abutted seam and intersected; collecting and obtaining an abutted seam surface gray level image comprising the horizontal-I linear structured light and the circular structured light through a sensing unit, and transmitting the collected image to an image processing unit; and carrying out processing by the image processing unit on the collected image to obtain three-dimensional position and normal vector of the curved surface abutted seam center and abutted seam width and mismatching values. The device comprises the sensing unit for collecting the laser tailored welding curved surface abutted seam image and transmitting the image to the processing unit; the image processing unit for carrying out processing on the collected abutted seam image; and a parameter setting and control unit for setting parameters and in communication connection with the sensing unit, the image processing unit and an upper computer. The laser tailored welding curved surface abutted seam measurement precision is improved, online tracking adjustment of the pose of a welding torch for curved surface laser tailored welding is realized favorably, welding quality is ensured.

The invention aims at providing a small underwater hydraulic mechanical arm two-stage drive joint. The small underwater hydraulic mechanical arm two-stage drive joint comprises a gripper drive hydraulic cylinder assembly for the first-stage linear movement, a second-stage joint rotation assembly and a position detection assembly, wherein the rear end of the first-stage hydraulic cylinder assembly is connected with the front end of a second-stage wrist joint through screws, an oil way inside the first-stage hydraulic cylinder assembly is sealed through an O-shaped seal ring, and the position detection assembly is in interference fit with the rear end of the second-stage wrist joint through a supporting shaft. The wrist joint is driven by hydraulic oil at the oil inlet/outlet in the middle of a second-stage joint mechanism to rotate, and the first-stage gripper hydraulic cylinder assembly is driven to rotate together with the second-stage joint mechanism, a first-stage gripper hydraulic cylinder is driven by hydraulic oil at the oil inlet/outlet in the tail portion of the second-stage joint through the oil way in the first-stage gripper hydraulic cylinder assembly to do linear movement, and the drive torque is provided for a gripper. By means of the small underwater hydraulic mechanical arm two-stage drive joint, the interference of hydraulic connectors connected with the oil inlets and the oil outlets to an outer cylinder is avoided when a first-stage hydraulic cylinder rotates together with the wrist joint in the traditional hydraulic cylinder front and back oil inlet and outlet form.

The invention relates to a primary edge current reference generating circuit and a primary edge current reference generating method for a high power factor constant-current switch power supply. The conventional primary edge current reference generating circuit is complicated. An input end of a first multiplier is used as an input end of the primary edge current reference generating circuit; an input end of a conduction angle detection circuit is used as another input end of the primary edge current reference generating circuit, and the output end of the conduction angle detection circuit is connected with another input end of the first multiplier; the output end of the first multiplier is used as an input end of a current loop; another input end of the current loop is used as the other input end of the primary edge current reference generating circuit; the output end of the current loop is connected with an input end of a second multiplier; another input end of the second multiplier is connected with the input end of the conduction angle detection circuit; and the output end of the second multiplier is used as the output end of the primary edge current reference generating circuit. Sampling hold is not required, so that the error caused by sample hold is eliminated, and the constant-current precision of the output current is improved.

The invention discloses laser-induced breakdown spectroscopy (LIBS)-based selective laser melting (SLM) formation process on-line detection equipment, which is used for realizing the on-line monitoring of the physical mechanism and component change of an SLM formation process and solving the technical problem that the component information of metal additive manufacturing materials is very difficult to detect in an on-line way. The LIBS-based SLM formation process on-line detection equipment comprises a pulse laser, an indicating laser, a spectrophotometer and a matched detector thereof, an optical transmission system and a computer. The LIBS-based SLM formation process on-line detection equipment can be matched with SLM formation equipment for use, and can be used for detecting the components of a forming platform in the SLM formation process in real time and analyzing the physical mechanism of a machining process by means of the component change; furthermore, the LIBS-based SLM formation process on-line detection equipment realizes on-line detection of multiple points and selected points by using one-division multichannel energy transmission optical fibers, and reduces detection cost under the premise of realizing the full-scale detection of the forming platform.

The invention relates to an arm joint structure of a small underwater hydraulic manipulator, which comprises a first mechanical arm, a second mechanical arm and a drive mechanism, wherein the front end of the first mechanical arm is connected with the rear end of the second mechanical arm via a rotation shaft; the drive mechanism is arranged between the first mechanical arm and the second mechanical arm and comprises a hydraulic cylinder, a C-shaped plate and a straight plate; a cylinder body of the hydraulic cylinder is articulated with the first mechanical arm; a cylinder rod is articulated with the middle of the C-shaped plate; one end of the C-shaped plate is articulated with the first mechanical arm; the other end of the C-shaped plate is articulated with one end of the straight plate; and the other end of the straight plate is articulated with the second mechanical arm. The arm joint structure has the advantages of compact structure, small size, convenience in mounting, flexible joint driving and strong driving power, can achieve 180-degree rotation of a manipulator joint, and is applicable to driving the small underwater hydraulic manipulator joint.

The invention relates to a rapid plane movement platform. The rapid plane movement platform is characterized in that: a lower-layer platform comprises a first lower substrate, a second lower substrate, two lower guide rails, a lower driving rolling gear, a first lower driven rolling gear, a second lower driven rolling gear and a third lower driven rolling gear; an upper-layer platform comprises afirst upper substrate, a second upper substrate, two upper guide rails, an upper driving rolling gear and an upper driven rolling gear; the upper-layer platform is driven by the interaction between the driving rolling gear and the driven rolling gear in the lower-layer platform by virtue of flexible threaded driving lines; and a carrying platform is driven by the interaction between the driving rolling gear and the driven rolling gear in the upper-layer platform by virtue of flexible threaded driving lines, thus orthogonal two-dimensional movement direction of the carrying platform is achieved. The rapid plane movement platform has the advantages of reasonable design of mechanical structure and driving structure, light structure, high driving efficiency, rapid action response, easiness inprocessing and low manufacture cost.

The invention discloses construction of a propulsion motion control equation of a bionic undulatory fin and a parameter setting optimization method thereof, wherein an improved particle swarm algorithm is used for setting and optimizing parameters of the propulsion motion control equation of the bionic undulatory fin based on a central pattern generator. The motion control equation based on the central pattern generator can generate various rhythm signals with variable phase difference, frequency and amplitude, can resist the influence of sudden change of control parameters on the continuity of output signals, and can realize flexible transition of a bionic undulatory fin underwater robot under the switching of different swimming modes; and a method of CPG parameter setting optimization based on the improved particle swarm algorithm by taking a kinematic equation of a simplified ruled surface of a wave motion of a bionic object black ghost fish as a reference is proposed,. An inertia factor of the particle swarm algorithm is improved, and decreases linearly with the iteration of the algorithm, the accuracy of CPG parameter setting optimization is improved, and the performance of the bionic undulatory fin underwater robot is improved from a control algorithm level.

The invention discloses a condensation type fuel gas heating stove. The condensation type fuel gas heating stove comprises a main heat exchanger, a gas valve, a combustor, a combustion cavity, a smokecollecting hood, a flue, a shell and a circulating water pump and further comprises a direct-current draught fan and a waste heat recycling device; the direct-current draught fan is a noninductive brushless direct-current draught fan and comprises a draught fan electric control plate and a draught fan body, the draught fan body is separated from the draught fan electric control plate, and is mounted between the main heat exchanger and the waste heat recycling device, the draught fan electric control plate adjusts the rotating speed of the draught fan body in real time along with changes of combustion power of the heating stove, and controls the air-fuel ratio in the combustion process to be kept unchangeable, the noninductive brushless direct-current draught fan is adopted in the heatingstove, no induction elements exist in the draught fan body, the draught fan body and the draught fan electric control plate are separated, and the draught fan body can be applied to the severe environment; meanwhile, the wind speed of the direct-current draught fan is precisely adjustable, the air-fuel ratio in the combustion cavity is kept as definite value under different types of combustion power, meanwhile, the heating stove is combined with the waste heat recycling device to promote the condensation effect, work efficiency is improved, and energy is saved.

The invention provides an intelligent control method of a deep cone thickener under a filling scene, and the intelligent control method can improve the control precision of underflow concentration. The method comprises the following steps of: establishing an underflow concentration control model to control the underflow concentration, offline training a neural network planner through historical record data, and outputting an optimal rake frame rotation speed setting value, an optimal flocculant addition ratio and an optimal mud layer pressure setting value; dynamically adjusting a flocculant addition flow setting value according to real-time monitoring data and the optimal flocculant addition ratio by a flocculant controller; adjusting an underflow flow setting value by a mud layer pressure controller to enable a deep cone thickener mud layer pressure monitoring value tracks the optimal mud layer pressure set value; and applying the obtained optimal rake rotation speed setting value, flocculant addition setting value and underflow flow setting value to the actual filling process in real time, and transmitting monitoring data generated in real time to the underflow concentration control model in real time for online learning and training of the underflow concentration control model. The invention relates to the field of mine tailings disposal.

The invention relates to an energy-saving servo control system for an injection molding machine. The energy-saving servo control system comprises a control module of the injection molding machine, a servo motor, a constant displacement pump, a control element and a performing element, and further comprises a servo controller, a pressure sensor and a speed sensor, wherein the servo controller comprises a data processing module, a torque conversion module and a speed conversion module; the control module of the injection molding machine comprises a data processing module which is respectively connected to the pressure sensor, the speed sensor, the torque conversion module and the speed conversion module; the torque conversion module and the speed conversion module are respectively connected to the servo motor; the pressure sensor is arranged on an oil outlet pipeline of the constant displacement pump; the speed sensor is arranged on the output shaft of the servo motor; and the servo motor is used for receiving a torque signal and a rotation speed signal which are independent from one another. Compared with the prior art, a purpose of regulating the control system by double closed-loop feedback of a pressure flow rate and rotation speed is realized, so that the working performance of the operation of the injection molding machine is relatively stable, and the energy utilization efficiency of the injection molding machine is improved.

The invention provides a horizontal door opening type jig dyeing machine and a control system thereof. The horizontal door opening type jig dyeing machine comprises winding rollers, cloth guide rollers, a dyeing vat combination, a controller and a heating system. The cloth guide rollers include a cloth guide roller a, a cloth guide roller b and a cloth guide roller c which are arranged above the dyeing vat combination in an inverted 'V' shape, and a tension detecting roller is arranged at the upper end of the cloth guide roller b. The winding rollers include a winding roller A and a winding roller B which are arranged at the front and back ends of the dyeing vat combination respectively. The heating system is arranged in the dyeing vat combination. The invention further provides a control system of the horizontal door opening type jig dyeing machine. The dyeing vat combination comprises a first dyeing vat and a second dyeing vat, and heating tubes are arranged between the first dyeing vat and the second dyeing vat, so that evenness in heating of dye liquor in the second dyeing vat without sharp falling of the temperature is guaranteed. Additionally, the dye liquor can be evener by the aid of a swing mechanism arranged below the second dyeing vat, and accordingly jig dyeing quality is improved greatly.

The invention provides a vehicle suspension system vibration energy recovery device. Classical rectifier circuits and buck-boost circuits are taken as design basis, the voltage at the input end and the voltage at the output end are constantly collected, the error between an output voltage actual value and an output voltage target value is calculated, and the duty ratio of a PWM signal is amended, so that closed-loop feedback control for voltage regulation is realized, three-phase alternating current with constantly changing voltage amplitude can be converted into stable direct current capable of charging a storage battery, and the operation is stable and reliable.

The invention discloses a sandwich type SMC sheet and an automatic production line thereof. The sheet comprises a core material impregnated with a resin paste material, the core material comprises two short fiber layers and a continuous layer positioned between the two short fiber layers; the automatic production line comprises a first yarn cutting device, a continuous layer laying device, a second yarn cutting device and a winding roller which are sequentially arranged in the direction of the production line. The first yarn cutting device, the continuous layer laying device and the second yarn cutting device are all in signal connection with a first program controller. According to the SMC sheet, the continuous layers are added to serve as transmission units of force between fibers, the continuous layers and the short fiber yarn layers on the upper side and the lower side form a sandwich type structure, and the mechanical strength and the force bearing performance of the whole SMC sheet are effectively improved; by means of the improved design of the production line, the regulation and control over the content of SMC fibers, closed-loop feedback control over the glue content in SMC sheets and real-time monitoring over the weight of the SMC sheets are achieved, and the production efficiency and the product quality are effectively improved.

The invention discloses a sewage treatment energy-saving control method based on a three-variable three-dimensional table. According to the sewage treatment energy-saving control method based on the three-variable three-dimensional table, the output frequency of air blowers is adjusted according to the change of the sewage inflow rate, the water inflow chemical oxygen demand and the water effluent chemical oxygen demand deviation. The sewage treatment energy-saving control method based on the three-variable three-dimensional table comprises the steps that the three-dimensional table with the gradually increasing sewage inflow rate Q, the gradually increasing water inflow chemical oxygen demand P and the gradually increasing water effluent chemical oxygen demand deviation delta C used as the three variables, and the corresponding theoretical number n of working air blowers and the theoretical output frequency values (please see the specification for the symbol) of the air blowers are increased or decreased along with the increasing or decreasing of the gradually increasing sewage inflow rate Q, the gradually increasing water inflow chemical oxygen demand P and the gradually increasing water effluent chemical oxygen demand deviation delta C; the current water inflow rate Q', the current water inflow chemical oxygen demand P' and the current water effluent chemical oxygen demand C are obtained regularly; the water effluent chemical oxygen demand deviation delta C is calculated according to the current water effluent chemical oxygen demand deviation C and a water chemical oxygen demand discharging standard value; the current theoretical number n of working air blowers and the current theoretical output frequency values (please see the specification for the symbol) of the air blowers are obtained by positioning the current water inflow rate Q', the current water inflow chemical oxygen demand P' and the water effluent chemical oxygen demand deviation delta C in the three-dimensional table, and then the number n' of actually-working air blowers and the actual output frequency of the air blowers are adjusted in real time. According to the sewage treatment energy-saving control method based on the three-variable three-dimensional table, the frequency and the number of the air blowers can be adjusted intelligently, and thus the situation that the sewage treatment capacity is not high enough due to the fact that the frequency of the air blowers is too low or waste is caused due to the fact that frequency of the air blowers is too high is avoided.

The invention discloses a cantilever tunneling machine and a tunneling control method thereof. The cantilever tunneling machine comprises a horizontal adjusting oil cylinder, a vertical adjusting oilcylinder and a control unit, wherein the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder are used for adjusting an angle of a cantilever and connected with the control unit through proportional valves; a transverse rotary encoder and a longitudinal rotary encoder are arranged on the cantilever and used for detecting a horizontal angle and a vertical angle of the cantilever respectively and sending the horizontal angle and the vertical angle to the control unit; and the control unit is used for controlling the horizontal adjusting oil cylinder and the vertical adjusting oil cylinder to act through the proportional valves. According to the cantilever tunneling machine and the tunneling control method thereof, the oil cylinders are controlled by the proportional valves to act and the rotary encoders are arranged and used for measuring angle information, so that automatic adjustment and closed loop feedback control for the angle of the cantilever are realized, theposition accuracy of the angle of the cantilever is relatively high, and the forming quality of a tunneling roadway is improved. Besides, manual operation is replaced with automatic control, the labor intensity is reduced, and the safety performance is improved.