18results about How to "Reduce chattering" patented technology

The invention discloses a permanent magnet direct drive wind power system MPPT nonsingular fast terminal sliding mode control method based on a sparrow search algorithm, and the method comprises the steps: building a fan mathematical model, and building a permanent magnet synchronous generator stator voltage equation based on a synchronous rotating coordinate system dq; designing a nonsingular fast terminal sliding mode controller for a rotating speed ring, wherein a state error e = omega * m-omega m is taken as a control target; designing a nonlinear function of a variable boundary layer in combination with a Softsign function; designing a fixed time sliding-mode observer, performing estimation and active compensation on internal and external disturbance uncertain factors of the system, and performing feedforward compensation on an observation value to a non-singular fast terminal sliding-mode controller to offset interference; the to-be-designed parameters in the nonsingular fast terminal sliding mode controller are optimized based on the improved sparrow search algorithm, and the parameters are obtained more accurately. According to the method, the chattering phenomenon existing in sliding mode control is effectively reduced, the improved sparrow search algorithm is used for optimizing controller parameters, a wind power system has the better response speed, the wind energy utilization efficiency is improved, and maximum power tracking is achieved.

A self-adaptive wind-resistant and vibration-suppressing shutter unit capable of constraining all shutters belongs to the technical field of ventilation and air conditioning and comprises a shutter unit, a driving assembly and a self-adaptive wind-resistant and vibration-suppressing device. Each shutter unit comprises a window frame and M shutters, and M is larger than or equal to 3; the shutters are hinged to the window frame through rotating shafts arranged at the upper and lower ends of the shutters; the driving assembly is connected with M shutters of the shutter unit; the self-adaptive wind-resistant vibration suppression device is a self-adaptive flexible adsorption belt and is arranged on the windward side of the shutter unit. The two ends of the self-adaptive flexible adsorption belt are fixedly connected to the leftmost shutter and the rightmost shutter of the shutter unit respectively to form flexible constraint, and the middle part of the self-adaptive flexible adsorption belt is adsorbed to the middle shutter in a self-adaptive mode through the windward side air inlet pressure effect to form single-side contact constraint; shutters at the adjacent ends of the left and right adjacent louver units are hinged through rigid connecting rods, and two-force component constraint is formed. Effective cooperative constraint of all the shutters is comprehensively achieved, and then the wind resistance and vibration suppression effects of the shutters are improved.

The invention relates to the technical field of robot control, in particular to a double-arm collaborative robot fuzzy adaptive sliding mode control method, which comprises the following steps: S1, establishing a dynamic model of a double-arm collaborative robot; s2, fusing a Taylor series expansion method on the basis of the dynamic model of the double-arm collaborative robot, and establishing an improved dynamic mathematical model suitable for a time delay condition; s3, using a fuzzy algorithm and an average residence time mechanism to develop a fuzzy adaptive sliding mode tracking controller; and S4, designing a neural network tracking control scheme based on fuzzy recursion to eliminate a time delay error existing in the model. According to the control method provided by the invention, the negative influence of the time delay on the system stability can be effectively overcome while the interference influence is eliminated, and the application range of the theoretical delay value is obtained on the basis of improving the control quality of the double-arm system.

The present invention relates to the field of motor control technology, and discloses a permanent magnet synchronous motor control method based on an improved linear superhelix, establishes a two-phase stationary coordinate system, obtains a stator current equation, establishes a permanent magnet synchronous motor mechanical motion equation, defines the permanent magnet synchronous motor system state variables, establishes an integral sliding mode surface, and constructs a reaching law speed controller, establishes an improved linear superhelix sliding film observer for estimating back electromotive force, and calculates the rotor speed and rotor position of the permanent magnet synchronous motor. The method is improved on the basis of a linear superhelix sliding mode observer. When the system error increases, the sliding mode gain can be adjusted with the system error, and accurate estimation of the motor speed can be achieved without using a low-pass filter; at the same time, the traditional speed controller is improved, and a new reaching law speed controller that can adaptively adjust the gain coefficient when the system error changes is installed, which reduces the system's jitter phenomenon and improves its anti-interference ability.

The present invention belongs to the technical field of grinding equipment, and in particular, relates to a magnetic level gauge flange outer cylindrical grinding device, comprising a base, a bidirectional clamping and fixing mechanism is fixedly installed on the upper end of the base, and an outer cylindrical grinding mechanism arranged opposite to the bidirectional clamping and fixing mechanism is fixedly installed on the rear side of the upper end of the base. The present invention can realize fast and effective grinding of the outer circle of the flange, and can automatically adjust the grinding speed based on the thickness of the flange, can spray the grinding fluid synchronously when grinding the flange, and the spraying amount of the grinding fluid can be synchronously adjusted based on the grinding speed, can automatically and accurately feedback the warning that the sandpaper board needs to be replaced based on the grinding speed and the amount of grinding, and can automatically calculate the grinding time required for the entire flange based on the thickness of the flange, so as to meet the requirement that thicker flanges need more grinding times and time to complete the processing.

The invention relates to the technical field of asphalt processing, in particular to a drying cylinder material lifting blade anti-abrasion mechanism and a using method. Comprising a drying cylinder body, a plurality of material lifting blade bodies fixedly connected to the inner wall of the drying cylinder body, a plurality of guide plates fixedly connected to the inner wall of the drying cylinder body and self-cleaning units fixedly installed on the material lifting blade bodies. Scraping asphalt which is not completely dried and adhered to the outer wall of the material lifting blade main body; when the multiple chains swing, the knocking balls at the ends of the chains can synchronously move along with swing of the chains, the knocking balls intermittently collide with the outer wall of the material lifting blade body when moving, the completely dried and adhered asphalt on the material lifting blade body can be broken and fall off through collision, and self-cleaning operation on the surface of the material lifting blade body is completed.

The invention discloses a lightweight vibration-damping lathe tool bar, which belongs to the technical field of machine tool tools. The lathe tool bar of the invention comprises a tool body, a plurality of cavities are provided on the tool body along the length direction, and the tool body between adjacent cavities has a BCC lattice structure; a closed magnetic pole device comprises a plurality of magnetic pole pieces respectively located on the bottom and side walls of the cavity; a pendulum-type vibration absorber is placed inside the closed magnetic pole device formed by the plurality of magnetic pole pieces, and magnetic pole patches corresponding to each magnetic pole piece are respectively provided on the outer surface of the pendulum-type vibration absorber, and the magnetic pole patches have the same polarity on the side opposite to each magnetic pole piece, so that the magnetic force of each magnetic pole piece and the corresponding magnetic pole patch repel each other. While ensuring the rigidity, the invention reduces the weight of the tool bar, weakens the influence of the cutting vibration caused by the long overhang of the tool bar, and realizes vibration transfer by relying on the pendulum-type vibration absorber structure, thereby suppressing chatter, improving processing stability, and ensuring processing accuracy.

This invention relates to the field of lathe tool vibration reduction technology, and more particularly to a lathe tool clamping vibration suppression device, comprising: a tool holder with a tool shank inserted inside, a cutting tool mounted on the tool shank; two fixed seats, both of which are semi-enclosed clamping structures, connected to the tool shank by a locking assembly; two sets of damping buffer assemblies, each mounted on the inner wall of one of the fixed seats; and two sets of pendulum-type power damping assemblies, each mounted on the side of one of the fixed seats. This invention is an external, split-type vibration reduction structure, eliminating the need for replacing custom-made vibration-damping tool shanks. It can be directly installed on the outside of various standard tool shanks already in the workshop, enabling vibration reduction upgrades based on existing tools without requiring a complete tool replacement, effectively reducing equipment modification and tool procurement costs, and adapting to batch processing scenarios of multi-specification lathe tools.

The utility model discloses a honing head with multiple oilstone protection wings, and particularly relates to the technical field of honing heads, the honing head comprises a honing head body, oilstones are installed on the outer side of the honing head body, the two sides of the oilstones are fixedly connected with the protection wings, and a disassembly and assembly mechanism is arranged between the honing head body and the oilstones; the dismounting and mounting mechanism comprises a mounting connecting plate, the mounting connecting plate is fixed to one side of the oilstone, and a threaded groove is formed in the surface of the top of the mounting connecting plate. According to the utility model, through the arrangement of the dismounting and mounting mechanism, the oilstone is quickly mounted and replaced, the oilstone is fixed on the honing head, the maintenance time and cost are obviously reduced, the protective wings are made of polyurethane materials and fixed on the two sides of the oilstone, the oilstone can be effectively prevented from being externally impacted or abraded in the machining process, and meanwhile, the service life of the oilstone is prolonged. The flexible materials of the protective wings can absorb vibration generated in the machining process, the machining stability is improved, vibration marks and defects on the surface of the workpiece are reduced, and the machining quality is remarkably improved.

The present invention discloses an active defense cooperative penetration guidance method that takes into account both observability and anti-interception accuracy. The present invention first establishes an active defense nonlinear kinematic model; constructs sliding mode state variables and sliding mode surfaces that take into account both target detectability and penetration guidance accuracy; designs a one-way cooperative sliding mode guidance law by introducing a double power reaching law and an exponential reaching law with state feedback; constructs an acceleration objective function, transforms the two-way cooperative problem into an acceleration optimization problem of minimizing the target missile-defense missile, considers weakening the sliding mode chattering problem caused by the unknown maneuver of the incoming interceptor missile, designs an extended state observer, estimates the acceleration information of the incoming interceptor missile in real time, and weakens the sliding mode chattering phenomenon.

The utility model provides a roller with an inertia damping vibration absorption device. The roller comprises a high-density tungsten damper, a sealing plug, a carbon fiber rope, a high-strength pipe, an inertia damping vibration absorption mechanism and a roller body. When the roller vibrates in the working process, the inertia damping vibration absorption mechanism installed in the through hole of the roller vibrates, vibration is transmitted to the carbon fiber rope through the two sealing plugs, and the high-density tungsten damper is driven by the carbon fiber rope to vibrate in a limited amplitude in the high-strength pipe. The device is compact in structure and uniform and stable in transmission movement, the vibration reduction effect changes along with change of roller vibration, vibration of the rolling mill can be effectively reduced, roller surface stripping, roller breakage and rolled piece vibration marks are reduced, and the quality of products produced by the rolling mill is improved; and meanwhile, the device is convenient to act, and an ideal vibration reduction effect can be achieved without external intervention.

The present invention belongs to the field of machine control, and relates to a wheeled mobile robot trajectory tracking control technology, and more specifically, is a mobile robot trajectory tracking method based on backstepping sliding mode. The method comprises the following steps: step 1: establishing a kinematic model and a dynamic model of a mobile robot; step 2: designing a kinematic controller of a mobile robot based on backstepping method; step 3: designing a dynamic controller of a mobile robot based on a sliding mode variable structure of a combined reaching law; step 4: obtaining the actual posture and actual speed of the mobile robot according to the kinematic model of the robot; inputting the desired posture and actual posture of the mobile robot into the backstepping kinematic controller to obtain a virtual control variable, inputting the virtual control variable and the actual speed into the dynamic controller to obtain a control torque, inputting the control torque and external disturbance into the dynamic model, and outputting acceleration, so that the actual posture of the mobile robot reaches the desired posture.

The invention belongs to the technical field of inverters, and particularly relates to a non-linear control method of a three-phase voltage source type inverter, which comprises the following steps of: detecting an inductive current ILabc, and detecting an output voltage Voabc; converting the abc coordinate system into an alpha beta coordinate system to obtain IL alpha beta and Vo alpha beta; setting a voltage outer ring K2 and a current inner ring parameter K1; obtaining a filter inductance current reference value # imgabs0 # through a voltage outer loop, inputting the current reference value into a current inner loop for control, and obtaining an inverter modulation signal Sinvx (x = alpha, beta) under an alpha beta coordinate; and converting the modulation signal to be Sinvz (z = a, b, c) under an abc coordinate, and outputting a PWM driving signal of an inverter switching device in a carrier modulation mode so as to drive the inverter to output a three-phase alternating current. The problem of buffeting caused by a sliding mode item in current inner loop control is effectively solved, a nonlinear control item is introduced, the robustness of the system is enhanced, and the inverter can compensate for low-order or high-order harmonic voltage.

The invention belongs to the technical field of heavy machine tool machining, and particularly relates to a positioning mechanism for machining a spindle of a heavy horizontal machine tool and a machining method. Comprising a movable seat, the movable seat is located between a clamp assembly and a tailstock, the movable seat and the tailstock are both connected to two sliding rails in a sliding mode, the sliding rails and the bottom of the clamp assembly are both fixedly connected to a bottom plate, and a steel billet to be machined is arranged between the clamp assembly and the tailstock in a hoisting mode and located on the movable seat. According to the method, strip-shaped cuttings generated in the turning process can be reduced, the operation safety is improved, and the situation that the cuttings scratch the machined surface is avoided; built-up edges can be reduced, and the surface smoothness of a machined workpiece is guaranteed; eccentric rotation of the workpiece in the machining process can be reduced, and the surface roughness of the workpiece is reduced; and in the turning process, the turning speed is adjusted in real time along with the change of the shape and the quality of the machined steel blank so as to achieve the optimal turning rotating speed.

This invention provides a device and method for machining internal threads of a tee pipe fitting, relating to the technical field of internal thread machining equipment. The invention includes a bottom support frame, with a fixing plate mounted on the upper end of the bottom support frame. A first mounting seat is fixedly mounted on the upper end of the fixing plate, and a second mounting seat, adjustable horizontally in the XY axis direction by a servo motor, is provided on the upper end of the fixing plate. A milling cutter is mounted on the second mounting seat. A limiting part is rotatably mounted on the side of the first mounting seat near the second mounting seat, wherein the limiting part can clamp and fix the tee to be machined. This invention adopts a double clamping and positioning structure of inner support and outer clamping. The inner support expands outward from the inside of the workpiece port to form an inner wall support, and the radial clamping arm, in conjunction with the clamping strip, clamps synchronously from the outer wall, ensuring that the tee to be machined and the turntable remain precisely coaxial, avoiding radial movement and eccentric rotation of the workpiece during machining.

The invention relates to the technical field of multi-mode mechanical arms, and discloses a multi-mode mechanical arm asynchronous sliding mode control method which comprises the steps that a mechanical arm control system is started, the current working state of a mechanical arm is monitored in real time through a sensor, and a working mode is determined; establishing a model on the basis of fuzzy logic, inputting a working mode and state information of the mechanical arm, outputting adjustment values of key parameters of a controller, and updating configuration of the controller by utilizing the adjusted parameters; a high-order sliding mode surface is designed, and the chattering phenomenon when the sliding mode surface is close is reduced in combination with a discontinuous item smoothing technology. According to the asynchronous sliding mode control method of the multi-mode mechanical arm, the current working state data of the mechanical arm are collected in real time through the position sensor, the speed sensor and the torque sensor which are installed on the mechanical arm, accurate monitoring of the state of the mechanical arm is achieved, and real-time monitoring is beneficial to improving the response speed and accuracy of the system; and it is ensured that the mechanical arm can efficiently operate in different working modes.

The invention provides a novel safety control method for a magnetic suspension system based on a control barrier function, and the method comprises the following steps: obtaining the real-time state information of the magnetic suspension system, and constructing a mathematical model of the magnetic suspension system; calculating a tracking error, and recursively constructing a non-singular terminal sliding mode surface; designing an adaptive finite time disturbance observer, and performing finite time estimation on lumped disturbance including unmodeled dynamics and external disturbance to obtain a disturbance estimation value; designing a continuous nonsingular terminal sliding mode composite controller as a nominal control law; constructing a control screen barrier function according to a preset output security constraint boundary of the magnetic suspension system; and constructing a quadratic programming problem by taking the nominal control law as an expected input and the control barrier function as a safety constraint, and carrying out online solving to obtain a final safety control input. According to the invention, rapid and high-precision position tracking control can be realized on the premise of strictly guaranteeing that the system output is always in the preset safety interval.

The present application relates to a kind of rolling mill vibration detection systems, it includes vibration real-time monitoring module, vibration analysis and alarm module and roller bearing fault diagnosis module;The vibration real-time monitoring module is used to collect the vibration acceleration of roller and rolling speed;The vibration analysis and alarm module is used for vibration intensity judgment and vibration frequency range judgment;The roller bearing fault diagnosis module identifies fault position and fault type and exports;The present application detects and feeds back the vertical vibration situation of rolling mill in real time, especially for common three times frequency chatter;Through reasonable measuring point selection and acquisition mode, and set vibration intensity and vibration frequency range two-stage alarm mechanism, avoid due to abnormal vibration bring the damage of equipment itself and cause safety production problem, to improve strip yield, optimize strip surface quality and dimensional accuracy, reduce the vibration mark of strip due to vibration.