2044results about How to "Reduce control difficulty" patented technology

The invention relates to a hydraulically-driven four-foot robot which belongs to the field of robots. The robot comprises a machine body (1) and four legs arranged on the machine body, wherein each leg consists of a first hydraulic cylinder body (2), a first hydraulic cylinder telescopic rod (3), a first parallelogrammic I connecting rod (4), a first parallelogrammic II connecting rod (5), a pelvic part (6), a second hydraulic cylinder body (7), a second hydraulic cylinder telescopic rod (8), a second parallelogrammic I connecting rod (9), a second parallelogrammic II connecting rod (10), thighs (11), a third hydraulic cylinder body (12), a third hydraulic cylinder telescopic rod (13), a third parallelogrammic I connecting rod (14), a third parallelogrammic II connecting rod (15), a crus (16), a spring (17), telescopic feet (18) and a soles (19). A telescopic four-connecting-rod joint transmission mechanism based on a parallelogram is adopted by the joint design of the hydraulically-driven four-foot robot, the joint control is simplified, and the moving performance of the foot type robot joints is improved.

The invention discloses an end effector of a ball-like fruit picking robot. The end effector comprises a rotating machine assembly, a telescopic cylinder assembly and an arc-shaped finger cutting assembly. The end effector has the following advantages: a rotating machine is utilized to drive four arc-shaped blades to cut the fruit stem in any position between the four arc-shaped blades in a rotating manner via a coupling shaft assembly, thus omitting detection of the position of the fruit stem; a single-rod double-action cylinder drives four arc-shaped fingers to unfold and fold by way of extension and retraction of a piston rod; the space formed when the four arc-shaped fingers are folded is larger than the three-dimensional space of the fruits; the fingers are not contacted with the fruits during picking, thus ensuring that the fingers can rotate relative to the fruits, providing conditions for the arc-shaped blades to cut the fruit stems in a rotating manner and dispensing with complex pressure control for clamping the fruits; and the end effector has a reliable picking mode, low action control difficulty, low cost and strong universality.

The invention discloses a lithium battery pack SOC (state of charge) equalization system and a lithium battery pack SOC equalization method. The equalization problems of lithium battery packs are divided into two levels, including intra-group equalization and intergroup equalization. Lithium batteries are divided into a plurality of groups, every lithium battery group is in parallel connection with a bidirectional DC-DC converter, the output ends of the bidirectional DC-DC converters are in series connection to serve as the output ends of a direct-current bus and a power generation system, and loads are in parallel connection. The batteries in every group are connected through bilateral switches and are in parallel connection with by-pass switches so as to be connected dynamically. Intergroup equalization is achieved by distributing output voltage of every group according to average SOC thereof; intra-group equalization can be achieved by controlling dynamic connection of every single battery in every group. The lithium battery pack SOC equalization system and the lithium battery pack SOC equalization method have the advantages that lithium battery pack SOC is equalized without an extra equalization circuit, so that energy transfer among the batteries is avoided, lithium battery pack equalization is achieved automatically in a charge-discharge process, the equalization speed is greatly increased and the equalization efficiency is greatly improved.

The invention discloses an energy-saving shield segment assembling and positioning electro-hydraulic control system adopting a load-sensitive technology. The system comprises a motor, a variable pump, a two-position three-way proportional reversing valve, a variable cylinder, an overflow valve, a pressure reducing valve, a pressure compensating valve, a one-way valve, a multi-way valve, a balancing valve, a hydraulic lock, a hydraulic motor, a hydraulic cylinder, a moment rotation speed sensor, a displacement sensor and a pressure sensor. The multi-way valve with the pressure compensating valve in a segment assembling system is used for controlling the rotation speed of the hydraulic motor for driving the segment assembling machine to rotate and the moving speed of each hydraulic cylinder. The pressure sensor is used for detecting the pressure of a main oil passage of the system and the working pressure of each executer in real time; and a computer control unit is used for determining a variable pump control signal according to a system pressure signal, so that the displacement of the variable pump is changed with the load change so as to achieve load sensitive control. According to the invention, energy waste caused by continuous oil supply at the highest working pressure of the traditional system is avoided, the throttling loss and overflow loss are greatly reduced, and an obvious energy saving effect is obtained.

The invention provides a zero-sequence current suppression method of open type permanent magnet synchronous motor with double-inverter power supply, belongs to the technical field of motor control, and aims at solving the problem of zero-sequence current of the open type permanent magnet synchronous motor with the double-inverter power supply. The method is characterized in that the closed loop control for zero-sequence current i0=0 is added on the basis of a vector control system, so as to realize the suppression of the zero-sequence current; the zero-sequence current is calculated by detecting the three-phase current of the motor and is treated as the feedback quantity to build the closed loop control of the zero-sequence current; the output of a zero-sequence current ring is specified by zero-sequence voltage, and the zero-sequence current is suppressed by adjusting the zero-sequence voltage produced by the double inverters. The method is applied to the suppression of the zero-sequence current in the open type permanent magnet synchronous motor with double-inverter power supply.

The invention provides an overlay error measurement apparatus and a method. According to the present invention, a wide waveband light source is adopted, the emitted wide waveband measurement light beam turns through a beam splitting prism, then is subjected to normal incidence on an overlay measurement label through an object lens, and produces diffraction, the diffraction light is received by a first detector after passing through the object lens and the beam splitting prism so as to measure the diffraction light intensity, and the asymmetry of the high-order diffraction light spectral intensity is further calculated so as to obtain the overlay error; and the adopted wide waveband has the wide measurement range, the good process adaptability is provided, and the normally-incident light beam is adopted so as to provide large depth of focus and reduce the control difficulty of the focal plane position measurement, such that the feasibility during actual measurement is increased, and the high precision measurement result can be obtained.

The invention relates to a double-frame magnetic-suspension CMG (Control Moment Gyroscope-CMG) control system, comprising a double-frame magnetic-suspension CMG body, a magnetic-suspension rotor control unit, an inner-frame control unit, an outer-frame control unit and a compound compensation control unit comprising a feed-forward compensator and a feed-back compensator. The feed-forward compensator carries out a feed-forward compensation for an inertia coupling disturbing moment of the rotor and the inertia moments of the inner and outer frames, and the feed-back compensator carries out the compensation for the impact of the gyroscope action disturbing moment; the outputs of the feed-forward compensator and feed-back compensator are respectively added to the outputs of the magnetic-suspension rotor control unit, inner and outer frames control units to obtain a total control value so as to realize the stable control to the double-frame magnetic-suspension CMG on the basis of compensating a dynamic frame effect. The double-frame magnetic-suspension CMG control system of the invention adopts the compensation to the output moments of magnetic bearings and frame motors to offset the coupling disturbing moment caused by the rotation of the inner and outer frames and to eliminate the displacement of the dynamic frame of the magnetic-suspension rotor, and enhances the response speed and accuracy of frames and the whole double-frame magnetic-suspension CMG.

The invention provides a high-gain interleaving boost converter. The high-gain interleaving boost converter comprises two inductors, two power switches, an output diode and voltage-multiplying units, wherein the voltage-multiplying units form a three-port unit by a diode and a capacitor; the first port is connected with one end of the capacitor, the other end of the capacitor and the node of the diode cathode are used as the second port; and the anode of the diode is used as the third port. The base gain is doubled on the basis of the gain of the original circuit by adding one voltage-multiplying unit in the circuit each time, i.e. the gain ratio of the circuit is (n+1) times that of the base boost converter by adding n voltage-multiplying units in the circuit. Compared with the conventional high-gain boost converters, the high-gain interleaving boost converter disclosed by the invention has simple circuit topology and no coupling inductance (EMI (Electro-Magnetic Interference) small), and can greatly reduce voltage stress of a switching element, so that the integral working efficiency of the converter is improved.

The invention relates to high-strength atmospheric corrosion resistant steel and a production method thereof, and belongs to the field of metallurgy. The technical problem to be solved by the invention is to provide the high-strength atmospheric corrosion resistant steel of which the yield strength is more than or equal to 550 MPa. The high-strength atmospheric corrosion resistant steel comprises the following chemical compositions in percentage by weight: less than or equal to 0.12 percent of carbon, less than or equal to 0.75 percent of silicon, less than or equal to 1.50 percent of manganese, less than or equal to 0.025 percent of phosphorus, less than or equal to 0.008 percent of sulfur, 0.30 to 1.25 percent of chromium, 0.12 to 0.65 percent of nickel, 0.20 to 0.55 percent of copper, 0.006 to 0.02 percent of titanium, more than 0.09 percent and less than or equal to 0.15 percent of vanadium, 0.01 to 0.02 percent of nitrogen, 0.015 to 0.03 percent of niobium, and the balance of iron and inevitable impurities. The high-strength atmospheric corrosion resistant steel has superior comprehensive properties of high strength, high toughness, high plasticity, obvious yield point and the like, and has wide application prospect.

The invention discloses an asymmetric four-motor UAV and a control method thereof. According to the asymmetric four-motor UAV, the connection line between two large motor propellers is perpendicular to that between two small motor propellers, and the connection line between the two small motor propellers is shorter than that of the two large motor propellers; the problem of control system divergence is solved through a Smith prediction algorithm; fuzzy control rules are designed and fuzzy inferences are utilized to achieve the optimized adjustment of PID (proportion-integral-derivative) parameters under different flight working conditions. The asymmetric four-motor UAV has the advantages of large take-off weight and good control robustness. The control method of the asymmetric four-motor UAV solves the problems of inaccurate control model and large system interference and reduces the control coupling degree of the four-rotor UAV, thereby reducing the control difficulty and achieving the smooth control of the four-rotor UAV.

The invention relates to the field of unmanned aerial vehicle (UAV) and ground robot coordinated formation, and provides a system which has good scalability and strong stability and can support UAV and ground robot platform coordinated formation so researchers can conduct physical simulation and experimental verification on an air-ground coordinated formation algorithm through the system. The technical scheme is as follows: a UAV and ground robot coordinated formation system is composed of a UAV formation, an indoor positioning system, ground mobile robots, and a ground work station; the UAV formation includes multiple four-rotor UAVs of different models, and each UAV is equipped with an airborne controller, a sensor device and a Wi-Fi module; and the airborne controllers run a flight control algorithm in real time and are responsible for coordinating and commanding all behaviors of the UAVs, and the attitude information of the UAVs is acquired by the sensor devices. The system is mainly applied to the occasion of UAV and ground robot coordinated formation.

The invention relates to a combined mechanism of a ratchet of a high-volatage-cable walking robot. The combined mechanism is characterized by comprising a wheel type walking mechanism and claw-type clamping mechanisms, wherein the wheel type walking mechanism is used for walking on a high-voltage cable, the claw-type clamping mechanisms are used for clamping the high-voltage cable and provides positive pressure, the wheel type walking mechanism and the claw-type clamping mechanisms are arranged on a robot frame, and the claw-type clamping mechanisms are used in pairs. The combined mechanism disclosed by the invention utilizes a principle of an under-actuated mechanism, and two motion manners of rotation and movement are realized through one motor-driven clamping mechanism; through a self locking mechanism, the clamping mechanism is automatically locked after closed, thus the energy consumption is reduced; and the invention has the advantages of small and novel structure, high clampingefficiency and wide application range.

The invention provides a power assembly for an electric automobile. The power assembly comprises a driving motor (2) and a power transmission system (1), wherein the driving motor is a permanent magnet synchronous motor; the power transmission system (1) comprises a gear transmission system, an automatic gear-shifting system and an automatic parking system; the gear transmission system comprises a differential assembly (13), an input shaft (16), a shifting fork, a synchronizer (17), a first-gear gear and a second-gear gear (18); the automatic gear-shifting system comprises a gear-shifting motor (4), a shifting fork (5), a shifting fork shaft (7), a gear-shifting shaft (6), a gear-shifting cover plate (8), a gear-shifting shaft angle sensor (9), a gear-shifting position detection rod (10),a gear-shifting motor cover plate (11) and a shift sensor (12); and the automatic parking system comprises a P-gear motor (3), a P-gear pawl (15), a P-gear pawl pressure plate (19), a spring pre-fastening mechanism (20), a P-gear shaft (21), a P-gear cover plate (22), a P-gear position detection rod (23) and a P-gear position sensor (24).

The invention provides a brand new permanent magnet synchronous motor control method. A control system applied by the method comprises a torque command input unit, a torque-current lookup unit, a cross decoupling regulation unit, a space vector pulse width modulation unit, an inverter unit, a weak magnetic regulation unit and a permanent magnet synchronous motor unit, wherein the torque-current lookup unit performs analysis according to the output result of current weak magnetic regulation and a torque command and acquires an AC-DC shaft current command through lookup, and the lookup manner is irrelevant to the rotating speed so as to improve the convenience and the accuracy of torque lookup; meanwhile, the cross decoupling regulation unit performs cross PI (Proportional-Integral) regulation on the difference between the AC-DC shaft current command and actual current feedback so as to reduce the influence of cross coupling of the motor per se at high speed and improve the high-speed stability of the motor; and the weak magnetic regulation unit calculates the amplitude of voltage vector according to the current AC-DC shaft voltage reference command, performs PI regulation on the amplitude and the maximum available voltage vector amplitude in the current busbar voltage and automatically outputs a weak magnetic reference current command to conveniently enlarge the motor speed regulation range.

The invention relates to a low-temperature continuous-annealing interstitial-free atom cold-rolled steel plate and a production method thereof and belongs to the technical field of iron-based alloys. The production method of the cold-rolled steel plate comprises the following steps of: controlling the components of the cold-rolled steel plate in percentage by mass: 0.0005-0.0025% of C, less than or equal to 0.03% of Si, 0.05-0.15% of Mn, less than or equal to 0.015% of P, less than or equal to 0.01% of S, less than or equal to 0.0025% of O, less than or equal to 0.0025% of N, 0.015-0.050% of Al, 0.03-0.07% of Ti, and the balance of Fe and inevitable mixed elements; and meanwhile, controlling the continuous-annealing temperature of the cold-rolled steel plate to be 710-740 DEG C, and controlling the cold-rolling reduction ratio to be not less than 80%. According to the cold-rolled steel plate and the production method thereof, the reasonable chemical components and the suitable control of cold-rolling reduction are adopted, the recrystallization temperature is lowered, full-old-rolled microstructures are formed, and a lower continuous-annealing temperature can be adapted, so that the equipment cost and energy consumption are reduced, the control difficulty of a production process is reduced, the product defects and production accidents are avoided.

The invention discloses a renewable energy source cooling, heating and power microgrid system and a control method. The renewable energy source cooling, heating and power microgrid system comprises a power module and a cooling/heating module. According to the power module, a solar power generation system is sequentially connected with a DC/DC converter and a DC/AC converter in series and then connected with an AC bus, a wind power generation system is sequentially connected with an AC/DC converter and a DC/AC converter and then connected with the AC bus, a gas internal combustion generation system is directly connected with the AC bus, a storage battery pack is connected with the AC bus through a bi-directional DC/AC converter, variable power electricity storage hot water tanks are connected with the AC bus, and the AC bus is connected with a power distribution network through a PCC. The renewable energy source cooling, heating and power microgrid system and the control method have the advantages that clean renewable energy sources such as methane, wind energy and solar energy are adopted as energy sources of a cooling, heating and power microgrid, no pollution is caused to the environment, operation cost is very low, and the application range is wide; by the adoption of a multi-microsource energy supply mode, the problem of capacity allocation redundancy of a single energy supply system can be solved.

The invention discloses a cooperative control method of a left-opened-door bus special phase setting and social traffic flow, which comprises the following steps: setting a bus station and a stereo facility which help pedestrians to cross a street; detecting a bus; determining the running time of the bus; determining a signal phase of the bus which drives through an intersection; and setting the bus special phase and a cooperative control plan. According to the invention, the bus stations in two directions are combined and placed at a median strip of the intersection, so that not only the land is saved, but also the bus station points are easier to recognize, and meanwhile, a new concept for planning and constructing of a public transit network is provided, that is, the public transit network is connected based on the bus stations arranged at intersections. With the adoption of the method, the situation that the bus does not stop at an intersection without a bus station while stops at an intersection with a bus station can be basically realized, so that passengers waiting for a long time at an intersection with a bus station can be avoided, thereby shortening the whole driving time of the bus and improving the whole operation efficiency of the bus system. Moreover, the method is functioned as the cooperation of the social traffic flow, so that the passing efficiency of the whole intersections is guaranteed.