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371results about How to "Reduce error" patented technology

All-vanadium redox flow battery state-of-charge online monitoring method and system

ActiveCN105425164AAccurate state of chargeReduce errorElectrical testingIonElectricity
The invention provides an all-vanadium redox flow battery state-of-charge online monitoring method and system. The monitoring method comprises the steps that the vanadium ion concentration value of each valence state in positive and negative electrode electrolyte in the battery charging and discharging process is acquired and open-circuit voltage is recorded; the state-of-charge of the positive and negative electrode electrolyte is calculated via the vanadium ion concentration value; a relation equation of open-circuit voltage and the corresponding state-of-charge is obtained according to the relational graph of the state-of-charge and open-circuit voltage through fitting; and the state-of-charge of the positive and negative electrode electrolyte of a battery to be measured is obtained according to the relation equation and current open-circuit voltage. The relevant parameters of the positive and negative electrode electrolyte are acquired so that unnecessary error in the calculation process of the battery state-of-charge can be weakened and finally the state-of-charge of the battery electrolyte can be obtained through measurement. According to the method, an existing open-circuit voltage method equation is corrected, and fitting of a negative electrode relation equation and a positive electrode relation equation is respectively performed so that the accurate state-of-charge of the positive and negative electrode electrolyte can be calculated.
Owner:NORTH CHINA ELECTRICAL POWER RES INST +1

Method and module for distinguishing load of six-axis robot

The embodiment of the invention relates to the technical field of robot control, and discloses a method and a module for distinguishing a load of a six-axis robot. The method for distinguishing the load of the six-axis robot comprises the following steps: according to a preset parameter limiting value of each joint, generating an excitation track of the six-axis robot; when the six-axis robot carrying the load is controlled to run along the excitation track, collecting a parameter running value of each joint; according to the parameter running value of each joint and a preset robot dynamics model, calculating a torque predicting value of each joint; calculating a difference between the torque running value and the torque predicting value, the difference serving as torque produced by the load, and according to preset relationship of the torque produced by the load and a load inertia parameter, calculating the load inertia parameter. The embodiment of the invention also provides the module for distinguishing the load of the six-axis robot. The module for distinguishing the load of the six-axis robot disclosed by the embodiment has the advantage that compared with the prior art, the parameter running value of the robot is collected on line, and the load inertia parameter of the robot is distinguished; because a six-dimensional force sensor is not used, the cost is reduced.
Owner:SHANGHAI STEP ELECTRIC +1
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