15results about How to "Reduce speed fluctuations" patented technology

The invention provides an unmanned underwater vehicle trajectory tracking control system based on preset time and performance, and aims to improve trajectory tracking precision and stability in underwater operation tasks. The method comprises the following steps: establishing an unmanned underwater vehicle mathematical model; designing a preset time preset performance function, and introducing an adjustable function changing along with time to enable the boundary function to have a smooth characteristic in a convergence process; a time-varying gain auxiliary system is adopted to process an input saturation problem; designing a disturbance observer to realize rapid attenuation of disturbance, and enhancing the robustness of the system by introducing a residual adjustment function based on a smooth nonlinear model; and finally, integrating the interference observer and an auxiliary system to deduce a trajectory tracking scheme. The result shows that the longitudinal speed fluctuation is reduced by 69.2%, and the swaying speed fluctuation is reduced by 32.7%; the north position tracking performance is improved by 30.8%, the east position tracking performance is improved by 16.7%, the speed fluctuation is effectively reduced, and the tracking performance, the system stability and the anti-interference capability are improved.

The invention provides a position instruction subdivision interpolation processing method and device, electronic equipment and a storage medium. The method comprises the following steps: receiving a newest position instruction sent by a master station, and if the newest position instruction is not received in a current communication period, pre-estimating the position instruction of the current communication period; calculating the displacement increment in the current communication period according to the position instruction of the current communication period and the interpolation displacement of the last position loop control period in the previous communication period; counting is carried out in each position loop control period, and when the position loop control period arrives, progressive increase is carried out on the basis of counting of the previous position loop control period; and according to the displacement increment and the count value of the current communication period, uniformly distributing the displacement increment to each position loop control period, and generating an interpolation position instruction of the current position loop control period. The speed instruction can be smoothed, the motor speed fluctuation is reduced, and the response speed and the positioning precision of the system are improved.

This invention relates to the field of CNC machining and motion control technology, specifically to a method, system, and storage medium for interpolation connection processing of S-shaped speed curves. This method addresses the speed fluctuations and uneven machining marks caused by the asynchronous connection points between segments and the interpolation cycle in existing global S-shaped speed planning by proposing a reverse extension compensation mechanism. The steps include: when entering a new curve segment for interpolation, if there is residual motion and the motion stage is continuous, the current motion stage is extended backward by one interpolation cycle in the time domain; by solving the displacement equation, the historical time point corresponding to the residual motion in the current stage is accurately calculated; and the system's time state is corrected accordingly, thereby achieving smooth and accurate connection between segments. This invention effectively eliminates the deviation between interpolation commands and speed planning, solves the speed fluctuation problem caused by toolpath deflection, makes the tool marks more uniform, and improves machining quality.

The present invention discloses an underwater unmanned vehicle operation planning algorithm and system based on artificial intelligence, and relates to the technical field of underwater vehicles. The technical key points of the scheme are: the energy consumption factor is calculated by the speed and steering angle of the underwater unmanned vehicle relative to the water flow; the node with the smallest heuristic function value is selected as the current node, until the current node is the target node, and the shortest path is generated by backtracking; the angle between adjacent nodes is calculated by point product and vector length, and compared with the angle threshold to determine whether smoothing is required; for the smoothed path, the speed of the underwater unmanned vehicle is recorded, and the speed fluctuation coefficient of the underwater unmanned vehicle is calculated, and according to the speed fluctuation coefficient, the position and number of arc nodes are automatically adjusted by an artificial intelligence algorithm to optimize the path. The present invention can reduce energy consumption, extend the operation time, and improve the safety of the vehicle.

The utility model provides a flow guiding device of an air inlet of a centrifugal fan and the centrifugal fan, the flow guiding device is defined by a side wall rotating around the axis of the flow guiding device, and the side wall comprises a plane wall, a first curved surface wall, a second curved surface wall and a third curved surface wall which are sequentially connected in the axial direction; the plane wall is perpendicular to the axis of the flow guide device, the second end of the plane wall is tangentially connected with the first end of the first curved wall, the second end of the first curved wall is tangentially connected with the first end of the second curved wall, and the second end of the second curved wall is tangentially connected with the first end of the third curved wall; the position, with the minimum vertical distance from the axis of the flow guiding device, of the flow guiding device is located on the second curved surface wall or the third curved surface wall, and the minimum vertical distance is the throat diameter of the flow guiding device. According to the flow guiding device, the flowing state of the front disc of the impeller can be improved, the separation loss of airflow on the back faces of the blades at the front disc is obviously reduced, and the effects of reducing pneumatic loss and reducing noise are achieved.

The present invention provides a low thrust fluctuation modular primary winding segmented permanent magnet linear motor, including a secondary component and a primary component, at least one pair of secondary components are provided, and a permanent magnet with alternating polarity is pasted on the secondary core; the primary component adopts a multi-module segmented structure, characterized in that: each primary component is provided with matching sub-laps and mother-laps at both ends, two adjacent primary components are assembled and combined by sub-laps and mother-laps, and the width of the end coils at the matching positions of the sub-laps and mother-laps in the primary component is less than or equal to the width of the coils at the middle position. The primary component of the present invention adopts a splicing design of the primary component sub-laps and mother-laps, which can reduce the influence of the gap caused by the processing and assembly of the primary winding, and reduce the thrust fluctuation caused by the gap compared to the traditional motor, thereby achieving a significant reduction in the speed fluctuation of the mover and an improvement in the position control accuracy.

The invention relates to the field of locomotives, and provides a six-axle locomotive axle load transfer optimization method, system and device and a medium, and the method comprises the steps: obtaining design parameters of a locomotive, and selecting a design variable and a corresponding initial value from the design parameters; establishing a locomotive axle load transfer mechanical model of a locomotive body and front and rear bogies, and taking the model as a balance condition; selecting an optimized locomotive adhesion utilization rate as a target function, selecting a constraint condition comprising the balance condition, and solving to obtain an optimized value of a design variable corresponding to the optimized locomotive adhesion utilization rate; the optimized value of the design variable is substituted into the locomotive axle load transfer mechanical model, optimized axle load distribution is obtained, the optimized adhesion utilization rate and traction force are obtained through calculation, the six-axle locomotive is designed according to the optimized adhesion utilization rate, and the traction force is applied to all axles of the six-axle locomotive in the movement process. The idling risk of the locomotive is reduced through axle load transfer optimization, the traction performance of the train is improved, and the speed fluctuation of the train is reduced.

The invention relates to the technical field of medical instruments, and discloses a constant-speed medicine feeding device which comprises a machine bin and a medicine feeding mechanism arranged in the machine bin, a machine cover is arranged at the top of the machine bin, and a handrail is arranged on the machine cover; the two medicine feeding mechanisms are installed in the machine room, and each medicine feeding mechanism is used for installing an injector and driving an injector core rod. The medicine feeding mechanism comprises a guide seat, a driving assembly arranged on the guide seat and a push block matched with the injector core rod, and the driving assembly is used for driving the push block to move along the guide seat so as to drive the injector core rod to move. A connecting seat is arranged at one end of the guide seat, a motor is installed on the connecting seat, the output end of the motor is connected with a lead screw, the lead screw is in threaded transmission fit with the push block, the lead screw is driven by the motor to rotate to enable the push block to move, and therefore an injector core rod is pushed to achieve liquid pumping or medicine feeding operation.

The application belongs to the technical field of working machines, and relates to a control method and a control device for linear walking of a working machine and the working machine. The control method comprises the following steps: obtaining a first rotating speed of a left walking motor and a second rotating speed of a right walking motor; determining a first to-be-adjusted parameter of the left walking motor and a second to-be-adjusted parameter of the right walking motor in the case that an absolute value of a difference between the first rotating speed and the second rotating speed is greater than or equal to a preset difference threshold value; introducing the first to-be-adjusted parameter and the second to-be-adjusted parameter into a PID algorithm module respectively to output a first adjustment current value and a second adjustment current value; and adjusting input currents of a left hydraulic pump and a right hydraulic pump according to the first adjustment current value and the second adjustment current value respectively to adjust the rotating speeds of the left walking motor and the right walking motor until the absolute value of the difference is less than the preset difference threshold value. The control method can accurately adjust the rotating speeds of the left and right walking motors, and the working machine can keep linear walking operation.

The utility model relates to a flywheel, a transmission assembly, a range extending system and a vehicle. The flywheel comprises a disc body and a first vibration absorption structure. The first vibration absorption structure comprises a vibration part and an elastic part. The vibration part is connected to the disc body through the elastic part. According to the flywheel, on the basis that speed fluctuation in the engine running process is reduced, vibration generated when the crankshaft of the engine rotates can be absorbed from the source through the additionally-arranged first vibration absorption structure, then the shafting safety is protected, the structure is simple, and the cost is low.

The invention relates to a composite internal meshing tooth profile for an engine timing tooth-shaped chain and a design method of the composite internal meshing tooth profile. The design method mainly solves the technical problem that interference between a chain plate inner meshing tooth profile and a chain wheel involute tooth profile cannot be solved in an existing design method of the inner-outer composite meshing tooth-shaped chain for the engine. According to the technical scheme, the composite internal meshing tooth profile is formed by connecting a transition arc tooth profile and an involute type tooth profile or an involute-like tooth profile. The involute type tooth profile design method comprises the following steps: calculating a reference circle radius, a base circle radius and a positioning circle radius of a crankshaft chain wheel according to known basic parameters of an automobile engine timing system and a tooth-shaped chain; according to the design method of the involute-like tooth profile, the curvature radius and the curvature center of the involute-like tooth profile are obtained by constructing an auxiliary circle based on a calculation result of involute-like tooth profile design. The meshing impact between the chain and the chain wheel can be effectively reduced, so that the overall abrasion resistance of the chain is improved, and the service life is prolonged.

The invention relates to an active leveling device and method for an electrofluid on-demand printing substrate, the device comprises a mobile jet printing platform, a microdroplet observation module, a working computer and a main control board, and the top of the jet printing platform is provided with a printing substrate; the jet printing platform is used for carrying out electrofluid on-demand printing on the printing substrate; the micro-droplet observation module is used for observing the micro-droplet jetting process of the jet printing platform in the printing substrate printing process; the working computer is connected with the main control board, and controls the movement displacement of the jet printing platform and the leveling of the printing substrate through a motion interpolation program; the main control board is used for controlling the three-axis movement of the jet printing platform, the observation of the microdroplet observation module and the waveform output of the high-voltage power supply; according to the invention, the height from the nozzle to the substrate can be controlled to be 0.8-1 micron, the electric field intensity fluctuation of the electrostatic field is reduced, and the stability and consistency of electrofluid jet printing are improved; the leveling of the plane substrate is realized through the calculated actual Z-axis movement height; the leveling device has the advantages of high leveling precision and good stability and consistency.

The present invention discloses an anti-disturbance control method for a permanent magnet direct-drive motor based on an extended sliding mode disturbance observer. A new PI speed controller is adopted in the speed loop, and a proportional integral link is introduced in the feedback channel to improve the dynamic response and anti-disturbance capabilities. An extended sliding mode disturbance observer is adopted to estimate in real time the system disturbance term that cannot be accurately measured, and the observed load torque value is feed-forward compensated to the current regulator, thereby effectively reducing the thrust fluctuation of the motor and improving the dynamic response speed of the system.

The utility model discloses a discharging mechanism used after magnetic core powder die-casting forming, and particularly relates to the technical field of magnetic core powder die-casting forming. The discharging mechanism used after magnetic core powder die-casting forming comprises a die-casting machine, a transmission mechanism is fixedly mounted on one side of the die-casting machine, a material stirring mechanism is fixedly mounted at the bottom of the transmission mechanism, the transmission mechanism comprises a mounting frame, and a first rotating disc is rotationally mounted on one side of the mounting frame; a mounting rod is eccentrically mounted on one side of the first rotating disc, a connecting rod is driven to move up and down through lifting of a die-casting head of the die-casting machine, the mounting rod is driven to move through the connecting rod, and reciprocating up-down displacement of the mounting rod is converted into one-way rotation of the first rotating disc through cooperation between the first rotating disc and the mounting rod. And the flywheel drives the second turntable to rotate through the cooperation between the first bevel gear and the second bevel gear.