51results about How to "Satisfy the rapidity" patented technology

The invention discloses a power matching control system for a novel energy-saving double-drum vibratory roller. The power matching control system comprises a controller, a travel state control device, a frequency adjusting switch, a compaction/travel selection switch of the travel state and the compaction state of a roller and a speed sensor for detecting the rotate speed of an engine of the roller in real time, wherein a travel pump electromagnetic valve and a travel motor electromagnetic valve are controlled by the controller; a vibratory pump electromagnetic valve is connected with the controller which staggers the power peak values of a travel mechanism hydraulic drive system and a vibratory compaction hydraulic drive system by controlling the starting time of the vibratory pump electromagnetic valve; moreover, when the roller is in compaction work mode, the vibratory pump electromagnetic valve is correspondingly controlled and started by the controller according to a signal detected by the speed sensor. The power matching control system has reasonable design, simple use and operation, reliable performance and good use effect; moreover, the control system can effectively reduce the installed power of the vibratory roller, reduce power consumption and save use cost while reliably restraining the momentary power of the travel system and the vibratory system of the roller.

The invention belongs to the technical field of underwater vehicle three-dimensional path planning, and particularly relates to an underwater vehicle multi-constrained path planning method based on an S57 standard electronic chart. The method comprises the following steps: determining the planning space and the element extraction space; extracting and converting elements; generating a navigation space; carrying out path search by utilizing a A*algorithm; outputting the planning result; storing the planning result obtained in the fourth step in a file. Compared with most path planning algorithms, simple cubic solids are utilized for simulating a planning environment, and the three-dimensional planning environment is generated by extracting the standard of the S57 standard electronic chart, so that the authenticity and the complexity of the planning environment are ensured, and thus the practicability of the planning method is improved.

The invention provides a switching control system and method for a permanent-magnet synchronous motor winding. The switching control system at least comprises a three-phase winding and a three-way switch, wherein six wiring terminals of the three-phase winding are respectively connected with an external circuit, the connection mode of the three-phase winding is determined by controlling the state of the three-way switch, the three-way switch can be selectively switched between a first state and a second state, when the three-way switch is at the first state, the three-phase winding is connected in a Y manner, and when the three-way switch is at the second state, the three-phase winding is connected in a Delta manner. By adopting the switching control system and method for the permanent-magnet synchronous motor winding, provided by the invention, the requirements of high torque at a low speed and a wide speed adjustment range of a servo system can be simultaneously met.

The invention relates to a touch servo control method used for a mechanical hand grabbing task. The touch servo control method includes a first grabbing strategy planning stage and a second grabbing control stage. In the grabbing strategy planning stage, firstly, the mapping relation between the shape of a target object and the grabbing manner of a mechanical hand is established; then a collecteddata training convolution neural network is used for obtaining the touch feature of each finger in the single-time grabbing process; and then the above touch features are corrected by means of collected rotating angles near the finger joints, and corresponding controllers are designed according to the corrected touch features and the set drive motor voltage and expected touch force of all the fingers. In the grabbing control stage, in the process that the mechanical hand grabs the target object, the mechanical hand is automatically switched into the different controllers according to the real-time touch features of the fingers, and the touch servo control over the mechanical hand grabbing task is achieved. By means of the touch servo control method used for the mechanical hand grabbing task, the mechanical hand can better complete more elaborate operation and complex tasks, and the blank of the touch servo technology in the field of mechanical hand operation control application is filled up.

The invention relates to an automatic tube insertion machine and an automatic tube insertion process for condenser and evaporator fins of an air conditioner. The automatic tube insertion machine comprises a machine frame, a U-shaped tube feeding and positioning device, a fin group feeding and positioning device and an automatic guide pin alignment and circulation feeding device, wherein the U-shaped tube feeding and positioning device, the fin group feeding and positioning device and the automatic guide pin alignment and circulation feeding device are arranged on the machine frame in sequence from left to right. According to the principle of the tube insertion machine, U-shaped tubes are positioned and stacked by using the U-shaped tube feeding and positioning device; a fin group is positioned by using elongated conical guide needles and a positioning baffle, and moves to a first station through a movement platform; the U-shaped tubes are inserted through profiling tube pushing mechanisms and guide pins; after tube insertion is completed, the guide pins are pulled out by using the automatic guide pin alignment and circulation feeding device and are aligned on an alignment baffle; after tube insertion is completed at the first station, the movement platform operates the fin group to a second station, and motions at the first station are repeated until the tube insertion operation of the fin group is completed.

The invention discloses an automatic inspection system for fast grain storage. The system comprises an automatic sampling device, an automatic testing device and a control device, wherein the automatic testing device comprises a grain conveying mechanism and a grain testing mechanism; the grain conveying mechanism comprises a first grain buffer, a second grain buffer, grain conveying pipelines and a power air source; the grain test mechanism comprises an impurity detection device and a moisture detection device; a discharging port of the automatic sampling device is connected with a feeding port of the first grain buffer; a discharging port of the first grain buffer is connected with a feeding port of the impurity detection device through a valve; a discharging port of the impurity detection device is connected with a feeding port of the second grain buffer through one grain conveying pipeline; the moisture detection device is arranged below the second grain buffer; and a discharging port of the the second grain buffer is connected with a feeding port of the moisture detection device through a valve. According to the automatic inspection system for fast grain storage, automatic sampling and testing in the grain purchasing process is realized, so that the waiting time of grain storage is reduced, and the grain purchasing efficiency is improved.

The invention relates to a method of fault isolation and self-healing for an electric distribution network. The method comprises the following steps: 1) non-path protection which is capable of detecting and removing any position and does not need path relation is adopted on the electric distribution network; 2) a circuit breaker capable of cutting off short circuit electricity is adopted to replace the existing load switch; and 3) a spare power supply automatic input unit is arranged on the electric network. Compared with the prior art, the method provided by the invention does not only rely on a communication channel, can be used for removing a fault section selectively and rapidly, but also the power supply at a non-fault section can be recovered rapidly, and the power distribution network has a fault self-healing capability.

The invention discloses a personal electric shock prevention control method of a power distribution network with a neutral point which is not connected with ground. The personal electric shock prevention control method comprises the steps of firstly, acquiring a three-phase voltage instantaneous value on a 10kV outgoing line at a substation; secondly, extracting a zero-sequence voltage by the three-phase voltage instantaneous value, and calculating three-phase voltage abruptly-changing quantity; thirdly, judging whether single-phase human body electric shock accident is generated or not according to an integral criterion combined by a zero-sequence voltage absolute value and the three-phase voltage abruptly-changing quantity, and controlling a circuit breaker to be closed; and finally, judging accident removal by the zero-sequence voltage, and controlling the circuit breaker to be disconnected. According to the method, single-end three-phase voltage information is employed, personal electric shock prevention rapid control of the power distribution network with the neutral point which is not connected with the ground is achieved, and the personal electric shock prevention control method has important significance to personal safety protection and normal power supply.

An air-propelled amphibious tidal land ship comprises a ship body and an air propeller power device on a deck of the ship body. A bow part of the ship body is provided with a V-shaped pointed type single ship bow, the rear portion of the bow part is connected with two longitudinal single bodies through a transition ship section to form the ship body, the two single bodies are spaced in the transverse direction and are connected through an upper connection bridge, the two single bodies, the connection bridge and the transition ship section form a longitudinal hovering channel, the bottom and the tail portion of the hovering channel are both provided with an opening, and a movable door is arranged on the opening in the tail portion of the hovering channel. A current collection pit is arranged right behind the air propeller power device, the side, towards an air propeller, of the current collection pit is provided with an opening, and the area of the opening of the current collection pit and the area in the rotation diameter of the air propeller are overlapped. The connection bridge is provided with a closed drainage air channel, the air outlet of the current collection pit is communicated with the drainage air channel, and the communication portion of the air outlet and the current collection pit is sealed. The drainage air channel is provided with an air outlet hole communicated with the hovering channel. According to the ship, the propelling and hovering functions can be achieved through the air propeller, and amphibious applicability of the tidal land ship is effectively improved.

The invention discloses a task accelerated execution optimization method and device based on priority partitions, and the method comprises the steps: pre-defining task priorities, and configuring memory partitions and mark characters for all priority tasks; before an application service program is compiled, predefined mark characters are automatically placed in a task function corresponding to a priority task and a data area of the task function through a tool, and the tasks with the same priority are divided into the same continuous memory partition when the program is linked. In the programguiding process, the code with the highest priority is locked in the instruction Cache, so that the code instruction with the highest priority can run with higher efficiency and more stable executiontime, and the problems of unstable execution time and low execution efficiency caused by high-priority interruption when a universal CPU is adopted to replace a special DSP are solved.

The invention relates to a data modeling method and a data modeling system for a coordinated control system of an ultra-supercritical unit. The method comprises the steps as follows: acquiring a control scheme of the coordinated control system, and determining the adding position of an excitation signal according to the control scheme; carrying out working condition division of the operation process, and acquiring the change range of the input variable, output variable and disturbance variable of an ultra-supercritical unit under each working condition; applying an excitation signal to an input variable set value according to the adding position and the change range of the input variable and output variable under each working condition and collecting process input data and process output data; using the closed-loop subspace identification algorithm to acquire a process variable model according to the process input data and the process output data; using the least square method to acquire a disturbance model according to the change range of the disturbance variable and the output variable; and taking the process variable model and the disturbance model as control models. The coordinated control process is both quick and stable.

The invention provides a secondary transfer alignment method based on double-model switching. The secondary transfer alignment method includes following steps: (1) sending a navigation parameter from a main inertial navigation system to a sub inertial navigation system in a fixed frequency; (2) completing coarse alignment by the sub inertial navigation system through the navigation parameter from a main inertial navigation system; (3) constructing an observation quantity by the sub inertial navigation system on the basis of the navigation parameter from a main inertial navigation system; (4) performing iterative calculation under a quaternion error model through an extended Kalman filter; (5) performing filter switching when a misalignment angle is reduced to a preset angle [alpha]; (6) performing iterative calculation under an Euler angle error model through a standard Kalman filter until an estimated value of the misalignment angle is convergent and stable; and (7) by means of the estimated misalignment angle, correcting an attitude matrix of the sub inertial navigation system to obtain a strapdown initial attitude matrix for completing secondary transfer alignment. The method has advantages of quick convergent speed, high precision of a linear model filter and a wide usage scope of a non-linear model filter. Meanwhile, the method can satisfy requirements, including speedability, accuracy and robustness, of a system.

The invention relates to the field of sample processing equipment, in particular to an oscillation device. The oscillation device comprises a programmed control device, as well as a clamping device, a positioning device, an eccentric oscillation device and a power driving device which are arranged on a frame. Based on the eccentric oscillation principle, an automatic clamping mechanism is designed according to the working principle of a solenoid valve, dual-positioning design of oscillation original points is carried out according to the principles of a spring leaf and a photoelectric switch, and together with an eccentric wheel driven by a stepping motor, as well as control programs and other modularized devices, the full-automatic oscillation device is realized. A traditional eccentric oscillation device is modified, and the degree of automation of the oscillation device is improved, so that the oscillation device provided by the invention conforms to the demand for automatic sample processing in related fields, such as biology, chemistry and medicines, can be automatically clamped, can accurately locate the oscillation original points, and simultaneously meets the quick, automatic and small-sized development tendency.

A ship with an air propeller for propelling and hovering a ship body comprises the ship body and an air propeller power device installed on a deck of the ship body. A flow collecting nest is arranged right behind the air propeller power device. The side, facing the air propeller in the air propeller power device, of the flow collecting nest is open, and the opening area of the flow collecting nest overlaps the rotation diameter internal area of the air propeller in the air propeller power device. The part, below the deck, of the ship body is provided with a sealed flow guide air passage, the bottom of the ship body is provided with a hovering channel, the bottom and the tail of the hovering channel are open, and the tail opening of the hovering channel is provided with a movable door capable of being opened and closed. An air outlet of the flow collecting nest communicates with the flow guide air passage, the communicating positions of the air outlet of the flow collecting nest and the flow guide air passage are connected in a sealed mode, and the flow guide air passage is provided with an air outlet hole communicating with the hovering channel. According to the ship with the air propeller for propelling and hovering the ship body, the functions of propelling and hovering can be achieved by means of the air propeller, development of small hovercraft is facilitated, and the amphibious applicability of the ship is improved by adjusting the hovering function.

The invention discloses an automatic zero setting method of a servo control system, and the automatic zero setting method comprises the steps of collecting, comparing a stable threshold, and adjusting and updating. The automatic zero setting method of the servo control system, provided by the invention, comprises: periodically collecting the sum of compensation values of an input control signal and a zero setting signal, and if the value is larger than the stable threshold, performing a progressive decrease operation on the compensation value of the zero setting signal in the next machine period; on the contrary, performing a progressive increase operation until the superposition value of the compensation values of the input control signal and the zero setting signal is smaller than the stable threshold, and the system considers that a stable state is achieved and can automatically terminate the zero setting process. To meet the requirements of relatively quick response, the size of the sum of the compensation values of the input control signal and the zero setting signal is further judged, and rough adjusting and fine adjusting are performed according to a set quick adjusting threshold, so that both the requirements of quickness and precision are met.

The invention relates to an information measuring method, particularly to a method that a water surface integrated navigation system uses Kalman filtering to measure ocean current when a ship voyages on the water surface. The method comprises the following steps: collecting sample values of a gyro and an accelerometer in a ship strapdown inertial navigation system; measuring the speed value and the position value of a water surface carrying device in a recursion manner; looking up the east orientation parameter and north orientation parameter of the ocean current model in a ship voyage sea area; setting the 14-dimension variable for the state of the water surface integrated navigation method; obtaining an observation value and an observation matrix of the water surface integrated navigation method; and performing Kalman filtering to measure the east orientation ocean current speed and the north orientation ocean current speed. The Kalman filtering method provided by the invention can measure the ocean current speed more quickly and accurately; the measuring result cannot lag and is quick; and as the measuring error is 10 <-3> m, which is far less than the ocean current speed, the precision is higher.

The invention discloses a primary frequency modulation assessment index calculation method based on time point comprehensive processing. According to requirements in state-specified standards of GB/T 30370-2013 and Q/GDW 669-2011, based on the real-time power value and the frequency value of a unit acquired by a power grid main station end, the rotation speed change rate L3 of the unit at a 3s time, the rotation speed change rate L15 of the unit at a 15s time and the rotation speed change rate L30 of the unit at a 30s time are calculated respectively, greatest option processing is carried out on the three calculated rotation speed change rates L3, L15 and L30, the greatest value L is comprehensively used as a rotation speed change rate in the primary frequency modulation performance indexes of the unit for assessment, and whether the primary frequency modulation is qualified is judged. Multipoint rotation speed change rate calculation can be carried out, the primary frequency modulation assessment index effectiveness and the accuracy are enhanced, the unit is ensured to meet primary frequency modulation action working quickness and stability requirements by the power grid, and the power grid is ensured to operate safely and stably.

The invention provides a three-pile four-axis engineering ship for underwater deep foundation treatment. The three-pile four-axis engineering ship comprises an automatic tilt-adjusting ballast balancing system arranged in a bilge of a hull and a pulping system is used for modulating and outputting slurry; and the pulping system includes storage tanks on a deck of the hull, a spiral feed transporting machine communicates with the storage tanks to transport the slurry to weigh hopper devices, a stirring machine is connected with the weigh hopper devices and slurry storage barrels, after the slurry output from the weigh hopper devices is stirred, the slurry is output to the slurry storage barrels for reservation. A processor machine system of the engineering ship is arranged at a prow of thehull through a pile frame system, and construction is performed through the connection of a slurry supply system and the pulping system; and a stern of the engineering ship is provided with a dormitory living area and a control room. According to the technical scheme, the three-pile four-axis engineering ship solves the inadequacies of an existing engineering ship in the ocean water marine trafficengineering, the engineering ship adapted to the characteristics of the ocean water marine traffic engineering is realized, the three-pile four-axis engineering ship is economical in economy, compactin structure, high in degree of mechanization, and high in automatic control performance; and construction speed and construction quality are guaranteed.

The invention discloses a programmable three-dimensional storage rail type stacking crane. The programmable three-dimensional storage rail type stacking crane comprises a cargo electronic tag, a codescanning gun, a storage, a singlechip microcomputer, a display screen and a stacking crane body, the cargo electronic tag is connected with the code scanning gun, the code scanning gun is connected with the storage, the storage is connected with the singlechip microcomputer, the singlechip microcomputer is connected with the display screen, the singlechip microcomputer is connected with the stacking crane body, the stacking crane body comprises two supporting plates, and a same transverse plate is fixedly mounted on the side, close to each other, of the two supporting plates. The programmablethree-dimensional storage rail type stacking crane is simple in structure, cargos on a bearing seat can be rapidly transported to a designated position through the cooperation of the stepping motor and a driving motor, compared with a traditional stacking type crane supplied power by a hydraulic cylinder, the stacking crane body reduces the pollution to the surrounding environment, meanwhile, theautomation degree is high, and the rapidity of modern logistics storage is met.

The invention relates to a multi-missile formation cooperative control method under the condition of uncontrollable speed, and the method employs a leading-slave type guidance strategy, enables the information transmission of a leading missile and a slave missile to be unidirectional, enables the slave missile to receive the leading missile information, and enables the leading missile not to receive the slave missile information. A sliding mode variable structure control theory is adopted to carry out formation controller design on the leading missile and the slave missile respectively; compared with a current multi-missile formation cooperative controller design method, the missile speed does not need to be controlled, the control law based on the sliding mode variable structure theory issimple, rapidity and stability are met, and formation and maintenance of the formation can also be achieved.

The invention provides a ground fault line selection method based on discrete Frechet Distance. The method comprises the steps of: collecting fault information, and judging a fault reason according to the fault information; if the fault is a single-phase ground fault, extracting zero-sequence current signals before and after the fault time of each feeder line, and establishing a change curve of zero-sequence current and time; and comparing the current values of all the feeder lines in the same time period on the basis of a discrete Frechet Distance algorithm, and determining that the feeder line with the largest current value difference from the other feeder lines at the same moment is the fault line. Compared with the prior art, the line selection method can effectively solve the problem that the line selection rate is low under the high-resistance grounding condition, and the requirement for accuracy is met; and the method can be simultaneously applied to cable lines and overhead lines, and has wide applicability.

The invention belongs to the field of robot control, in particular to a method for acquiring grasping points of a robot steadily grasping an object based on monocular vision, aiming at solving the problem of low grasping success rate of a robot to an unknown object in an unstructured environment. The invention comprises the following steps: obtaining the color image of the object and the environment based on the monocular vision sensor, and extracting the plane edge contour of the object; Based on the planar edge contours of four-fingered parallel manipulator and object, constructing the environment constraint domain of robot grasping system, and obtaining the lowest point of environment attraction domain, and then a plurality of candidate grasping points. Inputting the candidate grabbingpoints of each group into a grabbing point quality evaluation network to obtain the grabbing point quality of each group of candidate grabbing points; Selecting the output of the grab point corresponding to the maximum quality of the grab point. The invention improves the rapidity, accuracy and reliability of the grasping point identification, and improves the grasping success rate of the robot tothe unknown object in the unstructured environment.

The invention discloses a domestic refrigerator freeze evaporator integrated assembly device and relates to the technical field of refrigerator equipment. The domestic refrigerator freeze evaporator integrated assembly device comprises a heater integrated assembly and a defrosting tray. The heater integrated assembly comprises a plastic shell terminal, fuses, a thermoplastic pipe and a heating pipe. Two ports of the heating pipe are connected with a power connection portion inside the plastic shell terminal, the heating pipe comprises an R-shaped heating pipe, a straight heating pipe and a curved heating pipe, a rectangular heating pipe formed by the R-shaped heating pipe and the straight heating pipe and the curved heating pipe arranged at one end are of an integrated structure, the two right-angle portions of the rectangular heating pipe are provided with the fuses, a freeze evaporator is installed inside the rectangular heating pipe, and side plates are arranged on the circumferential side of the curved heating pipe installed on the bottom face of the defrosting tray. The domestic refrigerator freeze evaporator integrated assembly device has an obvious heat transfer efficiency improving effect, the whole device can achieve intelligent defrosting and has a protection function for a system after assembling is completed, the product componentized supply capability is improved,and product assembling is easy.

The invention discloses an analysis method for the tungsten element content of iron and steel by ICP process. The method includes the steps of: (1) setting of the instrument measurement conditions: anRF generator power of 1352W, the flow of argon gas as atomizing gas of 27.0Psi, as a carrier gas of 1.0Psi, a pump speed of 100rpm, a sample washing time of 60s, an integral time of Uv30s/Vis5s, a tungsten element measurement wavelength of 207.911nm, and a high salt atomizer diameter of 1.5mm, (2) preparation of a sample, (3) preparation of a standard solution, (4) drawing of a working curve, and(6) determination of accuracy and precision. The method provided by the invention has the advantages of: accurate and reliable analysis result, simple, fast and convenient operation, and meets the requirements of enterprises for fast and accurate test data.