836results about How to "Save adjustment time" patented technology

The invention discloses a field programmable gate array-based (FPGA-based) multi-axis servo motor current loop control system and a control method. The control system comprises a parallel bus communication module, an analog-digital (AD) sampling control module, a vector transformation module, a complex vector adjuster, a coder feedback signal processing module, a sine-cosine calculation module, a space vector pulse width modulation (SVPWM) operation module, a pulse width modulation (PWM) standard output module, a time sequence planning module and a current modulation module, pure hardware logic is adopted to realize, and the synchronous control of a multi-axis alternative-current servo motor current loop can be independently completed; meanwhile, integrating the concept of a production line and a time division multiplexing, the invention provides a multi-axis time sequence control method, which can improve the FPGA resource utilization rate and the operation speed; and due to the adoption of the control system and the control method, while the current loop adjusting time is remarkably shortened, different application requirements such as high-speed high-precision servo drive, multi-axis synchronous drive and control of a servo motor with small winding inductance can be met.

The invention discloses an RTCP calibration and compensation method for a five-axis NC machine tool of a double-pendulum-head structure. The method comprises the steps of recording the calibrated coordinate values of each rotating shaft at different angle positions, and calculating to obtain the offset vector of each rotating shaft and the vector data of each rotating shaft in the axis direction;writing the data into corresponding machine tool parameters of a numerical control system; and activating the five-axis linkage function of the numerical control system. In this way, the problems thatthe characteristic data of the five-axis machine tool cannot be directly acquired and the precision of a traditional method is low can be effectively solved. The accuracy of calibrated data is guaranteed, and the rapidity and the accuracy of the five-axis RTCP calibration are improved. As a result, the adjustment time is shortened, and the introduction of human errors is reduced.

The present invention discloses an icing wind tunnel hot gas anti-icing test high-precision simulation method and device. The device comprises a gas source, a pressure reduction device, a filter, an air heater, a multistage electric heating device and a test section in order from a gas input direction to a gas output direction. The gas path behind the pressure reduction device is divided into two paths, one path is heated and then is subjected to flow mixing with the other unheated path, a pneumatic switching valve in an icing wind tunnel plenum chamber is configured to divide the gas path into two paths, gas of one path enters a test section and flows out after passing through a test model to perform flow measurement, gas of the other path is flown through from the external portion of the test section and performs flow measurement, and gas of a model main path and gas of a simulation bypass path are combined into one path after passing through the wind tunnel test section and are exhausted through a flowmeter and a silencer; a cold and hot gas mixing mode is employed to rapidly reduce the high-pressure hot gas behind the air heater so as to reach the effect of rapid temperature adjustment; and the multistage electric heating device is employed to perform high-precision temperature regulation and control so as to perform high-precision temperature adjustment of high-pressure hot gas prior to the high-pressure hot gas entering a test model step by step.

The invention discloses an LED module installing mechanism. The LED module installing mechanism comprises a fixed rack (2), a gap adjusting mechanism on the fixed rack (2), and at least two moving blocks (3) movably connected with the fixed rack (2). LED modules (100) are arranged on the moving blocks (3). The two ends of the gap adjusting mechanism are connected with the moving blocks (3) respectively. By adjusting the moving block (3) on the two sides to move away or get close to each other, a gap between the LED modules (100) arranged on the moving blocks (3) is adjusted. The invention belongs to the technical field of LED modules and LED display screens. According to the LED module installing mechanism, the technical problems in the prior art that the method for adjusting the planar gap between the LED modules is complex and unstable, and the adjustment on the planeness which is perpendicular to the planar direction of the LED modules is unable to achieve are solved. The LED module installing mechanism is particularly applicable to adjusting the planeness perpendicular to the direction of the LED modules and the planar gap between the LED modules, the adjusting operation is simple, and the adjusting effect is stable.

The invention discloses a variable air volume room temperature control method based on fuzzy PID and a prediction control algorithm. The method comprises the steps that the temperature deviation between an expected room temperature and an actual room temperature is input to a fuzzy adaptive PID controller, PID parameter incremental quantity of the opening degree of a tail end air valve is obtained through calculation, and calibrated opening degree of the tail end air valve is output; the opening degree of the tail end air valve of the fuzzy adaptive PID controller is subtracted from the opening degree of the tail end air valve of a previous moment by utilizing a time delay link to obtain the variable quantity of the opening degree of the tail end air valve; the prediction control algorithm is adopted to obtain the actual opening degree of the tail end air valve through the variable quantity of the opening degree of the tail end air valve, and the room temperature is maintained at a set value and is kept unchanged. The control method combining the fuzzy PID with the prediction control algorithm is adopted to solve the technical problems that parameter setting difficulty is large, working condition adaptive capacity is poor, and adaptive ability is weak in an air conditioning system in the prior art.

The invention relates to an air-oxygen mixed control breathing machine and a control method. The breathing machine comprises an oxygen path, an air path and an oxygen and air mixing chamber. The oxygen path and the air path are connected to the oxygen and air mixing chamber. A gas outlet of the oxygen and air mixing chamber is provided with a gas outlet pressure sensor. An oxygen flow regulating valve, an oxygen flow sensor and an oxygen closure member are arranged on the oxygen path. The oxygen path is further provided with a core controller and a driving circuit. The core controller, the driving circuit, the oxygen flow regulating valve and the oxygen flow sensor are connected in sequence to form a loop. The oxygen flow sensor and the driving circuit can feed back oxygen flow and voltage to the core controller respectively, and a double-closed-loop control system based on flow and voltage feedback can be formed. A draught fan, an air pressure regulating valve, an air flow sensor and an air closure member are arranged on the air path. According to the air-oxygen mixed control breathing machine and the control method, an oxygen valve is controlled through the double-closed-loop control system based on oxygen flow and voltage, the regulating speed is high, and precision is high.

Aiming at the problems of intrinsic great inertia of a wind generating set and difficulty in accurate mathematical modeling, the invention provides a wind generating set variable-pitch control method combining fuzzy feed-forward with linear active disturbance rejection. The method includes: firstly, constructing a mathematical model of a variable-pitch wind generating set and obtaining output active power of the wind generating set; secondly, designing a linear active disturbance rejection controller on the basis of the step 1, and rapidly eliminating perturbation and external disturbance effects of unmodeled system portions by adjusting controlling quality of the active disturbance rejection controller; thirdly, designing a fuzzy feed-forward controller on the basis of the step 2, and obtaining a proper feed-forward pitch angle variation betaf, wherein the fuzzy feed-forward controller comprises a fuzzy feed-forward controller rule list; and finally, adding the feed-forward pitch angle variation betaf to an output u of the linear active disturbance rejection controller so that a pitch angle set value betar is obtained. By the method, adjusting time of a system is shortened, stability and reliability of the system are enhanced, and the controllers have distinct advantages over existing traditional controllers.

The invention relates to a method for controlling a piezoelectric valve positioner capable of changing PWM (pulse-width modulation) duty ratio. A software system is formed by a main monitoring program module, an initializing module, a parameter self-tuning module, a valve position control module, a man-machine interaction module, an interrupt processing module, an EEPROM (electrically erasable programmable read-only memory) storage module and a watchdog module. Positive PWM duty ratio is changed by adding a five-step switch method with negative PWM into a sectional PI method or a linearization method, and when the control method is applied to small-range step control, positive PWM pulses with big duty ratio can be obtained, valve position starting process can be accelerated, the number of positive PWM pulses and adjusting time of small-range step control can be reduced, and small-range step control process can be accelerated.

The invention discloses a device for measuring straightness / coaxiality by applying laser, comprising a first Wollaston prism, a second Wollaston prism and a transitional reflector which are arranged on the measuring light path in sequence, wherein the second Wollaston prism and the first Wollaston prism are positioned on the path of the light which returns after being reflected by the transitional reflector in sequence; the transitional reflector is of plane mirror structure with light path drift adaptation functions in the two mutually vertical directions; and when the incident light enters along the characteristic direction of the transitional reflector, the light which returns after being reflected by the transitional reflector is opposite and parallel to the incident light, and the distance between the light which returns and the incident light is constant. The device ensures the datum to be invariant during measuring the straightness in the horizontal and vertical directions, thus greatly simplifying the adjustment process, shortening the adjustment time and improving the adjustment efficiency.

The invention discloses a laser straightness and displacement measuring device comprising a dual-frequency laser light source and a normal beam splitter. A first light path retracing reflector is arranged on a measuring light path of the normal beam splitter, a first Wollaston prism, a second Wollaston prism and a benchmark reflector are arranged on a first reflecting light path of the first light path retracing reflector in sequence, the second Wollaston prism, the first Wollaston prism and the first light path retracing reflector are further located in a light path of return light reflected from the benchmark reflector in sequence, a polarizing beam splitter is arranged on a second reflecting light path of the first light path retracing reflector and also located in a reference light path of the normal beam splitter, an analyzer and a photoelectric receiver are arranged in each of two emergent directions of the polarizing beam splitter in sequence, and the two photoelectric receivers are connected to a signal processing unit. The device is capable of completing measurement of straightness and displacement simultaneously, equipment cost is lowered, adjustment process is simplified, testing efficiency is improved, and measurement accuracy is guaranteed.

The invention discloses a nonlinear feed-forward and fuzzy PID combined variable pitch control method for a wind generating set. The method comprises based on an active power deviation feed-forward control strategy, using active power P and rated power P0 of a generator to obtain the power deviation delta P when a generator unit operates above the rated wind speed; giving variable pitch control expected output pitch angle beta1 through an MAPSO fuzzy PID controller; obtaining a variable pitch control expected feed-forward pitch angle beta2 through a nonlinear feed-forward controller; adding the pitch angle beta1 obtained by the MAPSO fuzzy PID controller to the feed-forward pitch angle beta2 to obtain a pitch angle set value beta. By means of the method, the system adjusting time is reduced, the stability and the reliability of the system are increased, and compared with traditional controllers, apparent advantages are provided.

The invention discloses a multi-shaft synchronous control device, which comprises an unwinding roller, a transmission roller, a winding roller and a control device, wherein the control device comprises a winding control device for controlling the winding roller, a transmission control device for controlling the transmission roller and a main controller for controlling the running of the parts. By adopting the multi-shaft synchronous control device, when tension control experiment teaching and scientific research are developed, a brake device and a tension controller can be eliminated, and servo synchronous driving and tension control of a plurality of motors are realized; the adjustment time and a space occupied by equipment are saved; and the multi-shaft synchronous control device controls the parts precisely.

The invention discloses a refrigerant volume control method for a modular water cooler. The refrigerant volume control method for the modular water cooler includes the steps of obtaining the temperature of outdoor environment, setting an initial opening of an electronic expansion valve according to adaptability of the temperature of the outdoor environment to adjust the electronic expansion valve, and setting an opening degree adjusting range of the electronic expansion valve according to the adaptability of the temperature of the outdoor environment; and obtaining the present superheat degree of the system, and adjusting the opening degree of the electronic expansion valve according to the adaptability of the present superheat degree. The opening degree of the electronic expansion valve can adapt to the current temperature condition so that the system can stably start working, the adjusting time is effectively shortened to rapidly reach the stable status, the adjusting range of the electronic expansion valve is preset so that the system reliability influenced by out of control of the electronic expansion valve adjustment in some abnormal status can be avoided; by adjusting the refrigerant volume through the adaptability of the superheat degree of the system, the refrigerant volume of the system can be controlled to operate in a position close to the optimal performance point, so that the superheat degree of the system is controlled, the reliable operation of the system is guaranteed, and the condition that a compressor operates with carrying liquid is avoided effectively.

The invention relates to a nonlinear system fuzzy and repetitive output controller and a control method thereof. The nonlinear system fuzzy and repetitive output controller comprises an improved repetitive control module, a state feedback gain module and a fuzzy system module. The improved repetitive control module receives an output variable of a nonlinear system and carries out filtering and time delay processing, and sends an output variable thereof to the state feedback gain module; the state feedback gain module adjusts the output of the repetitive control module and carries out compensation thereon, and an output variable of the state feedback gain module is sent to the fuzzy system module; and the repetitive control module and the fuzzy system module are combined to form the fuzzy and repetitive output controller of the nonlinear system. The fuzzy model is applied to the problem of periodic tracking control of the nonlinear system for the first time, and T-S fuzzy control and repetitive control are combined to form a new high-performance control method; and for the design of a repetitive controller based on a fuzzy observer, with the problem of fuzzy premise variable non-measurableness in an actual system being taken into consideration, the design is more comprehensive.

The invention discloses a three degree-of-freedom parallel connection mechanism with the adjustable working space. The three degree-of-freedom parallel connection mechanism with the adjustable working space comprises a fixed platform (1), a movable platform (2) and three branch chains (4, 5 and 6). The three branch chains comprise first sliding rails (41, 51 and 61), first sliding blocks (42, 52 and 62), first stand columns (43, 53 and 63), first movable pairs (44, 54 and 64), first cylinder pairs (45, 55 and 65), first connection rods (46, 56 and 66) and first sphere pairs (47, 57 and 67) respectively, wherein each first sliding rail is horizontally installed on the corresponding fixed platform; each first stand column is vertically installed on the corresponding first sliding block; each first sliding block is connected with the corresponding first stand column; each first movable pair is connected with the corresponding first stand column and the corresponding first cylinder pair; one end of each first connection rod is connected with the corresponding first cylinder pair; the other end of each first connection rod is connected with the corresponding first sphere pair; each first sphere pair is installed on the corresponding movable platform. Distortion generated when the stand columns are stressed is reduced, and the three degree-of-freedom parallel connection mechanism with the adjustable working space has the advantages of being convenient to install, shortening the adjustment time, improving the efficiency, improving the precision and the like.

The invention discloses an automatic focus method and an image capture device with a function of automatic focus. The automatic focus method provided by the invention comprises the following steps of: capturing an image containing a preconcerted object, automatically analyzing the image to obtain the real size of an image of the object, and further providing the real size of the object, and the distance between an image surface of a sensitized component, calculating the estimation value of a correct focusing focus under the corresponding object distance, and adjusting a focus adjustment device so as to enable the focus of the image capture device reach to the estimation value of the correct focusing focus. The invention is capable of greatly reducing the adjustment time through estimating the position of the correct focusing focus and directly adjust the focus to the estimated position so as to overcome the disadvantage of low processing speed in the prior art.

The invention belongs to a machine head device capable of adjusting the wall thickness of an extrusion pipe without dismantling a core mould in a neck ring mould in the technical field of polymer material processing mechanical equipment. A core mould inner shaft is sequentially provided with a lower expansion sleeve, an upper expansion sleeve and a core mould inner cushion block, a thread arranged at the right end of an adjusting nut is screwed into a nut arranged at the right end of the core mould inner shaft; a machine diameter is used for connecting the head part of an extrusion machine screw, the periphery of the machine diameter is provided with a wavy line heating ring, a transition block is arranged into a mandrel and a main mould body from a left port of the main mould body, the mandrel is connected with the main mould body into a whole; a thread arranged at the left end of a core mould body is connected with an inner thread arranged at the right end of the mandrel into a whole; the neck ring mould is arranged at the left end of a pressure sleeve, an inner thread at the left end of the neck ring mould is correspondingly assembled and connected with an outer thread at the right end of the main mould body; the neck ring mould and the main mould body form a runner inner wall of an extrusion machine head, the inner diameter of the neck ring mould is the outer diameter of the extrusion pipe, and the outer diameter of the core mould body is the inner diameter of the extrusion pipe. The machine head device capable of adjusting the wall thickness of the extrusion pipe has the advantages of simple structure, labor, financial resources and energy sources saving, and the like.

The invention provides an intelligent water mixing control device, an intelligent water mixing control device method and a water heater. The intelligent water mixing control device comprises a receiving unit, at least one hot-water water inlet, at least one cold-water water inlet, a detection unit and a controller, wherein the receiving unit is used for receiving an input set temperature; the at least one hot-water water inlet is used for providing hot water; the at least one cold-water water inlet is used for providing cold water; the detection unit is used for detecting the temperature of the hot-water water inlet, the temperature of the cold-water water inlet and the temperature of a mixed-water water outlet, and sending the multiple temperatures to the controller; the controller is used for controlling the water supply amounts of the hot-water water inlet and the cold-water water inlet according to the set temperature, the temperature of the hot-water water inlet and the temperature of the cold-water water inlet, so that the temperature of the mixed-water water outlet is equal to the set temperature; the hot-water water inlet, the cold-water water inlet and the mixed-water water outlet are connected in a three-way manner. With the adoption of the technical scheme, the intelligent adjustment of the water supply temperature can be realized; meanwhile, a water returning problem in the process of adjusting the water supply temperature is solved, and water resources and electric power resources are saved.

The invention relates to an electric automobile sliding prevention control method, a device, a system and a storage medium. The state of an electric automobile is monitored and comprises an accelerator signal, a speed signal, a brake signal and a gear signal of the electric automobile. Whether a sliding prevention signal is generated by triggering or not is judged according to the state. A motor of the electric automobile is controlled to work in a speed control mode if the sliding prevention signal is generated, the speed is preset to be 0, the pulse number of backward sliding of the electricautomobile within unit time serves as closed loop feedback, a closed loop preset value is 0, the difference value of the closed loop feedback value and the closed loop preset value is proportionallyadjusted and then overlaid on speed loop output, sliding prevention adjusting time is greatly shortened, and backward sliding distance is shortened.

The invention discloses a method and a device for positioning a double-roller thin-strip continuous casting roller and adjusting a roller gap. A stand of a thin-strip continuous casting roller is a memorial arch with a U-shaped structure and is used for supporting bearing blocks on two sides of each casting roller; the bearing blocks can drive the casting roller to slide on a guide rail of the memorial arch; a hydraulic cylinder fixed on the U-shaped memorial arch of a casing machine can drive a movable roller to move relative to a fixed roller in a close or away manner; the size of a parallel gap, namely the size of the roller gap between the movable roller and the fixed roller is adjusted; a fixed stop block is arranged on one side, which corresponds to the bearing roller of the fixed roller and is close to a casting center line, on the stand; after the casting roller is replaced for each time, the casting center line of the casting machine is calibrated; the axis of the casting roller is adjusted to be parallel to the casting center line by adjusting the thickness of the fixed stop block on the stand; and meanwhile, the distance between two casting rollers is limited by the fixed stop block. According to the method and the device disclosed by the invention, the position of the fixed roller can be correspondingly adjusted along with the change of the diameter of the casting roller, so that the axis of the casting roller is parallel to the casting center line of the casting machine; and on the other hand, the detection precision of a casting and rolling force can be improved and the casting stability is improved.

The invention discloses a three-dimensional fingerprint sensing system which is constructed on the basis of a strip projection phase measuring method and comprises hardware and software, wherein the hardware comprises a computer, a camera, a projector and a supporting frame; the computer is connected with the projector through an HDMI (High Definition Multimedia Interface) and is connected with the camera through a kilomega network interface; the supporting frame comprises a big base plate, a moveable plate, a camera frame base plate, a camera fixing plate, an upper base plate, a lower base plate and an angular displacement platform; the camera is fixed on the camera frame base plate and the camera fixing plate which are connected vertically; the camera frame base plate is fixedly connected with the moveable plate; the moveable plate is mounted at one end of the big base plate in a sliding mode; the projector is clamped between the upper base plate and the lower base plate; the angular displacement platform is connected with the lower base plate and is mounted at the other end of the big base plate; the relative mounting position and angle of the camera and the projector cause the central lines of lenses of the camera and the projector to meet the demand on a three-dimensional imaging principle; and the software mainly comprises the steps of image collecting, reading, storing, data analyzing, processing and three-dimensional displaying.

The invention relates to a carriage longitudinal beam tailor welding tool. The carriage longitudinal beam tailor welding tool comprises a fixing frame and a first stand column which is fixed on the edge of one side of the fixing frame, wherein the edge of the other side of the fixing frame is fixedly connected with the lower portion of a second stand column, a regulating rod is fixed on the edge of the position, between the first stand column and the second stand column, of the fixing frame, and a base plate is fixedly connected with the surface of one end of the fixing frame. The carriage longitudinal beam tailor welding tool has the advantages that a part to be welded is accurately located and reliably clamped, so that the part to be welded is conveniently assembled and welded, and structural accuracy of the part to be welded is improved.

The invention discloses a method for calibrating the relation between a rotating shaft and a camera based on constraint global optimization, and the method comprises the following steps: 1), calibrating internal parameters of a big-view-field camera and a to-be-calibrated camera; 2), taking a series of images of a calibration plate in a 360-degree rotation process of a rotating platform through employing the big-view-field camera; 3), obtaining a rotation matrix and transition matrix of the calibration plate to the coordinate system of the big-view-field camera and a rotation matrix and transition matrix of the calibration plate to the coordinate system of the camera through the images, obtained at step 2), of the calibration plate; 4), obtaining a rotation matrix and transition matrix of a rotary table calibration plate rotating at one place to the coordinate system of the big-view-field camera through the image, taken by the big-view-field camera at step 2), of the rotary table calibration plate, extracting the three-dimensional coordinates of at least two corners of the rotary table calibration plate in the series of images, calculating the circle center coordinates of the track of each corner in a rotating process, carrying out the fitting of the straight line where all circle centers are located, and obtaining the inclined angle between the rotating shaft and the optical axis of the camera according to a rotating shaft direction vector and a camera optical axis direction axis.

The invention discloses a backlight brightness adjusting method and device and terminal equipment. The method comprises that when an indication to carry out a screen ON operation on the terminal equipment in a screen OFF state is received, whether a photosensitive value, of the present environment, collected by a photosensitive device being re-enabled is obtained is determined; if the photosensitive value of the present environment is not obtained, the backlight brightness value of the screen of the terminal equipment is set as a first backlight brightness value before the screen is OFF temporarily; when the photosensitive value, reported by the photosensitive device, of the present environment is received, a second backlight brightness value corresponding to the photosensitive value of the present environment is determined; and if the difference between the second backlight brightness value and the first backlight brightness value is greater than a preset threshold, a preset first backlight adjusting interface is called, the backlight brightness value of the screen is adjusted to the second backlight brightness value in preset first time period, and the first time period is shorter than a second time period corresponding to a second backlight adjusting interface. The method can be used to shorten adjusting time of the screen backlight brightness, and improve user experience.

The invention provides a predictive direct power control method of a three-phase grid connected rectifier based on an extended state observer, and belongs to the field of electronic power control technology. The predictive direct power control method is used for solving the problems of relatively poor anti-jamming performance, slow response speed and large overshoot of the predictive direct power control method of the three-phase grid connected rectifier in the prior art. The control of the predictive direct power control method provided by the invention is composed of two control rings: a voltage regulation ring is an outer ring and a power tracking ring is an inner ring. A PI controller is combined with the extended state observer to form the outer ring to resist external interference. Predictive control based on a system discrete time model forms the inner ring to directly control active power and reactive power. The extended state observer is added in the predictive direct power control, and the extended state observer deems the external interference as a new system state and estimates and compensates the new system state in a feedback manner. Practice proves that the extended state observer is a very effective manner of processing the system uncertainty and the external interference.

Disclosed herein is a display image correcting device including, retaining means configured to retain reference correction amount data for correcting nonuniformity as a predetermined factor of an image displayed on a basis of a video signal, the reference correction amount data representing an amount of correction at a predetermined horizontal and vertical position of the image, the amount of correction being obtained in correspondence with a video signal level as a reference, and correcting means configured to perform correction processing on the video signal in correspondence with a horizontal direction and a vertical direction of the image, and a brightness direction, and performing the correction processing on a basis of three-dimensional correction amount data obtained by making two-dimensional correction amount data corresponding to a horizontal and vertical position, the two-dimensional correction amount data being obtained on a basis of the reference correction amount data, linearly proportional or nonlinearly proportional to level of the video signal to be corrected.

The invention relates to a multi-terminal flexible direct current system droop coefficient optimization method based on small signal modeling. The method comprises the steps of 1, determining a systemstructure; 2, modeling a transmitting terminal converter station; 3, modeling a receiving terminal converter station; 4, modeling a direct current network; 5, carrying out small signal model operation to obtain a state matrix A of a full system model, and calculating an eigenvalue lambda; 6, analyzing small signal parameters; and 7, carrying out optimization selection on the parameters.

The invention provides a fuzzy self-adjusting deviation coupling multi-motor synchronous control method. The method comprises the steps that a fuzzy self-adjusting filter controller which is formed bycombining a fuzzy controller and a first-order inertial filter and is used for controlling multiple motors is designed; given rotation speed and torque are used as the input of the fuzzy self-adjusting filter controller; softened rotation speed is used as the output of the fuzzy self-adjusting filter controller, wherein the softened rotation speed refers to the given rotation speed actually received by each motor; a lead correction link is introduced to design a lead synchronization compensator, and the response speed of each motor is accelerated while the start synchronization performance isimproved; in the start process and steady-state running sudden load, a synchronization error is calculated; the dynamic response speed characteristics of the motors are compared; and the effectiveness of the lead synchronization compensator to improve the dynamic response speed of the motors is verified. According to the invention, the synchronization performance of multiple motors at the start and the sudden change of the given rotation speed is improved, and the synchronization performance of multiple motors in steady-state sudden load is improved.

The invention discloses contactless intelligent self-service license photographing equipment and method. The equipment comprises a chassis, an input / output module, a photographing module and an intelligent module, wherein the chassis comprises a fixed module and a scalable module, the fixed module is connected with the scalable module by virtue of a scalable part, the input / output module is arranged on the fixed module, the photographing module and the intelligent module are arranged in the fixed module, and the intelligent module is respectively connected with the photographing module and theinput / output module; and the photographing module comprises a camera module and a mobile module, and the mobile module is used for driving the camera module to move. The contactless intelligent self-service license photographing equipment and method which are disclosed by the invention can realize that hands of a user are free in a photographing process, photographing can be completed without keyor contact, an automatic photographing process is convenient and simple, industry intelligentization requirement in new times is met, and support is provided for the development of intelligent citiesand intelligent life.