38results about How to "Shock suppression" patented technology

The invention discloses a multi-degree-of-freedom control method and system for a ground rail robot, a product and a medium, and relates to the field of control or adjustment systems. The method comprises the steps that characteristic quantities in carried object task data are extracted, and weight parameters, material parameters and position parameters of carried objects are obtained; matching track operation data of the ground track in a preset track database according to the weight parameters, the material parameters and the position parameters, extracting a target point in a track path of the ground track, calculating carrying path data of the robot on the ground track based on carrying parameters of the target point, and sending the carrying path data to the robot, and after the robot executes the carrying path data, real-time stress parameters and real-time position parameters of the robot are measured at the pickup point, the transition point and the placement point, the real-time stress parameters and the real-time position parameters are input into a preset evaluation model, track correction parameters and position correction parameters are obtained, and a correction instruction is sent to the ground track robot. By implementing the method, the carrying precision of the ground rail robot can be improved.

The invention discloses a groove SiC MOSFET device integrated with a reverse freewheeling diode and a preparation method of the groove SiC MOSFET device, and relates to the technical field of semiconductors. Source polycrystalline silicon and a P-shield region form a heterojunction diode in an N-epitaxial layer, so that current flowing through a body diode during reverse conduction of the device is shared, and the risk of degradation of a PW region of the device is reduced. And meanwhile, the P-shield region is arranged below the gate oxide layer, so that the impact of gate oxide of a peak electric field can be inhibited, and the reliability problem of the gate oxide layer of the trench SiC MOSFET is improved. The overlapping area of the grid electrode and the drain electrode is reduced in structural design, so that the purpose of reducing the grid-drain capacitance is achieved, the Miller plateau time is shortened, the switching performance of the device is improved, and the switching loss is reduced.

The application relates to the technical field of tunnel construction, and discloses a combined segment structure, which comprises a UHPC segment and concrete test blocks, a plurality of concrete test blocks are arranged on the outer side surface of the UHPC segment in sequence along the curvature direction of the UHPC segment, the UHPC segment is provided with main reinforcement and stirrups, the main reinforcement is provided with a plurality of strips along the curvature direction of the UHPC segment, a plurality of stirrups are sequentially sleeved on the plurality of main reinforcement and are connected with the main reinforcement through binding, the concrete test blocks are provided with transverse steel bars and longitudinal steel bars, the transverse steel bars extend to the outside of the concrete test blocks and are overlapped with the stirrups, and the longitudinal steel bars extend to the outside of the concrete test blocks and are overlapped with the main reinforcement. Compared with the prior art, the structure design realizes optimal control of material cost by filling the concrete test blocks in the non-key stress area under the premise of hardly sacrificing the core performance of UHPC materials such as strength, durability and stress condition, and effectively eliminates the core economic obstacle in the popularization process of the UHPC shield segment.

A control device according to the present disclosure is provided with: an analysis unit that analyzes a command of a control program; a corner detection unit that detects, on the basis of the analysis result of the analysis unit, a corner part in which the direction of the movement path becomes discontinuous; a corner curvilinear processing unit for curvilinear the corner section by inserting a curve into the corner section, and adjusting the speed on the curvilinear movement path; and a velocity analysis unit for each direction that analyzes a velocity change in a direction component of a forward and backward movement path of the corner section when the corner section moves on the inserted curve, the velocity analysis unit for each direction issues a command to the corner curvification processing unit when a fluctuation in the velocity change during movement on the curve is detected as a result of the analysis, and the corner curvification processing unit performs curvification processing on the corner section when the fluctuation in the velocity change during movement on the curve is detected. A change in corner curve processing for eliminating fluctuations in speed changes on the curve is made.

This invention discloses a virtual synchronous low-voltage ride-through control method and system for wind turbines with energy storage coordination. The method includes: real-time acquisition of operating parameters of the wind turbine grid connection point and the energy storage system; determining low-voltage faults based on the effective voltage value of the grid connection point and calculating the voltage drop depth; adaptively updating the virtual inertia and damping coefficient based on the drop depth, and calculating the stator transient flux linkage to generate rotor compensation voltage to suppress overcurrent and electromagnetic torque impact; and performing differential correction based on the updated inertia and damping during the fault recovery phase to suppress active power and frequency oscillations, while simultaneously controlling the energy storage system to output reactive power support and active power support based on voltage and frequency deviations. The energy storage system is a hybrid energy storage system composed of lithium batteries and supercapacitors. This invention adopts a unified virtual synchronous generator control structure, eliminating the need for control mode switching and additional hardware, and effectively suppressing rotor overcurrent and low-frequency oscillations.

The invention belongs to the technical field of metal wire feeding and printing, and relates to a quick-release wire feeding structure suitable for small-diameter metal wires. The wire feeding structure comprises a main body structure frame assembly serving as an installation reference and a force bearing main body of the whole mechanism; the quick-release wire feeding seat assembly is arranged in the main body structure frame assembly, and a through wire feeding channel is formed in the quick-release wire feeding seat assembly; the wire feeding shaft driving assembly is installed in the shaft hole of the main body structure frame assembly and used for driving the metal wire to move along the wire feeding channel; the wire feeding head assembly is installed at the outlet end of the main body structure frame assembly and used for guiding the metal wires; and the quick-release wire feeding seat assembly can be integrally taken out of and loaded into the main body structure frame assembly. The problems that operation and maintenance convenience is poor, and wire feeding stability and reliability are insufficient are solved.

The application relates to the technical field of coating devices, and discloses a fireproof layer coating machine for fireproof glass production and a production process, wherein the fireproof layer coating machine for fireproof glass production comprises an equipment frame, a conveying assembly fixedly installed in the equipment frame, a bottom frame mechanism arranged above the conveying assembly and a coating mechanism, and the inside of the bottom frame mechanism supports a glass sample; a three-stage nested floating structure formed by first, second and third sliding sleeves provides a multi-degree-of-freedom alignment capability for a coating roller; when special-shaped glass passes, the coating roller can passively and adaptively float along the curved surface profile of the special-shaped glass, and always adhere to the surface of the glass; meanwhile, the whole coating head is flexibly hung by a plurality of supporting springs, overall buffering is provided, the problems of accumulation at protruding positions and coating leakage at recessed positions are solved, uniform transfer of fireproof coating on a special-shaped surface is ensured, and finally, a high-quality coating with consistent thickness and continuous integrity is obtained.

The application discloses a kind of cut-off check valve with self pressure relief function, it is related to check valve technical field, including valve body, the valve body one end is provided with water outlet assembly, the water outlet assembly is used for the water flow discharge work inside valve body, the valve body top is equipped with end cover, the end cover is connected with valve body by bolt, the end cover top is equipped with locking assembly, the locking assembly is used for control inside passage switch of valve body, when valve body works, medium enters by water inlet and pushes valve cover to open, valve cover is driven piston block synchronous movement in damping tank by connecting rod;Piston block is throttled by damping oil, damping oil is limited to flow through throttle hole, forms damping resistance, realizes valve cover slow opening and slow closing, inhibits water hammer impact, reduces pipeline vibration and component wear.

This invention provides an adaptive inflation control method and system for reusable liquid rocket cylinders. The adaptive inflation control method for reusable liquid rocket cylinders includes: automatically matching corresponding inflation parameters and safety thresholds based on acquired data from the onboard cylinders; performing a self-check on the ground-based gas supply system and establishing a rocket-ground safety interlock after the self-check passes; and performing segmented inflation control based on the matched inflation parameters and safety thresholds. The segmented control includes: initially inflating the cylinder at a preset constant flow rate or pressure; after the pressure reaches a first preset safety threshold, inflating at a first set flow rate or pressure; after the pressure reaches a second preset safety threshold, gradually reducing the inflation flow rate or pressure to smoothly approach the target pressure; and when the cylinder pressure approaches the target pressure, replenishing the cylinder with a second set flow rate to the target pressure and then closing the inflation valve. This application achieves the goal of improving inflation efficiency and lifespan.

The invention discloses an SIC-based laminated busbar of an SVG product, which comprises an upper circuit board and a lower circuit board, the copper clad thickness and width of copper foils of the upper circuit board and the lower circuit board are determined according to current design requirements, and a high-voltage insulating layer is naturally formed by an epoxy board between the upper circuit board and the lower circuit board. And the hardness support is realized by the epoxy plate. Compared with a laminated busbar formed by pressing multiple layers of copper plates, the laminated busbar required by the invention is simple and efficient in design and processing by utilizing a mature process for processing an existing circuit board, and the cost of the laminated busbar can be greatly reduced; according to the laminated busbar, the high-frequency current skin effect can be better utilized, the current transmission efficiency is improved, and the related through-current capability can be doubled due to the fact that the double-copper-foil parallel conductive mode is adopted in the middle layer.

The application relates to the technical field of semiconductor bridge electrostatic discharge protection and current protection, and discloses an electrostatic discharge and current protection circuit of a semiconductor bridge, which comprises an ESD protection circuit, a current protection circuit and an NMOS connected in parallel, the ESD protection circuit comprises a bidirectional transient suppression diode and a capacitor connected in parallel, the bidirectional transient suppression diode clamps a transient high voltage by breakdown conduction, the voltage is limited in a safe range, the capacitor reduces a voltage rising rate and suppresses overshoot by shunting and absorbing a transient current, the NMOS provides a low-resistance discharge path, and the voltage and current impact applied to the semiconductor bridge are reduced; the current protection circuit comprises a bidirectional rectifier circuit and a detection circuit; and the NMOS is connected between the detection circuits. The application can realize ESD protection and current protection of the semiconductor bridge, prevents current from damaging the structure, and guarantees the safety of the semiconductor bridge working in an electromagnetic and ESD environment.

The application discloses a dust removal control method for a new energy truck heat dissipation fan, which comprises the following steps: taking the FCU and the whole vehicle power-on linkage as the starting point, first performing one-time reverse dust removal after the power supply, communication, drive and sensing link self-inspection are qualified; then, based on the segmented threshold and linear mapping of the motor temperature and the controller temperature, the PWM is adjusted in real time, the duty cycle is constrained by the change rate and the positive / negative rotation switching is pre-stopped for buffering; when the temperature is out of limit, full-load heat dissipation is preferred and the power is limited in cooperation with the MCU; at the same time, the RTC accumulates the positive rotation working hours, and the periodic dust removal of smooth speed reduction-stop-reverse-stop-mapping recovery is performed in the non-emergency heat dissipation window. The method solves the problems that the dust in the air duct is difficult to be cleaned online under high dust working conditions, the heat dissipation control is extensive, and the overheating risk is high, and achieves the technical effects of stable air volume and heat exchange efficiency, reduced energy consumption and NVH, and decreased maintenance frequency and failure rate.

The invention relates to the technical field of hybrid power, and discloses a vehicle torque compensation method and device, computer equipment and a storage medium. According to the method provided by the embodiment of the invention, when the vehicle is in the parallel mode and the gear switching is triggered, the connection state of the transmission chain is detected in real time, the connection condition of the power transmission path can be judged, and a prerequisite condition and a reliable basis are provided for subsequent torque compensation; the compensation torque currently needed by the vehicle is obtained, the accuracy and self-adaptability of the compensation amount are ensured, and torque disturbance caused by gear switching is effectively eliminated; and the vehicle is compensated in real time according to the compensation torque, so that engine rotating speed fluctuation and torque impact caused by gear shifting are restrained, high smoothness of the gear shifting process is achieved, and the driving comfort and the overall reliability of the vehicle are improved.

The embodiment of the invention provides a robot control method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The robot control method comprises the steps that in response to collision of a robot, an expected joint angle is selected from joint angles of all joints of the robot at multiple historical moments, based on the current expected joint angle, according to a first determination mode, the impedance torque of the robot is determined, and according to the impedance torque of the robot, the robot is controlled. And calculating the output torque of the robot, controlling the robot to move according to the output torque of the robot, and returning to the step of selecting the expected joint angle from the joint angles of the joints of the robot at the plurality of historical moments. Therefore, according to the scheme, the robot can be effectively protected after collision happens to the robot.

The present application provides a kind of control device of vehicle, it can improve the acceleration response after temporarily deceleration travel.In the period of vehicle deceleration, engine stall needs to be avoided (in step S2 "Yes"), in the case of the response of needing to reaccelerate (in step S3 "Yes"), engagement mechanism is set to release state (step S4), in the period of vehicle deceleration, engine stall needs to be avoided (in step S2 "Yes"), in the case of the response of not needing to reaccelerate (in step S3 "No"), release lock-up clutch (step S5).

The invention belongs to the field of hypersonic active flow control, and discloses a drag reduction and heat protection system and method for a hypersonic aircraft, and the method combines two active flow control methods of energy deposition and magnetofluid flow control. The excellent drag reduction characteristic of energy deposition can bring a good drag reduction effect to an aircraft, meanwhile, energy deposition can serve as an auxiliary ionization technology, and the magnetic control effect of magnetic fluid flow control is improved by improving the fluid conductivity; due to the outstanding thermal protection performance of magnetic fluid flow control, an excellent thermal protection effect is brought to the aircraft after heat flow increase in a part of time periods caused by the energy deposition process is treated; meanwhile, the problems of resistance impact and oscillation caused by pulse energy deposition are fully inhibited under the action of the magnetic field Lorentz force; by the adoption of the method, a better hypersonic speed drag reduction and heat protection effect is achieved, the resistance borne by the hypersonic speed aircraft can be effectively reduced, the heat protection capacity of the aircraft is improved, and the method has wide application prospects.

The utility model relates to the technical field of automobile shock absorber damping valve structures, and discloses an automobile shock absorber damping valve structure convenient to install, which comprises a first support connector, a fixed upper support is fixedly installed at the top of the first support connector close to the center, and a damping valve upper shell is fixedly installed at the bottom of the first support connector. An upper shell groove is formed in the damping valve upper shell, a damping valve lower shell is movably connected to the position, close to the interior of the upper shell groove, of the interior of the upper shell groove, a second supporting connector is fixedly installed at the bottom of the damping valve lower shell, and telescopic damping supporting columns are movably connected to the positions, close to one side, of the front face of a second supporting connecting plate in an axial symmetry mode; limiting resisting columns are fixedly installed on the portions, close to the tops, of the front faces of the telescopic shock absorption supporting columns, and by arranging the telescopic shock absorption supporting columns, equipment can be fixed, parts can conveniently support the equipment, stable shock absorption is achieved, equipment driving is facilitated, and the shock absorption effect is conveniently achieved.

This invention provides a transport system that enables the installation and adjustment of a device in a short time with a simple configuration, and can suppress shocks, vibrations, noise, etc., and achieve stable transport of a moving body. Specifically, in the transport system (100) that moves a moving body by means of a rack and pinion, the rack (110) is provided with fixed rack teeth (112) arranged in a predetermined pitch along the transport path. A portion of the fixed rack teeth (112) on the rack (110) is replaced with movable rack teeth (117). The movable rack teeth (117) are configured to move along the transport path so that the pinion teeth (122) on the pinion (121) can engage and disengage from the movable rack teeth (117) in the tooth width and tooth height directions relative to the movable rack teeth (117).

The utility model relates to robot technical field, concretely relates to a robot joint support mechanism, including joint one and joint two, support subassembly, support subassembly sets up on joint one and joint two, and support subassembly is used for supporting joint one and joint two, reverse stretch subassembly, reverse stretch subassembly sets up in the middle part of support subassembly, and reverse stretch subassembly is used for the damping and reverse pull of joint two when bending on joint one. Compared with the prior art, the reverse stretch subassembly composed of the second rotating disc, trigger plate, connecting rod, moving block and tension spring is arranged, so that the joint two can obtain continuous variable damping feedback in the bending process, and the flexible control of the bending angle is realized.

The application provides a knee joint exoskeleton device and a lower limb outdoor walking aid exoskeleton robot. The device comprises: a thigh contraction connecting rod; a knee joint upper connecting rod connected to the rotating end of the thigh contraction connecting rod in a rotatable manner; a knee joint lower connecting rod connected to the other end of the knee joint upper connecting rod in a rotatable manner; and a knee joint elastic adjustment assembly having an uphill and downhill mode and a flat ground mode. The application switches to the flat ground mode when walking on the flat ground. When the leg is bent and straightened, the knee joint elastic adjustment assembly stores the flat ground elastic potential energy. When the leg is straightened and bent, the knee joint elastic adjustment assembly releases the flat ground elastic potential energy to provide power assistance. The knee joint elastic adjustment assembly switches to the uphill and downhill mode when going uphill and downhill. When the leg is straightened and bent, the knee joint elastic adjustment assembly stores the uphill and downhill elastic potential energy. When the leg is bent and straightened, the knee joint elastic adjustment assembly releases the uphill and downhill elastic potential energy to provide power assistance, which can adapt to different outdoor terrains.

The application discloses an off-grid type reverse control integrated energy scheduling method based on cold storage thermal inertia, defines a thermal state of charge SOT through a first-order thermal resistance and thermal capacity model, and quantifies the cold storage thermal inertia as virtual energy storage; based on a SOT and SOC cooperative criterion, redundant power is over-cooled and absorbed as cold storage when photovoltaic power is abundant, and cold is released by using thermal inertia when photovoltaic power is insufficient; the second-order change rate of photovoltaic power is used to predict cloud shadow sudden drop and reduce load in advance; and residual error analysis is used to diagnose refrigeration energy efficiency abnormalities in real time. The application breaks through the limitation of electric-thermal scheduling separation, suppresses battery impact and avoids photovoltaic power abandonment through virtual energy storage scheduling by replacing electricity with heat, and improves the service life of the energy storage system and the comprehensive energy utilization rate.

The invention discloses a multi-channel amusement equipment control method for event-driven priority scheduling, and relates to the technical field of amusement equipment automation control, and the method comprises the following steps: building an excessive signal discrimination band, compressing a burst input signal on a time axis, extracting a transient fingerprint with the strongest persistence, and obtaining an excessive signal discrimination band; taking the transient fingerprint as a basis for dividing subsequent signal segments; impact fragments are divided on a time axis according to the transient fingerprints, a graded slow-release mark is arranged on each impact fragment, and the energy release rate is limited through the graded slow-release marks. According to the invention, through event-driven priority scheduling and time hierarchical energy management, coordinated control of energy release, signal shunting and error signal unloading is realized, a continuous rhythm is formed, and instability caused by sudden increase of driving force is avoided. Through reverse rhythm traction in a short-time stable window, the driving force is subjected to peak clipping in advance and smooth transition, flexible acceleration and smooth deceleration are realized, and the control precision, the operation stability and the user experience are improved.

The application discloses a full-active suspension mode switching smooth transition control method and a cooperative control system, a future time domain acceleration sequence issued by an intelligent driving system is used to predict a target working mode, so that a suspension controller can actively know the switching demand in advance, and lag and impact caused by traditional post-response control are fundamentally reduced; then, according to a switching span between a current mode and the target mode, a smooth transition time window with differentiation and gradually decreasing size is set, and a continuous reference track of pump rotating speed and electromagnetic valve current is generated by using an S-shaped ramp function, so that a long enough slow change time is obtained for large-span switching to fully suppress hydraulic impact and electrical peak, and a short transition time is obtained for small-span switching to ensure response speed, so that fast and smooth mode transition is realized under the premise of avoiding pressure step and current overshoot.

The application provides a double flexible contact phased adaptive three closed loop hybrid control method, system and readable storage medium, comprising: real-time monitoring of the contact state and contact force of the robot end and the workpiece surface; identifying the non-contact, contact transition or stable contact phase according to the relationship between the contact force and the expected force; packaging the three phases into three control experts, inputting the contact force, position error, tangential velocity and curvature information into the gate network to dynamically output the fusion weight, adopting the zoning and time-sharing weight distribution strategy to weight and fuse the position correction amount of each expert to generate the control instruction. The second expert introduces semi-active damping to enhance the force overshoot of double flexible contact inhibition, and the third expert adopts double channel decoupling control to compensate the time-varying stiffness. The system comprises a robot body, a sensor module and a controller. The application realizes full-process smooth switching and high-precision force control under double flexible contact, and is suitable for wind power blade roll coating and other operations.

The application belongs to the technical field of data cleaning, and particularly relates to an abnormal positioning data cleaning method based on multi-base station positioning, comprising the following steps: acquiring original positioning data collected by multiple base stations within a preset time window and measurement noise standard deviation corresponding to each positioning attribute of a terminal to be positioned; calculating a time gradient sequence of each positioning attribute for continuous data points within the time window, and constructing a cross-attribute time sequence gradient correlation matrix; solving an inter-attribute conflict index based on the cross-attribute time sequence gradient correlation matrix, and extracting a dominant abnormal direction vector; and mapping the inter-attribute conflict index to a scalar abnormal amplitude through a probability model trained based on historical normal data. The application constructs a cross-attribute time sequence gradient matrix to identify positioning abnormalities, constructs an abnormal covariance, and corrects filtering parameters through a Jacobian matrix to adaptively suppress abnormal interference, thereby significantly improving positioning accuracy and system stability.

This invention discloses an automated cutting system based on aluminum alloy production, belonging to the field of aluminum alloy profile processing technology. The system includes a mechanical execution layer, a sensing and detection layer, and an intelligent control layer. Addressing the problems of lag in feed control and lack of mechanical basis for attitude selection in cutting complex cross-section profiles, this invention uses a multi-axis attitude optimization control unit to calculate the relationship between the profile cross-section moment of inertia and cutting force, selecting the optimal attitude with minimal deformation. A collaborative controller drives a cross-section topology analysis unit to generate a cross-section feature sequence based on the optimal attitude. A feed rate adaptive control unit establishes a forward-looking window based on this sequence, predictively adjusting the rate before the saw blade contacts the wall surface or cavity features. This invention eliminates response lag through feedforward control and reduces profile deformation through mechanical optimization, significantly improving the cutting quality and accuracy of aluminum profiles.

This invention provides a pressurizing device and a pressurizing processing apparatus using this pressurizing device, which, when driving a pair of pressurizing elements with contactable / separable structures into contact, can suppress variations in the contact pressure distribution in the contact area between the pair of pressurizing elements even if the pressurizing elements generate a driving reaction force. The pressurizing device includes: a first pressurizing element; a second pressurizing element; a contact / separation member that causes the second pressurizing element to contact / separate relative to the first pressurizing element between a contact position and a retracted position; a force-applying member that applies force to the first pressurizing element toward the second pressurizing element; and a driving member that applies a driving force to the second pressurizing element, causing the first pressurizing element to be driven. The contact / separation member has a moving element that moves the second pressurizing element toward the first pressurizing element, and the driving member applies a driving force in the direction in which the second pressurizing element is pressed toward the moving element.

The application provides a double-gear-rack gap-elimination assembly method of a feeding box structure in a drag plate. The method selects an adjusting shaft expansion sleeve as an adjusting node in a second transmission chain of a double-gear output reduction box, and the adjusting shaft expansion sleeve is in a relaxed state before adjustment. The drag plate is placed at the tail of a bed body, and the front and rear output gears are respectively engaged with the penultimate rack and the antepenultimate rack. The rear rack is pre-shifted by a distance Δ along the feeding direction, and the rear rack is locked with the eighth shaft expansion sleeve, and then the rear rack is returned to the correct engagement position, so that the second transmission chain is forced to produce a predetermined angular displacement relative to the first transmission chain, and the two output gears are respectively closely engaged with the rack tooth surface with the opposite tooth surface. The scheme directly establishes the gap-elimination amount by the rack pre-shift, is not limited by the limited axial stroke of the gap-elimination shaft, has an intuitive assembly, a large adjustment range, can significantly reduce the reverse gap of the double-gear rack feeding system, and can improve the positioning precision and the running stability.

The present application provides a vehicle control device capable of exhibiting a sporty performance while suppressing the occurrence of an impact in a vehicle. A vehicle control device in which a vehicle is equipped with an engine having a fuel injection valve, the vehicle control device including: a normal start control section that executes normal start control in which a fuel injection amount from the fuel injection valve is controlled to a normal start injection amount to start the engine; and a high-impact start control section that executes high-impact start control in which the fuel injection amount is controlled to a high-impact start injection amount that is greater than the normal start injection amount in such a manner that an impact speed at the time of starting the engine is increased compared to the normal start control, and the fuel injection amount is gradually changed from the high-impact start injection amount to a required injection amount corresponding to a required driving force of the engine after starting the engine.