9results about How to "Simple control algorithm" patented technology

The application provides a PTC self-limiting temperature knee pad and a multi-source sensing combined control method, which comprises the following steps: collecting real-time pressure values of each pressure sensor in a pressure sensor array and a real-time inclination angle value of an inclination sensor; calculating a pressure difference value and judging whether the resistance measurement value is in a low resistance state defined by a positive temperature coefficient effect; limiting the heating temperature below the resistance mutation temperature by using the positive temperature coefficient effect; continuously monitoring the change of the real-time inclination angle value; when the real-time inclination angle value changes continuously below a preset activity angle threshold value for a time and exceeds a preset static time threshold value, outputting a stiffening prevention reminding instruction by a controller, and issuing a vibration reminder based on the stiffening prevention reminding instruction. The application realizes reliable judgment of heating start through a double-condition combined verification mechanism of a pressure difference value threshold and a low resistance state of PTC material.

An open-type TBM includes a TBM main unit and supporting equipment. The TBM main unit includes a cutterhead, a front shield, a tensioning shield, and propulsion devices. The cutterhead is located at the front of the front shield. The front shield is connected to the tensioning shield via two sets of vertically symmetrically arranged propulsion devices and two sets of horizontally symmetrically arranged propulsion devices. The four sets of propulsion devices are connected in series along the circumference of the front shield. Each set of propulsion devices includes two propulsion cylinders, arranged in a V-shape with their front ends close to each other and their rear ends far apart. The tensioning shield has support shoes on its side for tensioning the rock wall. The supporting equipment includes a trailer and an advance drilling bridge. The front of the advance drilling bridge is connected to the rear of the trailer. The trailer is connected to the bottom of the tensioning shield via a towing cylinder. The trailer is equipped with a rear-support belt conveyor, an arch frame installer, and a bolt drilling rig, arranged sequentially from front to back. The advance drilling bridge is equipped with a shotcrete system and an advance drilling rig, arranged sequentially from front to back. This design can adapt to widening excavation conditions and small turning radius starting requirements.

The invention belongs to the technical field of robots, and particularly relates to a flexible energy storage spring type robot bionic jumping foot type mechanism and a control method thereof. The mechanism comprises a motor, a main body part composed of a transmission module, a disengaging module and a rope coil spring transmission module, an upper movable rod and a lower movable rod which are connected with the main body part, and a foot jumping assembly rotationally connected with one end of the lower movable rod. The transmission module amplifies the output torque of the motor, mechanical energy is stored through the rope coil spring transmission module, by arranging the disengaging module, the transmission module and the rope coil spring transmission module are selectively connected or disengaged in different working states, the movable rod rotates to drive the foot jumping assembly, and jumping of the robot is achieved. The robot is compact in structure, high in energy utilization rate, good in jumping stability and suitable for small jumping robots and complex terrain moving robots.

The present application relates to the field of tractor suspension, and particularly relates to a tractor suspension automatic leveling device and a control method thereof. The tractor suspension automatic leveling device comprises a mounting frame, a plurality of connecting beams are fixedly connected to the mounting frame, a damping leveling system is connected to the mounting frame, a suspension frame is connected to the damping leveling system, a horizontal plate is fixedly connected to the suspension frame, the suspension frame is used for mounting a machine tool, a double-shaft inclination sensor is mounted on the horizontal plate, and a rotating leveling system is arranged. The leveling and damping functions are integrated in the same oil cylinder. When the impact acceleration exceeds the set threshold, the inertia sensitive valve core is automatically opened, the main oil cylinder cavity is communicated with the energy storage cavity, the millisecond mechanical impact absorption is realized, the sensor and the controller are not needed to intervene, the response speed is superior to that of the traditional electric control damping scheme, after the impact, the hydraulic oil in the energy storage cavity slowly returns to the original position through the one-way throttling valve, the leveling and damping functions are cooperatively worked, and the posture deviation is avoided.

This invention provides a highly safe and efficient control method and system for photovoltaic energy storage systems. It uses small positive and negative vectors with high common-mode voltage to synthesize a reference voltage vector, eliminating the focus on the vector's common-mode voltage value and instead limiting the range of common-mode voltage variation across all switching sequences. This reduces the system's common-mode voltage variation rate and leakage current, even when photovoltaic and battery voltages are variable. The use of small positive and negative vectors with high common-mode voltage provides more redundant switching states and sequences, facilitating power regulation of the photovoltaic-energy storage system. Switching sequences with medium-range vectors can also be used as independent control sequences for power regulation, achieving smooth power regulation between photovoltaic, battery, and grid components. This reduces the peak-to-valley load difference in the grid, bringing power generation and consumption closer to balance. Furthermore, the control algorithm is simple and easy to implement.

The utility model provides a kind of multi-unit moving coil motor, including at least two parallelly arranged substrates and the rotating shaft passing through the end surface of substrate, first coil winding and second coil winding are evenly arranged in the two end surfaces of substrate, first permanent magnet group and second permanent magnet group are arranged in the two end surfaces of substrate, first permanent magnet group and second permanent magnet group are all suspended outside first coil winding and second coil winding, fixed plate is arranged in the side of first permanent magnet group and second permanent magnet group away from substrate, first permanent magnet group and second permanent magnet group are all fixed on the fixed plate.The permanent magnet group of the application can form coverage to the deflection range of first coil winding and second coil winding, secondly, the magnet is arranged on both sides of coil in the application, compared with the magnet on one side, it has better magnetic field intensity.Finally, the application is arranged by parallelly arranging multiple substrates, compared with single substrate, it can provide stronger torsion to rotating shaft.

The utility model provides an improved moving coil type deflection motor, including base plate and pivot, first coil winding and second coil winding are all provided with in the both ends of base plate, first coil winding and second coil winding are symmetrical distribution to pivot, first permanent magnet group and second permanent magnet group are provided with respectively in the both ends of base plate, the polarity of the permanent magnet group all wraps two permanent magnet adjacent the permanent magnet, when first coil winding and second coil winding repeatedly deflect with pivot as the axis, first permanent magnet group and second permanent magnet group can form the coverage to the deflection range of first coil winding and second coil winding respectively. The application is through setting up magnet in coil winding both sides, makes the coil always to be under the even high intensity magnetic field coverage in whole movement range, has no magnetic field gradient interference, dynamic response is faster and more stable, to realize more accurate displacement and speed control, be more suitable for being applied to the precision instrument that needs high accuracy positioning.

The utility model provides a moving -coil type deflection motor, including base plate and pivot, first coil winding and second coil winding are all provided with in the both end faces of base plate, first coil winding and second coil winding are symmetrical distribution to pivot, first permanent magnet group and second permanent magnet group of polarity opposite are provided with respectively in the both end faces of base plate, above -mentioned two respectively hang in first coil winding and second coil winding outside, when first coil winding and second coil winding repeatedly deflect with pivot as the axle, first permanent magnet group and second permanent magnet group can form the coverage to the deflection range of first coil winding and second coil winding respectively. The present application is through setting up magnet in coil winding both sides, makes the coil always be under the uniform high -intensity magnetic field coverage in whole movement range, has no magnetic field gradient interference, dynamic response is faster and more stable, can realize more accurate displacement and speed control, is more suitable for being applied to the precision instrument of need high accuracy positioning.

The invention provides heliostat cleaning equipment and a heliostat cleaning control method thereof, and is characterized in that the method comprises the following steps: (1) adjusting the cleaning equipment to a working posture; (2) a cleaning frame of cleaning equipment is adjusted to be parallel to the mirror surface of the heliostat in the horizontal direction; (3) adjusting the relative position of a cleaning frame of the cleaning equipment and the mirror surface of the heliostat in the vertical direction, and meanwhile, adjusting the cleaning frame of the cleaning equipment and the mirror surface of the heliostat to be parallel in the vertical direction; and (4) cleaning the heliostat by the cleaning equipment. Compared with the prior art, the heliostat cleaning device has the following advantages that when the cleaning device enters the range of the mirror surface and during subsequent cleaning, the parallelism and distance between the cleaning device and the heliostat mirror surface in the vertical direction and the horizontal direction can be guaranteed at the same time, and the heliostat is better protected in the cleaning process; 2, the height of the cleaning device is adjusted by stretching and retracting the vertical inner arm, the angle is not influenced when the height is adjusted, the cleaning device is not linked with other mechanisms, the control algorithm is simpler, the system response is faster, and the heliostat can be protected.