26results about How to "Simple control algorithm" patented technology

The invention provides a thread trimming method of a sewing machine, and belongs to the technical field of sewing machines. The problem that an existing thread trimming method is insufficient in bird groove preventing effect is solved. The thread trimming method comprises the following steps that A, a machine needle is driven to drive an upper thread end to move downwards to penetrate through a lower needle hole in a movable cutter and then move upwards to the position above a needle plate, and the upper thread end is kept in the lower needle hole; b, a thread trimming power mechanism starts to work, a movable cutter is driven to drive an upper thread end to move in the direction away from a needle falling hole, and then the thread trimming power mechanism stops working; c, the needle bar power mechanism drives the machine needle to sew a plurality of stitches; d, the thread trimming power mechanism works again, the movable cutter and the auxiliary cutter are driven to move in the direction close to the needle falling hole together, the movable cutter stops moving until the movable cutter is located under the needle falling hole in the needle plate, and the auxiliary cutter continues to move to be meshed with the movable cutter edge to cut off the upper thread end. The thread trimming device has the advantages of being high in thread trimming efficiency and good in bird nest prevention effect.

The invention relates to a distributed photovoltaic power station main converter and a control method thereof, and belongs to the field of photovoltaic power generation. The main current transformer comprises a T-type three-level current transformer and a Buck-Boost current transformer; the T-type three-level converter comprises three bridge arms, two output capacitors and the like; each bridge arm is provided with four power switch tubes; the two output capacitors are connected in series, and the connection point is called as the midpoint O of the T-type three-level converter. And one end of a direct-current inductor of the Buck-Boost converter is connected with the midpoint O. The T-type three-level converter adopts PI control and a carrier pulse width modulation strategy to realize alternating current side current harmonic wave minimization of the T-type three-level converter; the Buck-Boost converter adopts a PI control method to realize neutral-point potential automatic balance control. The method is small in current harmonic wave, low in cost and simple to control, and can realize quick and automatic balance of the neutral-point potential, thereby effectively coping with the influence of illumination and power grid voltage fluctuation on system control, and realizing quick and stable control of the distributed photovoltaic power station.

The invention relates to the technical field of sensing data fusion, in particular to a multi-sensor data fusion method for an unmanned pre-controller. The method comprises the following steps: acquiring environmental obstacle position data, environmental object distance data and environmental object motion state data through unmanned driving environment multiple sensors, performing time sequence synchronization and standardization processing, and performing feature space vector conversion at the same time; carrying out multi-sensor particle filtering fusion analysis and multi-sensor uncertainty inference adjustment analysis to obtain an environment multi-sensor uncertainty adjustment coefficient; and performing multi-sensor uncertainty fusion optimization and environment space modeling processing according to the environment multi-sensor uncertainty adjustment coefficient, performing environment state driving control prediction analysis, and generating an unmanned driving environment state change driving control strategy so as to execute a corresponding unmanned driving environment change pre-control function. According to the invention, rapid fusion analysis and utilization of unmanned multi-sensor data can be realized.

The invention provides a thread trimming structure of a double-cam type sewing machine, and belongs to the technical field of sewing machines. The problem that an existing thread trimming structure is insufficient in anti-bird groove effect is solved. The thread trimming structure further comprises a movable cutter cam and an auxiliary cutter cam, the movable cutter cam and the auxiliary cutter cam are arranged in parallel in a spaced mode and fixedly connected to the driving shaft, and the working circumferential face of the movable cutter cam comprises a first concave arc section AB, a first convex arc section BC, a second concave arc section CD and a second convex arc section DA which are sequentially connected end to end. The first convex arc section BC is provided with a section of trimming arc surface concentric with the driving shaft; when the thread trimming arc surface on the movable cutter cam slides over the abutting part I, the movable cutter stops at the position where the cutting edge of the movable cutter is located under the needle falling hole; and in the process, a needle raising and thread trimming peach tip a on the auxiliary knife cam can slide over the abutting part II, so that the auxiliary knife moves towards the edge of the movable knife and is engaged with the edge of the movable knife. The device has the advantages of being stable in work and good in bird nest prevention effect.

The invention provides a large-scene video command tracking method and system and a medium, and the method comprises the steps: marking an erected array camera and a high-power dome camera image, obtaining a calibration point group, storing the calibration point group in a pre-marking library, marking all camera resources in a vision field to a panoramic video under the array camera, and carrying out the marking of all camera resources in the vision field; a user can directly look up and control the corresponding camera through different camera resources; a linkage target area is selected through panoramic video automatic identification or manual frame selection of a user, the center point of the target area is adopted as a target point B, and normalized coordinates of Q in a rotary table coordinate system are calculated based on scene geometry by using a homography transformation algorithm in combination with eight calibration point groups closest to the target point B; a specific PT parameter of Q is obtained in combination with a specific turntable hardware parameter, and a PTZ parameter corresponding to the dome camera is further obtained; and issuing the PTZ parameters corresponding to the dome cameras to the corresponding dome cameras for real-time tracking. According to the invention, the problems of small picture visual range, low pixel and poor target tracking effect in the prior art are solved.

The invention discloses a torque hub motor and a control method thereof. The torque hub motor comprises a hub motor body and a sensor set arranged on the side face of the hub motor body and connected with a tower footing. The output of the sensor group at least comprises a group of torque signal sensors which are used for sampling the input torque of a chain and the driving state of a hub motor and transmitting signals to the signal processing unit, and the signal processing unit is used for obtaining input torque signals, speed signals and clutch overrunning signals and judging and calculating the torque signals, the speed signals and the clutch overrunning signals; the motor driving unit controls a motor to operate through a control signal output by the signal processing unit, common driving of input torque and motor output is achieved, a torque sensor and a controller are integrated in the motor, the integration degree of the motor is improved, the whole vehicle assembling process is simplified, and the motor driving efficiency is improved through common control of a torque signal, a speed signal and an overrunning signal. And a control algorithm is optimized, so that riding is safer and more comfortable.

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 present invention belongs to the field of PAR intelligent control technology, and specifically relates to a PAR intelligent operation precision control system and method. The invention realizes precise control of the target operation object through real-time monitoring and data analysis, reduces human intervention, improves the automation level, and can quickly respond and adjust the PAR control system based on the comprehensive analysis of historical data and real-time data, ensures the efficient operation of the PAR control system, reduces resource waste, and keeps the PAR control system running in the best state by timely adjusting the deviation, improves the stability and reliability of the PAR control system, reduces the need for human intervention and adjustment, reduces the operation and maintenance costs, improves the economic benefits, continuously accumulates and analyzes historical data, optimizes the control algorithm, and improves the overall performance and intelligence level of the PAR control system.

The invention provides a posture track processing method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The method comprises the steps that an original posture track of the robot is obtained, and the original posture track comprises at least two continuous posture tracks; according to the trajectory information of each attitude trajectory, determining a transition point on each attitude trajectory and parameter information at the transition point; performing transition interpolation processing on the original attitude trajectory according to the parameter information at the transition point on each attitude trajectory to obtain a transition attitude trajectory; and splicing the original attitude track and the transfer attitude track to obtain an interpolation attitude track of the robot. According to the method, the parameter information at the transition point is determined, transition processing is carried out at the transition point, it can be ensured that transition of the robot between different posture track sections is smoother, the performance of the robot during task execution is effectively improved through posture interpolation optimization, and then the running speed and the working efficiency of the robot are improved.

The invention belongs to the technical field of magnetic suspension, and particularly relates to a stator structure and a bearingless magnetic suspension motor. The stator structure is applied to the magnetic suspension device and comprises a suspension assembly and a torque assembly, the suspension assembly and the torque assembly are arranged at intervals in the axial direction of the stator structure, the suspension assembly comprises a suspension iron core and a suspension coil, and the torque assembly comprises a torque iron core and a torque coil; the suspension iron core comprises a plurality of first winding teeth distributed at intervals in the circumferential direction of the suspension iron core, each first winding tooth is provided with a suspension coil, the torque iron core comprises a plurality of second winding teeth distributed at intervals in the circumferential direction of the torque iron core, and each second winding tooth is provided with a torque coil. After the structure is adopted, the suspension magnetic circuit and the torque magnetic circuit do not interfere with each other, the control is simple, the torque is increased, the shaft diameter ratio of the rotor is increased, the overturning stability can be improved, and the problem that the control precision of an existing magnetic suspension device on the rotor is low can be solved.

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 invention relates to a modeling and control method of a current continuous type combined chopper switch. The method comprises the following steps: establishing a closing key of the current continuous type combined chopper switch; establishing a BOOST circuit bonding graph model with a bond or a BUCK circuit bonding graph model with a bond; establishing a state equation of the circuit; and circuit control is realized through model predictive control. The method is suitable for BUCK type and BOOST type chopper switch combinations, unification of models in the on-state and the off-state is achieved, and an on-off keying graph under the condition of continuous current can be established; a model in which the external keys are not changed by the internal keys is finally formed by distinguishing the combination keys formed by the switch combination, carding the causal relationship in the combination keys and dividing the external keys and the internal keys, so that the problem that the model changes along with the switch state when the bonding graph is applied to a circuit at present is solved, the application range of the bonding graph is expanded, and the application range of the bonding graph is expanded. The period is not only not limited to fault diagnosis, but can control the circuit based on a model.

A suspension actuating mechanism and an active suspension device, the suspension actuating mechanism is used to control the up and down movement of a wheel, and includes a driving mechanism, an actuating shaft, and a swing arm; the driving mechanism is connected to the actuating shaft to generate torque to drive the actuating shaft to rotate; one end of the swing arm is fixedly connected to the actuating shaft, and the other end is used to connect to the wheel, and when the actuating shaft rotates, the swing arm is driven to rotate around the axis of the actuating shaft, thereby driving the wheel to move up and down. The present invention drives the actuating shaft to rotate through the driving mechanism, drives the swing arm to rotate around the axis of the actuating shaft, and then drives the wheel to move up and down. Because it directly uses the swing arm mechanism to control the vertical position of the wheel, it has a simple structure, high transmission efficiency, and a simple control algorithm.

The invention relates to a hybrid vehicle group cooperative control method based on a cloud edge cooperative architecture, and belongs to the technical field of intelligent traffic. The method comprises the following steps: S1, setting an urban road single-lane heterogeneous traffic scene under a cloud edge collaborative architecture; s2, on the cloud server, based on the heterogeneous vehicle kinematics characteristics, establishing a longitudinal kinematics model for driving of the networked automatic vehicle and a longitudinal kinematics model for driving of the networked person; s3, the vehicle state information data and the vehicle longitudinal kinematics model uploaded to the cloud server are obtained and analyzed, and a networked person driving cooperative driving model and a networked automatic vehicle control algorithm considering mutual influence between the vehicles are constructed on the cloud server in combination with a vehicle information topological structure; s4, establishing a state-space equation of heterogeneous vehicles, integrating the networked automatic vehicle control algorithm and the networked person driving cooperative driving model, and constructing a hybrid vehicle group kinematics state equation; and S5, establishing a hybrid vehicle group cooperative control method. The method effectively ensures that the hybrid vehicle group rapidly realizes consistent and stable driving.

The invention belongs to the technical field of high-voltage cable insulation state detection, and discloses a high-voltage cable alternating current excitation type oscillation wave resonant frequency obtaining method and device. The acquisition method comprises the following steps: forming a series resonance circuit by an exciting transformer, a resonance reactor and a tested high-voltage cable line; a variable-frequency power supply and a state change-over switch unit are matched to generate a square-wave voltage, and the square-wave voltage acts on the series resonance circuit, so that the tested high-voltage cable line generates a square-wave response; and acquiring voltage data of square wave response generated by the tested high-voltage cable line, and calculating by utilizing the voltage data in the free resonance stage and combining a nonlinear least square method to obtain the resonant frequency of the alternating-current excitation type oscillation wave of the high-voltage cable. According to the technical scheme, the resonant frequency of the alternating-current excitation type oscillation wave of the high-voltage cable can be conveniently, rapidly, efficiently and accurately obtained, and the method has important engineering practical value.

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 discloses a torque wheel hub motor, which comprises a wheel hub motor and a sensor group arranged on the side surface of the wheel hub motor and connected with a tower footing, the output of the sensor group at least comprises a group of torque signal sensors for sampling the input torque of a chain and the driving state of the wheel hub motor and transmitting signals to a signal processing unit; the signal processing unit obtains input torque signals, speed signals and clutch overrunning signals and carries out judgment and calculation, the motor driving unit controls operation of a motor through control signals output by the signal processing unit, common driving of input torque and motor output is achieved, and the torque sensor and the controller are integrated in the motor. The integrated level of the motor is improved, the assembly process of the whole vehicle is simplified, and riding is safer and more comfortable by jointly controlling the torque signal, the speed signal and the override signal and optimizing the control algorithm.

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 a permanent magnet synchronous motor calibration method, device and equipment, a medium and a vehicle. The method comprises the steps of obtaining motor inductance parameters under different currents according to a preset quadrature-direct axis rotation coordinate voltage formula of a permanent magnet synchronous motor; the motor inductance parameters are processed through a preset data processing script, a target two-dimensional look-up table is generated, the target two-dimensional look-up table comprises d-axis currents and q-axis currents under different motor magnetic fluxes and motor torques, and the target two-dimensional look-up table is used for calibrating the permanent magnet synchronous motor. According to the embodiment of the invention, the inductance parameter of the motor is obtained through the quadrature-direct axis rotation coordinate voltage formula, the target two-dimensional look-up table containing d-axis current and q-axis current under different motor magnetic fluxes and torques is generated by using the preset data processing script, the control algorithm is optimized, the operation load of software and hardware is reduced, and the efficiency is improved. And current instructions of the motor under different working conditions can be accurately calibrated.

The present application provides a cylinder control method, system and device based on a reversing valve, which calculates the difference between the real-time position of the cylinder before the cylinder is triggered and the preset reference position as the first control deviation value, and then compares it with the reference value, and then supplies power to the reversing valve and controls the cylinder to rise or fall according to the power supply result; and calculates the difference between the real-time position of the cylinder in the cylinder trigger state and the preset reference position as the second control deviation value to compare with the first cylinder switch line, and closes the reversing valve according to the comparison result to control the cylinder movement speed to zero; finally, obtains the static deviation value, and calculates the second cylinder switch line based on the static deviation value, and replaces the first cylinder switch line with the second cylinder switch line, so that the static deviation value at the next moment is less than the current moment. The present application can ensure that the static deviation value when the cylinder movement speed is zero becomes smaller and smaller by iterative learning of the cylinder switch line, thereby improving the accuracy of the cylinder positioning control system.

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.

The invention discloses a permanent magnet synchronous motor vector control system based on a fuzzy algorithm and a rotating speed ring PI controller online setting method thereof. According to the method, a vector control system of the PMSM is taken as a research object, a dynamic mathematical model is established aiming at the characteristic that the coupling condition of the PMSM is complex, and vector control is carried out on the PMSM by adopting a rotating speed outer ring and a double-current inner ring. The fuzzy PI controller is applied to the rotating speed ring in the permanent magnet synchronous motor vector control system, so that the parameters of the PI controller are adjusted in real time, the overshoot of the rotating speed of the system is effectively inhibited, and the anti-interference performance and the rotating speed adjusting speed of the system are improved. Meanwhile, in the aspect of torque control, the method improves the response time of the system torque and effectively inhibits the system torque pulsation, so that the adaptive capacity and the dynamic response characteristic of the system are enhanced on the premise that the control precision is not sacrificed.