40results about How to "Simplify Control Design" patented technology

The invention provides a modularized portable movable robot system, comprising a control unit module, a driving unit module, a moving platform module, a turnover arm module, an energy resource module, a sensor module and a standard interface module; the energy resource module is embedded in the moving platform module; the turnover arm module is movably connected with the moving platform module; the control unit is connected with the moving platform module by the driving unit module; the sensor module is connected with the control unit module by the standard interface module. The modularized portable movable robot system realizes modularization on three aspects of mechanism, electron and software, leads the functional extension of the robot to be easy, leads the robot to be simply controlled, facilitates the harmonization and operation of a multi-robot system to be carried out, has waterproof design, and can be applied to the fields such as military field, public safety field, civil field and education research field, etc.

The invention relates to a minitype portable type intelligent mobile robot system with multiple degrees of freedom used for treating small explosives. The system comprises a mechanical movement part and an electric control part and is characterized in that the robot system comprises a control unit module, a moving platform module, an energy source module, a mechanical arm module, a picture sensor module and a remote control module; wherein, each independent functional module is mutually connected by adopting a standard mechanical interface; an embedded type computer APM 7 as a main controller is adopted among all the CPU and the Ethernet or CAN bus as a master controller is adopted and each CPU is connected by Ethernet or a CAN bus; all central processing units adopt standard TCP / IP or protocol communication and the body and arm of the robot are respectively provided with a camera. The robot system is light in weight and convenient in carrying; the robot is provided with 12 degrees of freedom and can be run autonomously and can be carried out by remote video control by adopting the mechanical arm which can remove explosive substance with 8 degrees of freedom; the robot system can be run in all weathers and in all terrain and can be applied to the field of actual combat.

A method for acquiring scheduling control information in a high speed grouping interface is disclosed in the present invention, comprising steps: to obtain this time scheduling control information through processing the scheduling control information acquired by one time scheduling on the uplink and downlink channels in the system according to the scheduling user service kind, and sending this time scheduling control information by the uplink and downlink channels. A base station is also disclosed in the present invention, comprising a base station acquiring scheduling control information unit, and a user terminal, comprising the terminal acquiring scheduling control information unit. The present invention leads the user applying the HSDPA or HSUPA service to be able to acquire scheduling control information without DPCH companion, reduces effectively physical resource spending brought by companion DPCH, leads the HSDPA / HSUPA speciality to be able to realize.

The present invention deals with wireless control of a lamp such as a fluorescent lamp controlled by a ballast with a wireless control interface for RF communication. The receiver input and the transmitter output of the control interface module are connected to one or more mains wires by means of (a) coupling capacitor(s) or a Lecher line transformer. During operation the one or more mains wires serve as the lamp antenna.

An LCD module applicable to various devices is disclosed. The LCD module includes a color filter substrate on which color filter patterns are arranged; a TFT substrate spaced apart from the color filter substrate at a predetermined distance and having one side on which TFT electrodes are arranged, wherein liquid crystal is filled between the color filter substrate and the TFT substrate; a first reflective plate installed outside the TFT substrate at a predetermined distance therebetween and selectively serving as a reflective plate; a second reflective plate installed outside the color filter substrate at a predetermined distance therebetween and selectively serving as a reflective plate; and a lamp installed at a side of the LCD module and emitting particular light. Accordingly, using the single LCD module, images can be displayed on both sides of the display device.

The invention discloses a voltage source inverter control method for decoupling electric current in a virtual synchronous coordinate system. The method comprises the step of conducting error PI adjustment and decoupling compensation calculation on dq axis current outputted by an inverter in a virtual synchronous rotating coordinate system, so that an AC output voltage command can be directly generated. The control method disclosed by the invention can eliminate a phase-locked loop link aiming at detecting the phase and the frequency of the rotating vector of grid voltage, and has obvious self-adaptability to frequency deviation; and furthermore, the control method can also be used for supplement and extension of a vector control method based on grid voltage orientation under the condition of deviation of voltage phase and frequency detection. According to the voltage source inverter control method, a grid voltage phase-locked loop is eliminated, the control design of a voltage source inverter is simplified, and the system computing burden and the realization complexity are reduced.

A battery module includes a plurality of battery devices, a circuit board, a control board and a bus wire. The circuit board includes a circuit layout to which a plurality of conductive sheets of the battery devices are electrically connected. The bus wire is electrically connected between the circuit layout of the circuit board and the control board

The invention relates to a generalized prediction control algorithm of a continuous stirring tank reactor system. A nonlinear model is established for the continuous stirring tank reactor system and is converted into an output prediction model based on a U model. A reference trajectory is set, the generalized prediction control of the output prediction model is carried out, and a pseudo input of the system is obtained. Then a secant method is used to carry out iterative calculation to obtain an actual input of the system. According to the generalized prediction control algorithm, the combination of the secant method and the U model is used, thus when a nonlinear equation about the actual input is solved, a derivation problem in using a Newton iterative algorithm is avoided, the computation time is reduced, at the same time the convergence rate is fast, and a nonlinear system control design problem is simplified.

A memory controller includes an address decoder and a protocol controller, where the address decoder is arranged for decoding a received signal to generate a plurality of command signals, where the plurality of signals are for accessing a plurality of banks of the memory and the protocol controller is arranged for re-scheduling an executing order of the plurality of command signals according to opening banks and pages, and for accessing the memory according to the plurality of command signals.

The invention discloses a mining intrinsic safety robotic explorer based on eccentric wheel and leg type combination. The mining intrinsic safety robotic explorer comprises an explorer body, a fixed axle is arranged on the explorer body, the ends, on the left and right sides of the explorer body, of the axle are provided with driving wheels respectively, and the driving wheels are eccentric wheels. According to the mining intrinsic safety robotic explorer, the eccentric wheels are adopted as the driving wheels, compared with an existing crawler-type and leg type walking device, the problems that energy loss is high, efficiency is low and a mechanism and a control system are complex are avoided, and the roles that the robot can flexibly move, is easy to move and the like can be brought into full play. Meanwhile, the eccentric wheels enable the explorer body to be farther away from the ground and enable the eccentric wheels to vertically move in the forward moving process, and the movement is similar to leg bending movement during leg type walking, so that the mining intrinsic safety robotic explorer has the advantage of leg type walking, and has the stronger complex terrain adaptability compared with a traditional wheel type driving robot.

A ventilation device (1) for a fuel container (2) with a liquid trap (3) and a suction jet pump (8) which is provided for emptying the liquid trap (3) has a filling-level limit switch (11) for detecting the filling level of fuel in the liquid trap (3). A valve (10) which is connected to the filling-level limit switch (11) is connected upstream of the suction jet pump (8). The suction jet pump (8) is first activated by means of the valve (10) when the intended filling level of fuel in the liquid trap (3) is exceeded.

The invention provides loading and unloading equipment for oil pump housings. The loading and unloading equipment for the oil pump housings comprises a loading frame and an unloading frame, wherein aloading tray is arranged on the loading frame; an unloading tray is arranged on the unloading frame; a first positioning fixture is arranged on one side of the loading frame; a second positioning fixture is arranged on one side of the unloading frame; the first positioning fixture and the second positioning fixture are respectively used for positioning the front and the back of an oil pump housing; a clamping tool is arranged at the end part of a mechanical arm and can clamp the oil pump housing from the front or the back; a transfer frame is further arranged between the loading frame and theunloading frame; and a support seat for enabling the oil pump housing to be erected is arranged on the transfer frame. According to the loading and unloading equipment for the oil pump housings provided by the invention, the oil pump housings are automatically loaded and unloaded, the oil pump housings are turned over in the feeding process through transition by the transfer frame, and the assembly line layout and the control design are simplified, so that the production efficiency and the quality are improved, and the production cost is reduced.

The invention provides a vehicle having an automatic stabilization device. The vehicle includes a chassis, a vehicle body, wheels and an active stabilization device; the vehicle body is provided withsupporting slide rails; the wheels match the supporting slide rails through wheel columns and supporting slide seat holes arranged on the top ends of the wheel columns; the bottom of the vehicle bodyis provided with chassis pedestals; the chassis pedestals are in rotating hinged joint with a chassis main shaft; the two ends of the chassis main shaft are provided with chassis columns; the active balancing device includes a vehicle body balance driving system and two sets of suspension systems; the vehicle body balance driving system is arranged between the vehicle body and the chassis and matches the chassis main shaft; the vehicle body balance driving system includes a balance motor and a deceleration transmission device; the rotating shaft of the balance motor is connected to the rotating shaft of the deceleration transmission device; the deceleration transmission device is arranged between the vehicle body and the chassis main shaft; and the suspension systems are connected to the vehicle body and the wheel columns. The vehicle body and the wheels can be in automatic tilt, so that the vehicle can still guarantee high whole vehicle stability and security with a narrow size.

The invention provides a half-bridge modular multi-level single-phase inverter and a modulation method. The half-bridge modular multi-level single-phase inverter comprises a capacitor bridge arm and amodular multi-level bridge arm, the modular multi-level bridge arm comprises a two-port sub-module and a multi-port sub-module, each of the capacitor bridge arm and the modular multilevel bridge armcomprises a direct-current positive end point, a direct-current negative end point and an alternating-current end point; the direct-current positive electrode end point of the capacitor bridge arm isconnected with the direct-current positive electrode end point of the modular multi-level bridge arm and is connected with the positive electrode of the direct-current power supply; the direct currentnegative terminal of the capacitor bridge arm is connected with the direct current negative terminal of the modular multilevel bridge arm and is connected with the negative electrode of the direct current power supply; the alternating-current endpoints of the capacitor bridge arms and the alternating-current endpoints of the modular multilevel bridge arms jointly form an alternating-current output port of the single-phase inverter. According to the novel nearest level approximation modulation strategy provided for the topology, accurate topology output can be achieved, and effective work of the system is maintained.

The invention provides a method for analyzing a bilinear control model of a distributed wind power system and a solution to the bilinear control problem of the distributed wind power system based on wavelet transformation. By means of the method, tediousness and difficulty in the direct analytical solution process of a bilinear distributed parameter system described through a partial differential equation are avoided, and the control design process of the bilinear distributed parameter system is simplified; the algorithm is simple, the calculated amount is small, the control effect is good, and a new solution to control of the bilinear distributed parameter system is put forward.

The invention provides a vehicle having an active balancing device. The vehicle includes chassis, a vehicle body, wheels and an active balancing device; two sets of the chassis are in opposite arrangement along the longitudinal axis direction of the vehicle; each chassis includes a chassis main shaft and a chassis column, the chassis main shafts are cylinder bodies extending along a direction parallel to the longitudinal axis direction of the vehicle and are provided with chassis pedestals, the chassis columns are vertically arranged on one ends of the chassis main shafts, and the vehicle bodyis connected to the chassis through the chassis pedestals; the active balancing device includes vehicle body balance driving systems matching the chassis main shafts, the vehicle body balance drivingsystems include motors, decelerators and shaft couplings; the shaft couplings are arranged on the other ends of the chassis main shafts; the decelerators are connected to the shaft couplings, and themotors are connected to the decelerators; and two sets of suspension systems are in opposite arrangement along the longitudinal axis direction of the vehicle, and are connected to the corresponding chassis and the vehicle body. The wheels and the vehicle body can be in automatic synchronous tilt, so that the vehicle can still guarantee high whole vehicle stability and security with a narrow size.

The invention provides a vehicle having an active stabilization device. A chassis is installed under a vehicle body; wheels are installed on the chassis; the chassis includes a chassis main shaft, a front chassis column and a rear chassis column; the chassis main shaft extends along a direction parallel to the longitudinal axis direction of the vehicle; the front chassis column and the rear chassis column are respectively and vertically arranged on the two ends of the chassis main shaft; the chassis main shaft is provided with at least one chassis pedestal; the vehicle body is rotatably connected to the chassis through the chassis pedestals; an active stabilization device includes a vehicle body balance driving system and two sets of suspension systems in opposite arrangement along the longitudinal axis direction of the vehicle; the vehicle body balance driving system matches the chassis main shaft to connect the vehicle body and the chassis; two wheels are installed on each set of thesuspension systems; and each set of the suspension systems is installed on the chassis and connected to the vehicle body. The wheels and the vehicle body can be in automatic synchronous tilt, so thatthe vehicle can still guarantee high whole vehicle stability and security with a narrow size.

The invention discloses a power management architecture and a boost converter applied to the power management architecture, including a boost converter, the input terminals of the boost converter are respectively connected to the pins V that provide low-voltage power for digital circuits IN And the digital circuit connection in the SoC system-on-a-chip; the output of the boost converter is connected to the power supply of the low-dropout linear regulator LDO, and the output of the low-dropout linear regulator LDO provides high-voltage power for analog and radio frequency circuits. The boost converter of the invention has high efficiency, low ripple, wide input and output range, and the power management structure improves the overall power supply efficiency, and is suitable for SoC power supply solutions under advanced technology.

The invention discloses a voltage source inverter control method for decoupling electric current in a virtual synchronous coordinate system. The method comprises the step of conducting error PI adjustment and decoupling compensation calculation on dq axis current outputted by an inverter in a virtual synchronous rotating coordinate system, so that an AC output voltage command can be directly generated. The control method disclosed by the invention can eliminate a phase-locked loop link aiming at detecting the phase and the frequency of the rotating vector of grid voltage, and has obvious self-adaptability to frequency deviation; and furthermore, the control method can also be used for supplement and extension of a vector control method based on grid voltage orientation under the condition of deviation of voltage phase and frequency detection. According to the voltage source inverter control method, a grid voltage phase-locked loop is eliminated, the control design of a voltage source inverter is simplified, and the system computing burden and the realization complexity are reduced.

The invention discloses a wearable fingertip force feedback device, comprising: Velcro, finger cots, strings, torsion springs, torsion spring shafts, sliders, guide rails, transition plates, motors, couplings, lead screws, Nut, first lead screw bracket, base, first finger ring, second finger ring and second lead screw bracket. The invention can output the feedback force to the fingertips of the human body to enhance the force-tactile perception in the human-computer interaction.

The invention discloses a power source management architecture and a boost converter applied to the power source management architecture. The power source management architecture comprises a boost converter; the input end of the boost converter is connected with a pin VIN and a digital circuit, wherein the pin VIN is used for providing a low-voltage power source for the digital circuit, and the digital circuit is located in an SoC (system-in-chip); the output end of the boost converter is connected with the power source of a low-dropout output linear voltage regulator (LDO); and the output ofthe low-dropout output linear voltage regulator (LDO) provides a high-voltage power source for analog and radio frequency circuits. The boost converter has the advantages of high efficiency, low ripple and wide input and output range. With the power source management architecture adopted, overall power supply efficiency is improved. The power source management architecture is suitable for SoC power supply solutions under advanced processes.

The present invention proposes an improved active disturbance rejection control method and system for a wireless power transmission system. In order to reduce the observation pressure of the linear expansion state observer for complex disturbances, the present invention is based on the known partial model information b of the controlled system. 1 , first adopt a second-order LESO to the partial disturbance R of the wireless power transfer system 0 Observation estimation is performed, and then the linear expansion state observer observes and estimates other disturbances ω(t) of the system, and compensates the observed total disturbance F(t) in the linear state error feedback control law. The method proposed by the invention has low model dependence, and enables the wireless power transmission system to realize stable output, easy parameter setting and strong robustness under the condition of external disturbance and internal parameter perturbation.

The invention relates to a memory controller and a related control method. The memory controller comprises an address decoder and a protocol controller, wherein the address decoder is used for performing a decoding operation on a received signal to generate a plurality of instruction signals, and the instruction signals include an instruction signal which accesses a plurality of blocks in a memory; and the protocol controller is used for re-deciding an executive sequence of a plurality of the instruction signals according to enabled blocks and data pages in the memory at present to use a plurality of the instruction signals to access the memory.

The invention discloses a dimensionality reduction method for multi-dimensional frequency-domain impedance of a converter, which includes: taking the grid-connected point as the system division point, respectively establishing the positive and negative sequence impedance models of the converter and the AC grid; The positive and negative sequence impedance models of converters are multi-dimensional impedance models, and there is coupling, analyze the coupling characteristics of the multi-dimensional impedance model, and establish the control system of the multi-dimensional impedance model, including: positive sequence path, negative sequence path and the coupling between the two The closed-loop analysis of the control system established above is carried out to obtain the equivalent positive and negative sequence impedance models of the converter under the positive sequence independent external disturbance and the negative sequence independent external disturbance, and the equivalent positive and negative sequence impedance models of the AC grid. Negative sequence impedance model. The dimensionality reduction method of the multi-dimensional frequency-domain impedance of the converter of the present invention can simplify stability evaluation and model verification without affecting accuracy.

The invention discloses a portable mine intrinsic safety robotic explorer body controlled by a parallel movement mechanism. The portable mine intrinsic safety robotic explorer body comprises a machine body, wherein a first travelling wheel set is arranged on the left side of the machine body; a second travelling wheel set is arranged on the right side of the machine body; a first motor set and a second motor set are further arranged on the machine body; each of the first motor set and the second motor set comprises at least two motors, and the rotors of the motors are coaxially connected in series. According to the invention, as the rotors of the motors for driving travelling wheels on the same side of the machine body are coaxially connected in series, the same travelling wheel is driven by multiple motors together; therefore, when crossing a barrier, a robotic explorer is enabled to still have sufficient power to cross the barrier or get out of a trap on the condition that only a few travelling wheels are in contact with the ground, and the barrier-crossing and trap removal capacity is greatly improved; in addition, the motors for driving the same travelling wheel are connected with the same controller, and the controller can send a unified control signal to the motors, so that the parallel control on all motor is realized, and the robot travelling control design is simpler.

The invention discloses a three-branch two-rotation ankle joint rehabilitation parallel robot mechanism. The ankle joint rehabilitation parallel robot mechanism comprises a movable platform, a fixed platform, two driving branch chains and an exact constraint branch chain. The two driving branch chains have the same kinematic chain structure composed of a parallelogram structure, a rotating pair and a universal hinge. The parallelogram structure comprises two rotating pairs with parallel axes and two universal hinges. The exact constraint branch chain is formed by connecting two rotating pairs with vertical axes in series. One end of a third universal hinge of the first driving branch chain is connected with the exact constraint branch chain, and one end of a sixth universal hinge of the second driving branch chain is connected with the movable platform. The speed Jacobian matrix of the parallel robot mechanism is a diagonal matrix, and the one-to-one control relation between input motion and output motion of the mechanism is achieved.

The invention provides a bilinear control model analysis method for a distributed wind power system. The invention provides a solution to the bilinear control problem of a distributed wind power system based on wavelet transform. This method avoids the tediousness and difficulty of directly solving the analytical solution of the bilinear distributed parameter system described by the partial differential equation, and simplifies the process of control design of the bilinear distributed parameter system. The algorithm is simple, the amount of calculation is small, and the control effect is good. It proposes a new solution for the control of bilinear distributed parameter systems.

The invention relates to a novel footboard structure. The novel footboard structure comprises a skeleton, andan upper footboard and a lower footboard, which are arranged on the skeleton in parallel, wherein the upper footboard and the lower footboard are separately connected onto the skeleton in a rotating manner, the lower footboard is connected with a drive assembly driving the lower footboard to rotate, a control assembly controlling the upper footboard and the lower footboard to rotate synchronously is arranged between the lower footboard and the upper footboard, and the drive assembly is connected with a clutch. The novel footboard structure has the advantages that the skeleton is provided with the upper footboard and the lower footboard, and the upper footboard and the lower footboard are connected with the skeleton in a rotating manner, so that compared with the existing single footboard, the application range is wide; the overall attractiveness of a vehicle body can be improved due to the rotating connection; the novel footboard structure is applicable to a recreational vehicle relatively large in a lift-off distance and convenient for passengers to get on and off the vehicle; the universality is improved; by arranging the clutch, the circuit control design can be simplified, and the hand injury safety potential hazard can be effectively prevented.