4results about How to "Small torque fluctuation" patented technology

The invention discloses a momentum wheel self-balancing vehicle control system based on linear active disturbance rejection control. The momentum wheel self-balancing vehicle control system comprises a speed ring PI controller and a vertical ring LADRC controller. The speed ring PI controller is electrically connected with the vertical ring LADRC controller, and the vertical ring LADRC controller is electrically connected with the momentum wheel self-balancing vehicle; wherein the upright loop LADRC controller comprises a linear expansion state observer, a differential tracker and a control input signal end; in linear active disturbance rejection control, a controlled object is regarded as an integral series-connection type system, and a part, different from the integral series-connection type system, in an actual system is regarded as total disturbance; the total disturbance is regarded as the expansion state of the system, a linear expansion state observer is designed to observe the total disturbance, then the total disturbance is compensated to a control input signal end of a controlled object, and the target of reducing the influence of a parameter change part is achieved. The control method has the characteristics that the control precision is high, the inclination angle swing amplitude is smaller and the torque fluctuation is smaller when the self-balancing trolley recovers to the vertical balance state, and the like.

A structure for improving steering stability comprises a front axle, a fixing support A, a fixing support B and a steering shock absorber, the fixing support B is installed on the left side of the front axle and connected with the lower end of the front axle through the fixing support A. The middle portion of the fixing support A is connected with one end of the steering shock absorber. And the other end of the steering shock absorber is connected with a fixed bracket B. According to the non-independent steering system, self-excitation shimmy of the steering wheels of the automobile is prevented by utilizing the characteristics of the steering shock absorber, the transient shimmy of the steering wheels caused by road impact is also strongly attenuated, and braking deviation is prevented. The torque fluctuation of the steering wheel end is obviously reduced, the hand feeling is good, and the controllability is enhanced.

The application belongs to the technical field of electromagnetism and relates to a motor and an electric device, which comprise a stator and a rotor arranged oppositely; the stator comprises a stator yoke and a stator winding, and the rotor comprises a rotor yoke; the stator yoke and the rotor yoke are arranged oppositely and a gap exists between the opposite surfaces; a plurality of stator teeth are distributed on the surface of the stator yoke corresponding to the gap and are arranged at intervals in the circumferential direction; a stator slot is formed between two adjacent stator teeth; the stator winding is wound in the stator slot; a plurality of rotor teeth are arranged at intervals in the circumferential direction on the surface of the rotor yoke corresponding to the gap; a rotor slot is formed between two adjacent rotor teeth; and a first permanent magnet is arranged in the rotor slot; the motor satisfies the relationship formula: N s =k×n×m; N r =k×(n×m+2), so that the high-order harmonic magnetic fields generated by the rotor and the stator respectively generate torques, torque cancellation in the motor is reduced, the torque density of the motor is finally improved, the cost of the motor is reduced, and the torque fluctuation of the motor is greatly reduced.

The utility model relates to mobile phone stabilizer technical field provides the power mechanism of mobile phone stabilizer, including the handle, the course of action axle, the pitch axle and the fixture still include: the connecting cap no.