96results about How to "Smooth acceleration" patented technology

The invention discloses a transitional tracking planning method applied by an industrial robot, which can realize the transition between a joint space track and a cartesian space track, and the transition between two tracks of the cartesian space, the transitional track between different movement tracks are planned under the cartesian space, and has an intuitive shape; by adopting the algorithm that two parabolas are fused into one transitional curve, the smoothness of the track, speed and acceleration can be ensured, and the curve shape is controllable; the transitional track is formed by six independent curves, and the transition can be realized on the track with only posture change without position change; from the engineering application angle, the path velocity of transitional track boundary is restrained by utilizing the included angle between the tracks and the system allowable chord error, the boundary posture rotation speed is restrained by the similar mode, so that the large impact on a mechanical system caused by overhigh engagement speed can be prevented.

The invention provides a swing drive device that is capable of energy conservation by limiting loss of hydraulic fluid pressure energy resulting from discharge of the hydraulic fluid pressure energy as thermal energy into the air during acceleration or deceleration of swinging action and transforming motion energy to electric energy during deceleration of swinging action, and also enables cost reduction by making components and parts compact.

The invention discloses a starting method of a brushless, position sensor- free DC motor based on current feedback. The method comprises the steps as follows: a rotor is pre-positioned; the direction changing and the current converting are carried out; a preset voltage value is calculated according to a pressure-raising curve and is output in the form of PWM; the direction changing and the current converting are carried out when detection shows that a phasing current value I exceeds a predetermined value IH, and the preset voltage value in the next step is calculated at the same time according to the pressure-raising curve; and an electric motor is switched over to closed-loop operation when the current converting frequency is greater than the predetermined value, that is, rotational speed is high enough to obtain a back-EMF signal. Based on the real-time detection on the starting current, the technical proposal of the starting method obtains better starting performance compared with a traditional three-step starting method, ensures the stability and controllability of Delta during the whole accelerating process, leads the starting current to be more stable, enables the accelerating process to be smoother, automatically reduces the rotational speed and the Delta so as to obtain greater electromagnetic torque without desynchronizing when meeting with load disturbance, and does not need to add extra hardware or timers, thereby being simpler and more reliable.

The invention discloses an engine torque control method suitable for an automobile adopting a dry clutch. The engine torque control method comprises the steps that the target engine rotating speed, the actual engine rotating speed, the target transmission gear and the transmission input shaft rotating speed of the automobile are acquired; the engine torque of the automobile is subjected to proportional element and integral element control according to the actual engine rotating speed, the target transmission gear and the transmission input shaft rotating speed of the automobile, so that the automobile outputs the target engine torque; and proportional element and integral element control is adjusted according to the difference between the actual engine rotating speed and the transmission input shaft rotating speed, and the target transmission gear. According to the scheme aiming at the automobile adopting the dry clutch, under the starting work condition of the automobile at a neutral gear sliding to be accelerated to the first or second gear, stable acceleration of the automobile is ensured through impaction generated in the rotating speed synchronous process of the engine and the clutch.

Information pertaining to a first zone set ahead of a host vehicle and a second zone farther ahead than the first zone is acquired. Based on the information, if a distance between an end point of the first zone and a start point of the second zone is shorter than a distance within which the host vehicle can be slowed at a predetermined deceleration to a second target vehicle speed for traveling the second zone at the start point of the second zone, a second acceleration gear ratio is acquired for accelerating the host vehicle in a second acceleration zone following the second zone. The gear ratio of the host vehicle is set to the second acceleration gear ratio in a first deceleration zone for slowing the host vehicle before reaching the first zone.

A hybrid vehicle according to one of embodiments of the present invention generates a driving torque using an internal combustion engine, an motor generator, and the like when a shift position is a driving position, the driving torque being determined based on a selected driving mode (e.g., a power mode to give priority to the power, and a normal mode to give priority to fuel consumption) and an accelerator operation amount. On the other hand, when the shift position is a neutral position, the vehicle maintains a rotational speed of the engine at a constant speed (including zero when the engine is stopped) regardless of the accelerator operation amount. When the accelerator operation amount becomes equal to or larger than an accelerator operation amount threshold while the neutral position is selected, the vehicle supplies information indicating that the neutral position is selected to a driver. The accelerator operation amount threshold is determined based on the driving mode.

The invention discloses an automobile kinetic energy conversion and recovery device. The automobile kinetic energy conversion and recovery device is used for storing energy during subway braking and recovering kinetic energy during starting. The automobile kinetic energy conversion and recovery device mainly comprises an eccentric wheel, hydraulic plungers and a corresponding hydraulic loop. During subway braking, the eccentric wheel and an axle rotate synchronously, so that the built-in hydraulic plungers conducts reciprocating radial motion; hydraulic oil is pressed into an energy accumulator through the hydraulic plungers on the basis of the design of the corresponding hydraulic loop, and therefore kinetic energy of the automobile is converted into hydraulic energy to be stored. During subway starting, the device is used as a low-speed large-torque hydraulic motor on the basis of switching control over an electromagnetic valve to push a subway to achieve kinetic energy recovery. According to the automobile kinetic energy conversion and recovery device, the hydraulic mode is utilized for energy storage, braking energy is not converted into electric energy and is just stored as hydraulic energy, and the efficiency is much higher than that of the existing energy storage mode.

The invention provides a special-shaped trajectory control method and device, relates to the field of automatic control. The method comprises a step of receiving original trajectory point data, a step of dividing the original trajectory point data into multiple trajectory intervals according to the trajectory characteristics of the original trajectory point data, a step of fitting the original trajectory point data in each trajectory interval and obtaining a corresponding fitting curve, a step of carrying out discrete processing on the fitting curve of each trajectory interval so as to obtain the 3D coordinates of a corresponding discrete curve point, a step of generating a next interpolation data point position of a synchronous axis according to a predetermined time interval and according to the structure parameters of the synchronous axis and the 3D coordinates of the discrete curve point, and a step of controlling the motion trajectory of the synchronous axis according to the interpolation data point position of the synchronous axis. Thus an acceleration process is more stable and efficient, an error rate is small, and processing equipment is protected. The accuracy is extremely high.

The invention is applied to the field of movement trajectory technology improvement, and provides a cosine interpolation method of an industrial robot under spatial linear movement. The method comprises the steps: 1, a transition scheme is determined according to the target point position and the robot setting parameter requirements, and segmentation processing is conducted on an overall trajectory; 2, times of an accelerating segment, a uniform velocity segment and a decelerating segment are preliminarily planned by combining a cosine curve with starting velocities, terminal velocities, accelerating velocities and decelerating velocities which are set for various segments obtained by segmenting the overall trajectory; and 3, the interpolation point number is calculated by means of the various segment times planned in the step 2, and the time of the uniform velocity segment is recalculated according to a corresponding velocity and journey equation. The various trajectory segments are interpolated by adopting the cosine curve interpolation method, not only does the accelerating velocities distributed in various intervals become smooth, but also the accelerating velocities become smooth.

The invention provides a synchronous two-stage transmission for a vehicle. The synchronous two-stage transmission comprises an input spline shaft and an output angle gear shaft, wherein the input end of the input spline shaft is arranged on the outer side of a box; an input connecting disk is arranged at the input end of the input spline shaft; a gear hub is arranged on the outer side of the spline part on the input spline shaft; a gear sleeve is arranged on the outer side of the gear hub; the gear sleeve is turned by a shifting fork to be moved; synchronous rings are arranged on the outer sides of the gear hub and the gear sleeve; the contact surfaces of the synchronous rings are slopes; a top-gear driving gear and a low-gear driving gear respectively sleeve the two sides of the input spline shaft idly; the opposite end faces of the top-gear driving gear and the low-gear driving gear are respectively meshed with the gear hub; the top-gear driving gear is externally meshed with a high-speed driven gear; the high-speed driven gear is fixed on the angle gear shaft; the low-gear driving gear is externally meshed with a low-speed driven gear; the low-speed driven gear is fixed on the angle gear shaft; the angle gear shaft is parallel to the input spline shaft; an angle gear is arranged at the upper end of the angle gear shaft; the upper end of the angle gear shaft extends to the outer side of the box. The power is inputted by the input spline shaft, then shifts the gear through the synchronizer, and then is transmitted to the output angle gear shaft through two approaches, so as to realize two types of transmission of the tricycle.

The invention discloses a method for controlling the elasticity of a throttle of an automatic gearbox. The method is implemented by the following steps of: collecting signals from an accelerator pedal sensor and signals from a throttle position sensor, automatically adding or subtracting signals in a timed interruption according to the opening degree of an accelerator pedal, converting the self-added or self-subtracted signals in the timed interruption into a target position of the throttle to control a motor of the throttle. Accordingly, under the conditions of sudden acceleration or deceleration of the accelerator pedal, the invention can avoid the over-high instantaneous accelerated or decelerated speed, enable the smooth acceleration or deceleration along with the operation of the accelerator pedal, and ensure the riding comfort and fuel efficiency. The inventive throttle control method has good stability, accuracy and real-time property and can meet the operating requirement of AMT.

The invention discloses a foldable multi-level special-shaped belt transmission type continuous flood-defense sand bag throwing machine. At present, a machine capable of quickly throwing sand bags is urgently needed for recover damages as far as possible during flood defense. The foldable multi-level special-shaped belt transmission type continuous flood-defense sand bag throwing machine comprises a tracked traveling device, a rotating platform steering device, a throwing platform lifting device, a foldable throwing platform unfolding device, a belt transmission device and a hydraulic system. The tracked traveling device is capable of operating in severe environment; the rotating platform steering device and the throwing platform lifting device are capable of changing sand bag throwing directions and angles at any time as needed; the foldable throwing platform unfolding device is capable of quickly and efficiently folding and unfolding the throwing platform; the sand bags are stably accelerated by a four-level variable-speed special-shaped belts of the belt transmission device; friction force between the sand bags and the belt is increased, and an acceleration process is quicker. The foldable multi-level special-shaped belt transmission type continuous flood-defense sand bag throwing machine has the advantage that operation efficiency in flood defense can be improved to reduce economic loss as far as possible.

The invention relates to an energy-saving acceleration method and device for an electric vehicle. The method includes the following steps that after an acceleration command is received, the wheel rotation speed and the acceleration of the electric vehicle are acquired; the corresponding expected acceleration is determined according to the current wheel rotation speed of the electric vehicle; and a drive signal is adjusted according to the current acceleration and the expected acceleration of the electric vehicle, and the adjusted drive signal is output to a motor driver of the electric vehicle. By the adoption of the method and device, the drive signal is adjusted according to the real-time wheel rotation speed and the real-time acceleration of the electric vehicle, the work state of a motor is automatically controlled, the stable acceleration performance of the electric vehicle is achieved under the minimum work current, the situation that the output power of the motor is too large due to improper manual acceleration control, and consequently the electric quantity of a battery is wasted is avoided, the service life of the battery is prolonged, and the running capacity of the electric vehicle is improved.

The invention discloses a combined asynchronous induction electromagnetic coil emitter and an ignition method thereof. The combined asynchronous induction electromagnetic coil emitter comprises a plurality of sets of multistage coil emitters, a gun barrel and a plurality of connectors. Each multistage coil emitter comprises a multistage driving coil set and a corresponding armature, the multistagedriving coils are sequentially wound outside the gun barrel in the axial direction of the gun barrel, the armatures are sequentially arranged in the gun barrel in the axial direction of the gun barrel, and the adjacent armatures are connected through the connectors. When the combined asynchronous induction electromagnetic coil emitter is not triggered, the armatures are located in the corresponding multistage driving coil sets. After the combined asynchronous induction electromagnetic coil emitter is triggered, the multistage driving coils provide acting force pointing to a gun opening in theaxial direction of the gun barrel for the armatures in the multistage driving coils. According to the combined asynchronous induction electromagnetic coil emitter, propulsive force of different pulsewidths, amplitudes and waveforms can be achieved, the accelerated speed faults of the armatures can be avoided, and therefore acceleration is smoother; meanwhile, stress, the emitting speed and emitting efficiency can be improved; and the combined asynchronous induction electromagnetic coil emitter is more suitable for occasions with higher requirements for thrust precision.

The invention discloses a stepless speed change structure for planetary gears, which has the advantages of high torque bearing capability, no slipping, simple structure, less parts, low manufacture and maintenance costs, superior long service life and wide speed change range, and can be applied to heavy-duty vehicles, large-scale vehicles and mini-type vehicles. Based on the structural characteristics of the planetary gears, the stepless speed change of power input and output speeds is realized when the revolution ratio between a gear ring and a sun gear is changed by changing the rotational speed of a planetary gear rack. The stepless speed change structure comprises the gear ring, the planetary gear rack and the sun gear, wherein the gear ring is connected with the power input shaft of a vehicle engine; the sun gear is connected with the power output shaft; the planetary gears are mounted on the planetary gear rack and are connected with a power adjusting control device capable of changing the speeds of the planetary gears; and the power adjusting control device comprises a control power input shaft and a control gear arranged at one end of the control power input shaft.

The invention provides an upper end surface of a tapered spring rubber body, and a method and a product for preventing folds and cracks. The upper end surface comprises an inner cone, a rubber body and an outer cone, wherein the rubber body is arranged around the periphery of the inner cone; the outer cone is arranged around the periphery of the rubber body; a rubber metal spring which is conically arranged is formed by the rubber body, the inner cone and the outer cone; the upper end surface of the rubber body is connected with the inner cone and the outer cone of the tapered spring, respectively; the rubber body has a gradual descending tendency from the connection part of the rubber body and the outer cone to the inner cone of the rubber body; the upper end surface of the tapered spring rubber body is characterized by being in a multi-section downhill combined profile structure; the upper end surface of the rubber body is formed by combining a plurality of sections of annular end surfaces with different shapes, gradients and lengths. The profile shape of the upper end surface is changed so that the variable stiffness of the tapered spring is adjusted; the upper end surface of the tapered spring rubber body is divided into more than two sections of multi-section profile combination; all sections of the profile have different shapes, gradients and lengths.

The invention discloses a wireless Internet-of-Things-based override control obstacle avoidance intelligent vehicle and a control method therefor and belongs to the field of wireless Internet-of-Things. A state sensing module, a wireless Internet-of-Things module, a regulation and control module and an override control module are mounted on the obstacle avoidance intelligent vehicle; the obstacle avoidance intelligent vehicle is suitable for traffic conditions of a crossroad, and the obstacle avoidance intelligent vehicle is allowed to cross the crossroad in a conflict-free manner. Particularly, special conditions can be handled with smooth speed change via the override control module, and effects of timely advancing, smooth deceleration, smooth acceleration and smooth parking can be exerted; clock synchronization and dispatching synchronization of the obstacle avoidance intelligent vehicle in the Internet-of-Things are fulfilled, signal lagging of traffic dispatching and time constants of a traffic system can be greatly reduced, and simplified and unified management of a traffic system model can be facilitated.

The invention discloses an intelligent fluid control system. The intelligent fluid control system is characterized by sequentially comprising an incoming wire cabinet A, a variable frequency cabinet A, a variable frequency cabinet B, an outgoing wire cabinet, a power frequency cabinet A, a power frequency cabinet B and an incoming wire cabinet B from left to right, wherein the incoming wire cabinet A and the incoming wire cabinet B are used for being connected with a power incoming wire respectively; the incoming wire cabinet A is connected with the variable frequency cabinet A and the variable frequency cabinet B; the variable frequency cabinet A and the variable frequency cabinet B are connected with a contact cabinet; the incoming wire cabinet B is connected with the power frequency cabinet A and the power frequency cabinet B; the power frequency cabinet A and the power frequency cabinet B are connected with the contact cabinet; the contact cabinet is connected with a fan pre-stage motor M1, a fan post-stage motor M2, a fan pre-stage motor M3 and a fan post-stage motor M4. The intelligent fluid control system has the main advantages that the motors cannot be directly started in the starting process, and the starting process is automatically divided into three periods namely a first accelerating time period, a second accelerating time period and a third accelerating time period, so that the motors can be steadily accelerated, the starting current is greatly reduced, the service lives of the motors are guaranteed, and the impact on a power grid is relatively low.