180results about How to "Smooth output torque" patented technology

The invention relates to a three-freedom-degree constant speed decoupling space robot active spherical wrist and a universal compliant control method. The offset mode that the included angles are formed among rotation plane normal and rotating shafts is adopted for both an upper hemisphere rotating body and a lower hemisphere rotating body. The intersection point of the two rotating shafts of the upper rotating body and the lower rotating body is the sphere center of hemispheres of the upper rotating body and the lower rotating body, the intersection point of the two rotating shafts coincides with the rotating center of an inner ball cage universal joint and the rotating center of an outer ball cage universal joint respectively, and then constant speed decoupling of three input movements is achieved; the output end of the outer ball cage universal joint is connected with a shaft neck of the upper rotating body through a bearing in a suspension mode, three absolute corner coded discs are connected with the upper rotating body, the lower rotating body, a motor conducting spinning motion, and the output end of a speed reducing system respectively, a six-dimensional ATI sensor is installed at the output tail end of the wrist, and a wrist universal compliant follow-up control mode is achieved by a rotating joint of an upper hemisphere, a rotating joint of a lower hemisphere and a joint conducting spinning motion through a system friction force compensation technology. The three-freedom-degree constant speed decoupling space robot active spherical wrist and the universal compliant control method are accurate in locating, stable in movement, and capable of avoiding oscillation phenomena of movement coupling and mechanical arms and effectively relieving mechanical interference in a spherical wrist full compliant mode.

In some cylinder deactivation modes (e.g. virtual V-four operation mode in which two cylinders of a V-six engine are deactivated), ignition/combustion may take place in operating cylinders at uneven intervals. In this case, the output torque varies between the immediately subsequent operating cylinders after the deactivated cylinders in the firing order and the other operating cylinders. A multicylinder engine includes an ignition timing adjustment unit. When the ignition takes place in the operating cylinders at uneven intervals during cylinder deactivation, the ignition timing adjustment unit adjusts ignition timing in each of the operating cylinders to smooth the output torque of the operating cylinders.

A motor rotor has: a rotor yoke; a plurality of magnet fixing sections formed on the lateral surface of the rotor yoke; segment magnets respectively fixed to the magnet fixing sections and extending in the axial direction of the rotor yoke; and a plurality of projections which are provided, on the rotor yoke, at each boundary section located between each of the adjacent magnet mounting sections, and which protrude outward from the rotor yoke; and a pair of end claws are formed by bifurcating the end of each projection into two prongs, and each of the end claws is locked to the outer surface of each of the segment magnets.

The invention provides a six-phase flux switching type permanent magnet motor which comprises stators, rotors and a rotating shaft, wherein each stator adopts a permanent magnet double salient structure, that is, the permanent magnet, the stator core and the armature winding are arranged on each stator, the stator core is assembled by an U-magnetic core and each permanent magnet embedded in the magnetic core, and the permanent magnets are of tangential alternate magnetization; the armature winding is of six-phase armature winding arranged on the stator, the six-phase armature winding adopts centralization coils, and the rotors are made of permeability magnetic material; the magnetizing directions of the permanent magnets are of the tangential of the stator circle, and the magnetizing directions of two adjacent permanent magnets are opposite to each other; the number of the armature coil and the stator groove is even number times of the phase number; and each phase 2n coils winding, and n coils are distributed at the two ends of the diameter of the stator circle respectively. And two three-phrase winding can conduct independent power supplying and generating.

The invention discloses a temperature compensation method of an output torque of a permanent magnet synchronous motor for a vehicle based on a neural network. The method aims at the influence of temperature on stator resistance and a permanent magnetic flux linkage and comprises the following steps: building a neural network model for describing non-linear coupling action of the temperature on multiple parameters of a vehicle-mounted permanent magnet synchronous motor; and based on the built neural network model, designing a temperature compensator on the output torque, so that the motor can be effectively and continuously controlled and an ideal and smooth output torque is obtained. The method disclosed by the invention has the advantages that a temperature compensation control system is adopted, the controller regulates the control quantity according to different motor temperatures, and then real-time control is carried out on the motor, so that the smooth output torque is obtained, and the operation difficulty of a technician is lowered; and the voltage control quantity does not need to be adjusted according to an efficiency map in real time and can be adjusted in real time according to the continuous change of the temperature, so that the control precision is greatly improved.

The invention discloses an electronic commutation brushless direct current and single phase fan circuit and a control method thereof. The electronic commutation brushless direct current and single phase fan circuit comprises an alternating current rectifying circuit, a switching power supply, an inverting commutation circuit, rotor-position sensor, a current sampling circuit and a controller, wherein the switching power supply is used for supplying power to a motor and the switching power supply, the switching power supply is used for generating low-voltage power supply and supplying the low-voltage power supply to an external component, the inverting commutation circuit is used for controlling motor current alternation, the rotor-position sensor is used for supplying the position information of the current rotor, the current sampling circuit is used in winding current feedback, and the controller is used for fulfilling motor commutation and circuit regulation. The electronic commutation brushless direct current and single phase fan circuit and the control method thereof have the advantages that due to the fact electronic switch components are adopted, the motor is quiet and reliable in commutation processes without any mechanical movement. Due to the fact that permanent magnet rotors are adopted, the magnet winding of an ordinary direct current motor is not needed, and loss is reduced. In addition, the whole circuit and the control method of the circuit are simple and reliable, and the performance and reliability of a whole machine are improved.

The invention belongs to the technical field of armed robots and particularly relates to a simple three-DOF (degree of freedom) small-inertia bionic leg driven by hydraulic motors and applied to armed robot. The bionic leg comprises a hip joint X-direction hydraulic motor, a buttock part, a knee joint hydraulic motor, a hip joint Y-direction hydraulic motor, a thigh, a shank and a knee joint drive rod. The simple three-DOF small-inertia bionic leg has the following benefits: the structure is simple, two of three joints are directly driven by the hydraulic motors, and flexible motion of the leg is realized; the rotation inertia is small, and the three hydraulic motors are concentrated around the buttock part; a joint angle can be measured by a coding disc on each hydraulic motor; the structure of the thigh and the shank is simple, parts can be reduced, and the strength is improved; the joint torque is not changed with change of the joint angle, and output torque is stable; the power density of the hydraulic motors is high; the rotation angle of each joint can be set flexibly.

The invention relates to a ship electric servo fin and wing fin rolling stabilization intelligent vector control method. The method includes the steps that a rolling detection device detects a rolling angle, the rolling angle and the rolling angular velocity of a system are estimated through a state estimator, and values obtained by subtracting the rolling angle and the rolling angular velocity from set values are sent to a feedback linearization controller; output of the feedback linearization controller is corrected through a self-adaptive controller based on a fuzzy tree, and then required rolling righting moment is obtained; corrected output signals are namely output signals of a rolling stabilization controller and are sent to a fin angle and wing fin angle intelligent optimizer, wherein the rolling stabilization controller is composed of the feedback linearization controller, the self-adaptive controller based on the fuzzy tree and an error observer; the fin angle and wing fin angle intelligent optimizer conducts angle distribution, generates real-time fin angle and wing fin angle instructions and sends the real-time fin angle and wing fin angle instructions to a fin and wing fin electric servo system; the fin and wing fin electric servo system is based on vector control and drives a fin and wing fins to rotate, the required righting moment is generated, and then rolling stabilization control over a ship is achieved.

The invention discloses an open-winding permanent magnet synchronous motor drive system and a single-phase winding open-circuit fault-tolerant control method thereof. The drive system includes a single DC voltage source, two sets of inverters, a three-phase permanent magnet synchronous motor, and a two-phase switch vector ; After the neutral point of the stator winding of the three-phase permanent magnet synchronous motor is disassembled, the first and last sections are connected to two standard two-level voltage inverters. When an open circuit fault occurs in a certain phase winding, the switch of the faulty phase is immediately blocked online to eliminate Disturbance of a faulty phase winding on a fault-tolerant drive system. The present invention makes full use of the open-winding permanent magnet synchronous motor topology structure with many switch vectors and is easy to realize fault-tolerant control on the basis of not increasing the hardware circuit, and uses the switch vector modulation of the remaining two phases to maintain the circular rotating magnetic field of the motor , using seven-stage Dual‑H bridge modulation to eliminate the influence of the dead zone effect, greatly reduce the pulsation of the output torque, and ensure stable torque output.

The invention discloses a double coaxial tilt rotor wing unmanned aerial vehicle nacelle structure. The double coaxial tilt rotor wing unmanned aerial vehicle nacelle structure comprises two rotor wings, a driving device and a variable pitch system, wherein the two rotor wings are arranged oppositely; the driving device is used for generating power which enables the two rotor wings to rotate; the variable pitch system is connected with the two rotary wings and used for changing the incidence angle of the rotor wings; the driving device comprises a rotor wing main shaft and two electromotors; the two electromotors are connected with the rotor wing main shaft through a first transmission mechanism; the tow rotor wings are connected with one end of the rotor wing main shaft. The double coaxial tilt rotor wing unmanned aerial vehicle nacelle structure provided by the invention adopts double electromotors to drive one main shaft to rotate and is favorable for stressed balance, torque is output stably while the nacelle overcomes the tension force of the rotor wings, the anti-fatigue condition of the mechanical structure is improved, and the service life is prolonged; furthermore, the nacelle structure is simplified from the aspects of structure, control and reliability, the structure weight is reduced, and the performance of the tilt rotor wing unmanned aerial vehicle can be improved.

Both the stator core and the rotor core of a switching pattern AC induction motor are fabricated by soft magnetic material laminations or ferrite material, etc., both of which have corresponding frequency characteristic. The rotor is a squirrel cage rotor. Switching pattern excitation is adopted in the stator pole, of which the excitation voltage is sine wave pulse width modulated or sine wave pulse amplitude modulated within the frequency range of voice and ultrasonic. Under the condition of the same power output, the present motor reduces its size and mass to a fraction of or tenth of that of an ordinary one. Meanwhile, it reduces the cost of manufacture. It realizes stepless speed regulating from zero to several thousand rpm while keeping well mechanical characteristic performance.

The invention discloses a method for reducing the torque ripple of a five-phase embedded permanent magnet motor. According to the invention, a stator magnetomotive force model is established. An equivalent magnetic circuit diagram of the motor is extracted, and an odd harmonic part in the rotor magnetomotive force is converted into an even harmonic part according to the interaction principle between the stator magnetomotive force and the rotor magnetomotive force of the motor. In this way, the permanent magnet torque ripple is reduced. Meanwhile, an optimal extreme arc coefficient ratio underthe condition of an asymmetric magnetic pole structure is solved. On the basis of the asymmetric magnetic pole structure, the repeated units of a permanent magnet magnetic pole are determined. The angle of one-time offset is calculated, and a proper offset method is selected for carrying out the magnetic pole deviation. The performances of the reluctance torque and the cogging torque are reduced.According to the invention, the equivalent magnetic circuit method is used for analyzing and calculating an optimal extreme arc coefficient. Not only the optimal permanent magnet torque performance isobtained, but also the design period is shortened. By adopting the magnetic pole offset method, the pulsation of the output torque of the embedded motor is further reduced.

The audio switch type AC induction motor has stator and rotor iron cores comprising punched sheets of soft magnetic material or ferrite with proper frequency characteristics. The rotor is in squirrelcage structure and the stator magnetic poles operate in switching excitation mode with exciting voltage being pulse width or amplitude modulated voltage in audio or ultra-audio range. In the condition of the same output power, the motor of the present invention has volume and weight several times or over ten times smaller, low production cost, excellent mechanical characteristic and step-less speed regulation from zero to several thousand rpm.

Vehicle control system and method provided to change speed ratio smoothly when switching a power transmission route from a route including a geared transmission to a route including a continuously variable transmission. Vehicle control system applied to a vehicle comprising: continuously variable transmission for changing speed ratio continuously is disposed between input shaft and output shaft; geared transmission is disposed parallel to the continuously variable transmission, and is adapted to establish speed ratio that cannot be established by continuously variable transmission; and friction clutch is brought into engagement to switch torque transmission route from a route including the geared transmission to a route including the continuously variable transmission. Vehicle control system configured to start speed change operation of continuously variable transmission before the friction clutch is brought into engagement completely when switching torque transmission route from the route including the geared transmission to the route including the continuously variable transmission.

The invention discloses a high-power-density high-efficiency permanent magnet synchronous motor used for a vehicle. Under each electrode, a permanent magnet rotor of the motor is placed in a four-part type Halbach array mode. In each electrode, a copper ring is additionally arranged on the upper portion of a permanent magnet. Two parts of the edge of each electrode is in tangential magnetizing. Two parts in the middle are in opposite-angle magnetizing. The high-power-density high-efficiency permanent magnet synchronous motor used for the vehicle has the advantages that magnetic field joining among electrodes is utilized, flux density of a yoke portion of each rotor is reduced, a magnetism collecting effect in the Halbach array mode is achieved, magnetic flow of the permanent magnets is fully gathered toward a stator side, gap flux density of the motor is improved, and accordingly torque density and power density of the motor are increased. The permanent magnets in the Halbach array mode are high in magnetic resistance, the capacity of resisting a harmonic current of the stator is strong, and eddy-current loss and torque pulsation of the permanent magnets are reduced. The permanent magnets in the Halbach array mode are good in stability of working points, magnetic flow of the rotors is stable, iron core loss of the rotors is effectively reduced, and the efficiency of the motor is improved.

The invention discloses a method for controlling the displacement of an air condition compressor of an automobile. According to the method, a compressor slow start program, the minimum displacement, the maximum displacement and a compressor displacement recovery program can be applied to the air condition compressor of the automobile according to different speeds of the automobile, and therefore the displacement of the air condition compressor of the automobile can be adjusted according to running conditions of the automobile in time, the utilization efficiency of the compressor is improved, and it is also guaranteed that an automobile engine stably outputs torque to the compressor in the running process.

The invention relates to a method for achieving target capturing stability of a space robot under continuous collision conditions. A method of changing the closed-loop pole of a system is adopted, thestability margin of the system is improved, and it is guaranteed that the control system can still keep stable under the condition that the control system suffers from short-time repeated impacting.A pseudo-inverse based control moment distribution method is adopted, the advantages that output distribution optimization is achieved, the output quantity is smooth, and the output quantity is achieved under any conditions are achieved, and the dynamic performance of the system is effectively improved. The method can be widely applied to a target capturing and stabilization control method of thespace mechanical arm robot, the method can achieve target capturing stability under the continuous collision conditions and reduce the requirement for the thrust of a thruster, fuel consumption can bereduced, capturing of the space mechanical arm robot on targets can be effectively reduced, and the capturing process is safe and reliable.

The invention discloses a plasticizing apparatus. The apparatus comprises a motor, a driving device, a driving shaft, a plasticizing front board supported at the front end of the driving shaft through a deep groove ball bearing, and a plasticizing backboard supported at the back end of the driving shaft through an aligning roller bearing, the plasticizing backboard is upwardly provided with a motor fixing board for fixedly mounting the motor, a positioning projection used for fixation is arranged at the front end of the motor, the motor fixing board is provided with a positioning hole for the penetration of the positioning projection, the driving device comprises a small belt wheel fixedly mounted on the output shaft of the motor, a large belt wheel fixedly mounted on the driving shaft, and a synchronous belt connecting the small belt wheel with the large belt wheel, the central portion of the back end of the driving shaft is in threaded connection with a screw, the screw penetrates through the plasticizing backboard, and a thrust ball bearing is arranged between the head portion of the screw and the plasticizing backboard. The plasticizing apparatus adopting the motor to drive has the characteristics of small energy consumption, small noise, stable output torque, simple structure, low cost, small inertia and good performances.

The invention discloses a variable reluctance motor and a rotor structure thereof. A stator portion of the variable reluctance motor comprises a plurality of E-shaped stator segments; and an inner circular surface of the stator is in a cylindrical surface shape or a drum shape. A rotor portion is an annular eccentric rotor in a cylindrical shape or a drum shape; the ring-type eccentric rotor in the cylindrical shape includes an inner ring and an outer ring, wherein the outer ring is a magnet collecting ring. The magnetic collection capability of the outer ring of the ring-type eccentric rotor in the cylindrical shape is utilized, thereby reducing the magnetic flux leakage and improving efficiency. When a load works, magnetic forces generated between the ring-type eccentric rotor in the cylindrical shape and the E-shaped stator segments are mostly used for working. Meanwhile, because the direction of the magnetic field of the stator is almost not changed, the iron loss is substantially reduced; due to application of the radial force to the working and the structure of the ring-type eccentric rotor in the cylindrical shape, the output torque, compared with that of the traditional variable reluctance motor, is more stable and thus the vibration and noises are reduced. In addition, the ring-type eccentric rotor in the cylindrical shape has the light weight and the dynamic performance of the rotor is superior to that of a traditional switch reluctance motor.

The present invention provides a controller and driving apparatus for an electric vehicle, which enables a motor to steadily output torque even when there is an increase in the rotation speed of an internal combustion engine that drives a generator. A motor control unit includes a voltage/current command generator F10. The voltage/current command generator F10 includes a base command determination unit, which determines a base command value for the output voltage of the generator and base command values for d- and q-axis currents that drive an AC motor, and power generation operating point change means, which changes the command values that are output from the base command determination unit. When an operating point of the generator approaches an unstable region where the generator unsteadily operates, the power generation operating point change means changes the generator's operating point to position it within a stable region.

The invention relates to a magnetic-field modulation wave power generator with a permanent-magnet container structure. The magnetic-field modulation wave power generator comprises a stator and an outer rotor, wherein the outer rotor comprises a rotor core and a surface-mounting permanent body, a magnetic regulation block is additionally arranged in a gap between the outer rotor and the stator andis used for modulating a magnetic field, a circle center of an outer edge of a magnetic pole of each permanent magnet is not coincided with a circle center of an inner diameter, the thicknesses of thepermanent magnets are not uniform, the circle center of an arc of the outer edge of the magnetic pole moves at concentric distance h so that the arc radius of the outer edge is reduced, and the thickness of the permanent magnet of the outer rotor is gradually reduced from a middle part from two ends.

A double-cycloid hydraulic motor comprises a output shaft, front and back end caps, a distributing valve, a motor base, internal and external rotors and several pin teeth. The output shaft is connected with the internal rotor each other. The pin teeth disposed between the external and internal rotors are engaged with the external and internal rotors at the same time. Between the internal and external rotors and the pin teeth are formed several independent enclosed tooth cavities, which are in communication with the distributing valve separately and then in communication with the fuel inlet and outlet through the distributing valve.