91results about How to "Smooth speed change" patented technology

The invention provides a vehicle cooperative adaptive cruise control method based on a variable time gap and interval strategy. A radar, a vehicle-mounted sensor and V2V (Vehicle-to-Vehicle) communication are used for determining a number of successive CACC (Cooperative Adaptive Cruise Control) vehicles which are in front of a current vehicle and are within a communication range of the current vehicle, and according to the number of the vehicles, different variable time gap strategies are adopted to determine an expected safe vehicle following interval, expected acceleration is then determined, and therefore, vehicle control is realized. The variable time gap of the invention flexibly changes along with the change of the speed of the current vehicle, a speed difference and the accelerationof a front vehicle, safety, vehicle following properties and a road traffic capacity in a driving process can be effectively balanced, in addition, vehicle cooperative driving can be controlled, a road traffic flow is improved, and journey time is shortened. Meanwhile, a vehicle speed change in the driving process is stable, and driving comfort can be improved.

The invention discloses an unmanned aerial vehicle path planning method based on control parameterization. The unmanned aerial vehicle path planning method mainly comprises four steps of nonlinear programming modeling, control parameterization, constraint transcription processing and gradient formula solving. According to the invention, obstacle constraints in a 3D environment and dynamic constraints and performance index constraints of the unmanned aerial vehicle are comprehensively considered; two obstacle modeling methods are adopted, so that unmanned aerial vehicle path planning can meet the application of urban and mountainous environments; an optimal solution is solved and thus a state constraint condition and a control constraint condition are satisfied and an optimal time collision-free path of the unmanned aerial vehicle is obtained. The optimal path of the unmanned aerial vehicle obtained through the method is smoother than the optimal path obtained through the existing conventional RRT method and an A * method; the change of the rotating speed of a motor is more stable in the moving process of the unmanned aerial vehicle, and the moving track is stable and feasible.

The invention discloses a novel thin strip tractor which comprises a stand, a traction device, an actuator and a transmission system at the minimum. The traction device is installed on the stand, double rollers which are arranged in parallel in the vertical direction are arranged on the traction device, a lower roller is fixed, an upper roller is adjustable in a floating mode, the transmission system is provided with a magnetic powder type clutch, the input end of the magnetic powder type clutch is connected with the actuator, and the output end of the magnetic powder type clutch transfers power to the traction device. According to the tractor, a double roller traction mode is adopted, a roller gap and pressure can be adjustable manually, a pole plate subjected to plate coating is uniform in thickness, the magnetic powder type clutch is arranged on the transmission system, rigid transmission is changed into flexible transmission, the power of the actuator is driven to be transferred, it is guaranteed that the traction speed changes smoothly, the fluctuation of traction force is little, so that the deformation of the pole plate is reduced, the rejection rate is reduced, the product quality is improved, the structure is simple, the manufacturing is convenient, the processing cost is low, and the production efficiency is high.

The invention provides a motor starting method and device. The method comprises steps as follows: a control cycle is set in advance; a motor is controlled to sequentially execute a positioning stage and an asynchronous drag stage; at a transition stage between the asynchronous dragging stage and a position sensorless speed closed-loop control stage, the followings are executed: according to the control cycle, a command value of direct axis current of the motor is controlled to change in a manner of negative correlation with time, and according to the control cycle, a command value of alternating axis current of the motor is controlled to change in a manner of positive correlation with time; direct axis current of the motor is controlled in real time according to the current command value of the direct axis current, and alternating axis current of the motor is controlled in real time according to the current command value of the alternating axis current; after the transition stage, themotor is controlled to execute the position sensorless speed closed-loop control stage. By means of the motor starting method and device, the success rate of motor starting can be increased.

The invention discloses a rehabilitative apparatus for lower limbs, relating to a medical apparatus. The rehabilitative apparatus comprises a supporting rod for thighs, a supporting rod for shanks, a supporting rod for feet, a guide rod, a supporting rod, a front pushing rod, a cam and a rear pushing rod, wherein the supporting rod for the thighs is connected with the supporting rod for the shanks by a hinged shaft; the other end of the supporting rod for the shanks is hinged with the supporting rod for the feet; the guide rod and the supporting rod for the feet are connected in the same hinged shaft; one end of the supporting rod is fixed on the hinged shaft, and the other end of the supporting rod is connected with the lower end of the supporting rod for the feet and the front pushing rod; and the cam is connected with the rear pushing rod. The supporting rod for the thighs and the supporting rod for the shanks can be designed into thread adjustable structures; a left-handed screw is screwed on one end of an adjusting nut; and a right-handed screw is screwed on the other end of the adjusting nut. The cam is connected with a motor, and is connected with a front pushing rod moving in a reciprocating manner by a hinge; and the hinge is connected with the supporting rod for the feet and the swinging supporting rod. The invention provides a machine by which the patient can get high-quality recovery and sufficient exercise intensity. According to the different lengths of limbs of patients and the angle degree in the range of activity, the machine can meet the requirements of most patients, so as to achieve a rapid recovery purpose.

The invention discloses an electromagnetic type vibration energy recovery device, which comprises a drive module, an energy feedback module and a support module; by a symmetrical structure, the drive module carries out reciprocating linear motion under the action of external force to drive the energy feedback module; the energy feedback module converts the reciprocating linear motion into one-way rotary motion and generates electricity; the support module guides and supports the drive module and the energy feedback module; a screw in the drive module converts the linear motion into the rotary motion of an inner rotor in the energy feedback module through a screw-nut pair; an outer rotor in the energy feedback module is a permanent magnet; one-way power transmission is achieved by contact and separation of the inner rotor and the outer rotor through the conical surface; the outer rotor and a stator assembly rotate oppositely to generate electricity; and the stator assembly comprises a coil bracket and a coil. By the electromagnetic type vibration energy recovery device, the efficiency of the vibration energy recovery device can be effectively improved; the structure is simple and compact; and the mechanical transmission loss of energy can be effectively reduced.

This numerical control device (1) for a machine tool, which controls the positional relationship between a workpiece on a table and a tool by moving the table or the tool along a plurality of translation axes, is provided with the following: an analysis processing unit (21) that outputs a movement path and a feed speed along said movement path on the basis of a machining program that contains a plurality of command blocks; a speed-waveform calculation unit (23) that calculates a speed waveform between a stationary state and a state corresponding to the aforementioned feed speed on the basis of said feed speed and preset acceleration and jerk limits; a corner-curve calculation unit (24) that calculates curve equations for corner curves obtained by smoothing the abovementioned movement path at the boundaries between the abovementioned command blocks on the basis of a preset path-error limit, the movement path, and the aforementioned speed waveform; and a movement-command generation unit (22) that outputs a movement command for each translation axis on the basis of the movement path and the aforementioned curve equations.

The invention discloses an attitude correction control system and method of a four-rotor aircraft. The control system comprises a flight control main controller, a flight attitude acquisition module,a driving module, a wireless communication module, a GPS module, a power management module and a camera module. The flight attitude acquisition module, the driving module, the wireless communication module, the GPS module, the power management module and the camera module are connected with the flight control main controller. An unmanned aerial vehicle attitude control system comprises a sensor data resolving and processing system, a motor rotating speed control system and a wireless data communication system. According to the invention, cascade PID closed-loop control is carried out on the attitude of the four-rotor aircraft, so that the PWM duty ratio for controlling the rotating speed of the motor is adjusted; and meanwhile, the four-rotor aircraft feeds back the position information obtained from the GPS module and current attitude data of the aircraft to a remote control terminal through a wireless transceiving module, so that the operator checks the current flight state of the aircraft in real time and thus descending processing is performed timely in an abnormal state of the flight to minimize the losses.

The invention discloses an unmanned aerial vehicle speed control method and device, an unmanned aerial vehicle and a storage medium. The method comprises the steps: carrying out multi-stage flight estimation according to the target speed and expected path of an unmanned aerial vehicle to sequentially obtain the first estimation position of the unmanned aerial vehicle at the end of each stage; after a first estimated position is obtained, determining the availability of the first estimated position according to then expected path and/or obstacle information, adjusting the target speed under thecondition that the first estimated position is not available, and carrying out multi-stage flight estimation again according to the adjusted target speed; and controlling the speed of the unmanned aerial vehicle according to the current target speed under the condition that the flight estimation termination condition is met. According to the unmanned aerial vehicle speed control method, the speedcontrol process of the unmanned aerial vehicle can be flexibly and meticulously processed, the most reasonable speed is autonomously planned according to obstacles and the real-time flight conditionof the unmanned aerial vehicle, and the flight safety and flight efficiency of the unmanned aerial vehicle are ensured.

The invention discloses an arc fuse curved surface additive posture modeling method and a control method. The electric arc fuse curved surface additive posture modeling method is for describing and geometrically modeling a welding bead position, a welding bead posture and a welding gun position on a space curved surface, the welding bead posture control method adopts curved surface geodesic distance reference line offset, and a welding gun self-adaptive posture control method based on collision detection and smoothness optimization is adopted; a workpiece coordinate system, a welding bead coordinate system and a welding gun coordinate system are established to describe welding beads and welding gun postures on the spatial curved surface; the welding bead posture is modeled and described bya welding bead inclination angle and a welding bead corner under a welding bead coordinate system; the posture of a welding gun is determined by a welding gun slip angle and a welding gun walking angle; the workpiece coordinate system, the welding bead coordinate system and the welding gun coordinate system can be mutually transformed through homogeneous coordinate transformation. The method is advantaged in that accurate control over the positions and postures of the welding bead and the welding gun is achieved, and self-adaptive track planning and posture control over robot space curved surface additive manufacturing are achieved conveniently.

The invention relates to the field of vehicle gear shifting, and discloses a vehicle gear shifting control system, a driving gear shifting control method and a loading machine. The vehicle gear shifting control system comprises a variable pump, multiple motors and a multi-gear transmission. The motors are driven by the variable pump. The transmission comprises multiple clutches. Each motor drivenby the variable pump is connected with at least one clutch. At most one of the at least one clutch connected to the same motor is in the engaged state. According to the vehicle gear shifting control system, the driving gear shifting control method and the loading machine, when the gear of the transmission is adjusted, the clutch which needs to be adjusted to be in the engaged state from the disengaged state is engaged when the displacement of the motor driving rotation connection of the clutch is not equal to zero firstly, the clutch which needs to be adjusted to be in the disengaged state from the engaged state is then disengaged after the displacement of the motor driving the clutch to rotate is equal to zero, and therefore it is ensured that no power failure is caused in the gear shifting process, no impact on the vehicle speed is caused when the clutch is disengaged, and it is ensured that the vehicle speed of a whole vehicle is stably changed.

The invention discloses a spiral guiding stepless variable transmission which comprises a driving wheel assembly, a transmission belt and a driven wheel assembly, wherein a radial pin is fixedly arranged at the end part of a moving disc; a roller is arranged on the radial pin; a guiding block is arranged on the fixing disc; a spiral guiding inclined surface is arranged on the guiding block; the driving wheel assembly further comprises a synchronous ring and a disc spring; the synchronous ring leans against the outer ring of a rolling bearing; the disc spring leans against the synchronous ring and a spring base. According to the spiral guiding stepless variable transmission disclosed by the invention, the roller and the spiral guiding inclined surface in match with the roller are adopted to guide the movement track of a moving wheel in the speed change process, the friction between the moving wheel and the transmission belt is small, and the transmission belt has less abrasion and is long in service life; moreover, when an automobile is accelerated to start and speed up from an idle speed state, as the driven wheel assembly has certain rotation speed in the idle speed state, the rotation speed of the driven wheel assembly of the automobile changes stably in the starting and speeding process, and the automobile is good in starting stability.

The invention discloses an unmanned aerial vehicle control system and control method for meeting the autonomous landing requirement of a maneuvering platform; and the system comprises a motion information obtaining module which is used for obtaining motion information of a target platform and an unmanned aerial vehicle, a difference module used for calculating relative motion information of the target platform and the unmanned aerial vehicle, a proportional guidance module used for obtaining the three-axis overload amount of the unmanned aerial vehicle according to the relative position information, an attitude calculation module used for obtaining the expected attitude quantity of the unmanned aerial vehicle according to the three-axis overload quantity, and a flight control module used for controlling the flight attitude of the unmanned aerial vehicle according to the expected attitude quantity so as to realize autonomous landing of the unmanned aerial vehicle on the maneuvering platform. According to the control system and method provided by the invention, a proportional guidance algorithm is adopted, so that three-axis overload change and speed change in the autonomous landingprocess of the unmanned aerial vehicle are stable, the landing trajectory is smooth, a target platform can be tracked quickly and accurately, and accurate autonomous landing is realized.

The invention provides a fan speed control method and device and a server. The fan speed control method comprises the steps of acquiring the temperature at the current moment; acquiring the fan speedtarget value corresponding to the temperature at the current moment; and adjusting the fan speed at the current moment according to the fan speed target value corresponding to the temperature at the current moment and the fan speed at the last moment. Through the fan speed control method, balance control over heat dissipation and noise of a fan can be realized, the basic heat dissipation effect isensured, and the noise can be minimized and stabilized as well.

The invention discloses an efficient ejector. The ejector comprises a working nozzle, a receiving chamber, a mixing chamber and a diffusion chamber, wherein the working nozzle, the receiving chamber,the mixing chamber and the diffusion chamber communicate with one another; the working nozzle comprises a tapered section and a diverging section, wherein the tapered section is located at the upstream of a throat according to the flow direction with the flow cross-sectional area gradually reduced in the direction of fluid flow, and is connected with a working fluid inlet; the diverging section islocated at the downstream of the throat according to the flow direction with the flow cross-sectional area gradually increased in the direction of fluid flow; and the tapered section comprises a front section and a rear section, wherein the change of the flow cross-sectional area of the rear section is more gradual than that of the front section. According to the efficient ejector, the tapered section of the working nozzle adopts a Vitosinsky type line, so that the speed change of working fluid and injection fluid is more gradual, the energy loss is reduced, and the injector efficiency is improved.

The invention relates to a special sampling bottle for collecting a water sample containing a volatile substance and an oxygen-sensitive substance. The special sampling bottle structurally comprises a bottle body for accommodating the water sample, a bottle cover covering the upper opening of the bottle body, and a plunger mechanism plugging the top opening in the center of the bottle cover, wherein the plunger mechanism comprises a fixed pipe, a T-shaped padding plug and a protection cap. Due to a special bottle body structure and a special bottle cover structure, the bottle cover and the bottle body can synchronously discharge a certain amount of water in the bottleneck in a buckling process, so that the sampling bottle is not required to be vertical absolutely no matter whether the site is flat or not; after the sampling bottle is full of the water sample, even if certain water-sample-free redundant spaces are retained in the bottleneck, all the redundant spaces other than the water sample in the bottleneck can be discharged during filling type buckling of an inner sealing cover as long as the volumes of the retained spaces are smaller than the extruded volume of the inner sealing cover on the bottle cover; therefore the sampling bottle can be full of the water sample, no redundant space is retained, and sampling can be succeeded at one step.

The invention discloses an intelligent cooling system for an internal combustion forklift. The intelligent cooling system comprises a controller, an engine controller, a gearbox controller, a temperature sensor and a proportional solenoid valve, wherein the engine controller and the gearbox controller are in data interaction with the controller through a bus, the temperature sensor and the proportional solenoid valve are directly connected with the controller through wires, and the proportional solenoid valve is used for controlling the rotation speed of a fan according to commands of the controller. According to the intelligent cooling system of the internal combustion forklift, the temperature of different parts of the engine is collected in real time through the controller, and if the real-time temperature exceeds a preset alarm temperature, the heat dissipation fan is directly turned on to the maximum rotating speed to meet the heat dissipation requirement of the system; and if thereal-time temperature does not exceed the preset alarm temperature, the algorithm comparison is carried out, the maximum cooling instruction is determined, the cooling instruction is converted into apulse signal, the proportional solenoid valve is controlled to perform more stable rotation speed change control on the heat dissipation fan, and the noise of the heat dissipation system is reduced.

The invention relates to the technical field of elevators, in particular to an elevator running speed control method and system and a storage medium. The method comprises the steps that staged processing is conducted on the speed change process in the elevator running process to obtain a plurality of speed change stages and a plurality of speed change formulas, wherein the speed change formulas correspond to the speed change stages one to one; the speed change stage of the elevator in operation is determined, and the expected operation speed of the elevator is obtained according to the speed change formula corresponding to the speed change stage of the elevator; and according to the expected running speed, the real-time running speed of the elevator is adjusted. The real-time running speed of the elevator can be precisely regulated and controlled, and the elevator can finish precise leveling operation.

The invention discloses an omni-directional obstacle avoidance method for a cleaning robot and a device thereof. The method comprises the following steps: obtaining the distance value between the cleaning robot and an obstacle in the advancing process of the cleaning robot according to a preset working path in real time; decomposing the distance value into a travel distance value in the travel direction and a vertical distance value perpendicular to the travel direction; determining an area and a channel where the obstacle is located according to the advancing distance value and the vertical distance value; and determining the real-time advancing speed of the cleaning robot according to the area and the channel where the obstacle is located, and corresponding actions are executed. The smooth speed change during obstacle avoidance can be realized, avoidance safety is improved, retardation time is shortened, and working efficiency is improved.

The invention discloses a power device used for reducing installed power of a hydraulic machine. The power device comprises an electromotor, a frequency converter, a controller, a rotation speed sensor, an oil pump and a flywheel, wherein the electromotor is sequentially connected with the frequency converter, the controller and the sensor; the flywheel and the oil pump are installed on a rotary shaft of the electromotor; the sensor is used for collecting the rotation speed of the flywheel and transmitting the rotation speed to the controller; the controller is used for receiving the rotation speed of the sensor and controlling the output voltage and the output frequency of the frequency converter according to the rotation speed signal so as to adjust the frequency and each phase of voltage of an electromotor stator winding when the rotation speed of the flywheel is decreased, so that the frequency and each phase of voltage of the electromotor stator winding adapts to the rotation speed of the rotary shaft of the electromotor. The stored energy of the flywheel is utilized firstly, energy is released in the working feed stage, the controller is used for achieving synchronous change of the given rotation speed of the electromotor and the rotation speed of the flywheel, the changes of the rotation speed of the electromotor are controlled accurately, the installed power of the electromotor is greatly reduced and the purpose of energy conservation is achieved.

The invention relates to the technical field of vegetable washing equipment, and provides vegetable washing equipment. The vegetable washing equipment comprises a vegetable washing machine and draining equipment, wherein a fixing base of the draining equipment is used for being fixed to the ground, a driving arm and a driven arm are rotationally arranged on the fixing base along the axes of the driving arm and the driven arm, the driven arm is located on one side of the driving arm, the driving arm sleeves one end of a rotating rod, and the driven arm sleeves the other end of the rotating rod;the driving arm drives the corresponding end of the rotating rod to rotate around the axis of the driving arm, and the rotating rod rotates to drive the driven arm to rotate around the axis of the rotating rod; a movable block is arranged on the rotating rod, and the rotating rod rotates to drive the movable block to rotate; a rotating frame is arranged on the fixing base in the vertical direction and has the rotating freedom degree in the horizontal plane; and the movable block is rotationally arranged on the rotating frame, the rotating frame rotates along with the movable block, and a floating draining chamber is arranged on the rotating frame and rotates along with the rotating frame. By the technical scheme, the problem that water carried by vegetables is not easy to drain off afterthe vegetables are cleaned is solved.

The invention discloses a multifunctional escaping descent control device comprising a drive system, a wrap angle speed regulating system, an instant stop brake system, a shell and a safety belt, wherein the safety belt is detachably connected to the shell; a planet wheel drive mechanism of the drive system is arranged on a bottom board of the shell through a planet wheel support; a core shaft is arranged on the bottom board, a rope wheel is sheathed on the core shaft through a linked shaft sleeve, and a centrifugal speed stabilizing mechanism is connected with the planet wheel drive mechanism; guiding roller wheels of the wrap angle speed regulating system are arranged at both sides of the rope wheel and are at the same straight line with the edge of the rope wheel, one end of a pull rod is arranged on the linked shaft sleeve, and the other end is connected with a screw rod through a wrap angle rocking rod; and a brake pad of the instant stop brake system is arranged at the outer side of a centrifugal wheel, a brake block adapting to the brake pad is arranged at the outer side of the brake pad, the brake block and the brake pad are installed on the bottom board through a press cover, one end of the brake pad is fixed on the bottom board, and the other end is connected with a pull rope. The invention has the advantages of complete function, reliable quality, compact structure, simple and flexible operation and low cost and can meet the need of multi-user synchronous escaping.