87results about How to "Solve the control puzzle" patented technology

A master-slave control flexible continuum robot device and a control method thereof belong to the technical field of robots. The master-slave control flexible continuum robot device comprises a control arm, a mechanical arm and a control system. The mechanical arm is a trunk simulative flexible arm and achieves bending through a plurality of screw-driven flexible rods. A system enables the mechanical arm to complete the same actions by simulating the control actions of operators on the control arm, and therefore simple and visual control on the mechanical arm is achieved. The master-slave control flexible continuum robot device achieves visual master-slave control by aid of the characteristic that the control arm is similar to the mechanical arm and by combining the sensor and the controller; controls the mechanical arm through the scaled-down control arm; effectively reduces the control difficulty and is applicable to remote control operation. In addition, the master-slave control flexible continuum robot device can bend, extend and contract in multiple directions, has unique grabbing, operating and obstacle evading functions, and has a wide application prospect.

The invention discloses an electrode material of a lithium-ion battery and a preparation method thereof. The electrode material is lithium iron phosphate (LiFePO4) with the surface coated with nano-copper and is prepared by using the following method: water solution of ferrous phosphate and lithium phosphate is evenly mixed according to a chemical formula, and is added with a stabilizer OP-10 water solution for mixing and stirring, the mixed solution is controlled at a certain temperature for precipitation, and then the precipitate is filtered, rinsed and aired. Heat treatment is carried out for an aired precursor obtained from the previous step at high temperature, therefore a lithium iron phosphate semi-finished product is obtained. The problem of the imperfect particle size of the lithium iron phosphate is solved by controlling the process conditions. Copper nitrate solution is mixed with the lithium iron phosphate semi-finished product and is added with vitamin C for reducing to obtain the copper; metal copper is evenly clad on the surface of the lithium iron phosphate particles. The preparation method has simple operational procedure; the lithium-ion battery anode material of the prepared lithium-ion battery electrode material has high ionic conductivity and electron conductivity, the 1C initial specific capacity is not less than 162mAh/g and the lC tap density is not less than 1.5g/cm<3>.

The present invention provides a canard configuration missile general structure with a roll and despun stabilizing function, comprising a front section (1) and a rear section (2); and the front section (1) and the rear section (2) are connected by a roll and despun stabilizing device. The canard configuration missile general structure divides a missile into the front section and the rear section,a canard system is mounted at the front section, the rear section rotates around the longitudinal axis by an inclined tail under the aerodynamic action, and the front section realizes the roll stabilizing by the roll and despun stabilizing control, which solves the roll channel control problem caused by the canard wash of the canard configuration missile. At that same time, for the canard system,only pitch motion control and yaw motion control are needed and can be realized only by two sets of motor servo systems, so that the design of the canard system is greatly simplified, and the requirement for the structure space and the development cost are reduced. A guidance assembly is installed in the front section of the despun stabilized missile body, so that the disadvantageous influence oflarge roll angular velocity on the system stable imaging is avoided.

The invention belongs to the field of manufacturing porous silicon carbide ceramic and provides a manufacturing method of a gradient porous silicon carbide ceramic tube. The manufacturing method includes: using a sintered porous SiC ceramic tube as a base material, and coating the inner side or the outer side of the sintered porous SiC ceramic tube with graphite paper; placing the sintered porous SiC ceramic tube in a chemical gas-phase permeation furnace for gas-phase growing; adopting MTS as a precursor in the chemical gas-phase permeation furnace, enabling MTS to be in chemical gas-phase permeation reaction in a gas phase of the chemical gas-phase permeation furnace to generate a SiC phase, and enabling the SiC phase to gradually permeate into the sintered porous SiC ceramic tube from one side without being coated with the graphite paper to form the gradient porous silicon carbide ceramic tube with porosity and pore size gradiently decreasing from one side without being coated with the graphite paper to one side coated with the graphite paper. The gradient porous silicon carbide ceramic tube has the advantages of low preparation temperature, simple preparation process and easiness in manufacturing large pipe fittings.

The invention discloses a conductive liquid micro driving device and applications thereof. Multiple rectangular coils form a coil array, multiple sequentially-arranged electromagnetic poles are formed, insulation layers are arranged among wires of the rectangular coils, magnetic conductive layers fills gaps of the wires of the rectangular coils coated by the insulation layers and the outer parts, a sealing cover realizes functions of three protection and mechanics and the like, inverters are connected with the rectangular coil array, a time-varying electric field generates a traveling wave magnetic field in the same direction and an electromagnetic force, the electromagnetic force drives the conductive liquid to flow, a flexible substrate can be connected with a selected mounting part, and a pipeline inner wall or an outer wall phase in a different shape can be matched. Accurate control on different components, the flow amount, the flow direction and the flow speed of the conductive liquid can be realized, and the conductive liquid micro driving device has the advantages that the overall structure is compact; the device is flexible and deformable; pressed driving does not exist; no push rod mechanism is needed; the pipeline can be cleaned by itself; assembly and disassembly are convenient; the space utilization rate is high; the application range is wide; the use is simple; portability is realized; the noise is small; the service life is long and the like.

The invention relates to a sliding-pressure operation unit optimizing control method in an automatic gain control (AGC) mode, and the method has the advantages of simplicity, effective reduction of oscillation occurrence, economic efficiency of unit operation and the like. The method comprises the following steps: 1) filtering load setting after load is set; 2) setting an ideal sliding-pressure curve according to the best efficiency points of throttling and circulating efficiencies; 3) realizing automatic optimizing of sliding-pressure setting by utilizing a pure integral module of proportion integration differentiation (PID); 4) increasing a high-low limit module after a pressure setting velocity is limited so as to prevent a pressure setting value from exceeding the range permitted by unit safety operation; and 5) manually setting the load setting by operators when the AGC is not carried out, wherein the load is prevented from small oscillation, corresponding pressure setting is prevented from small oscillation, and pressure setting in logics is switched to an operation bypass.

The invention relates to a self-adaptation control method for an electric vehicle for uncertain barycenter and unknown input saturation. The method comprises the following steps: 1) establishing a mathematical model for an electric vehicle system containing uncertain barycenter and longitudinal sliding/lateral sliding; 2) using a smooth functional approximation executor for saturating, considering an executor fault and applying to a state space expression; 3) designing and outputting a limited robust adaptive controller for controlling a motion track of the electric vehicle. According to the invention, the uncertain influence caused by the uncertain barycenter of the electric vehicle can be coped with; the control problem caused by the uncertain barycenter can be solved; the unknown executor nonlinear saturated characteristics can be smartly treated; the control problem caused by the asymmetrical saturation can be solved; when the executor is in fault, the electric vehicle still can move along the expected track; the motion track of geometric center position of the electric vehicle can be limited within a track scope which is given in advance, and meanwhile, the design steps of the controller are simplified and the controller is user-friendly.

The invention discloses a common-frequency vibration torque inhabitation control method based on a cross decoupling wave-trapping method. Firstly, a double-input double-output coupling control systemin the magnetic levitation rotor torsion direction is converted into a single-input single-output complex coefficient system through complex coefficient replacement, then a real number field common-frequency wave trap is popularized and applied to the complex coefficient system, the stability of the system is analyzed, and finally a common-frequency vibration torque controller under a complex field is converted to an achievement form under a real number field. Compared with a transitional real coefficient wave trap system, the operation complexity of the real coefficient wave trap system is simplified by adopting the method, and stability and robustness analysis of the coupling control system are facilitated.

The invention relates to the field of steel blank treatment processes, in particular to a method for reducing the hydrogen content of steel blanks; the method preferably solves the control demands ofthe hydrogen content in steel and the hydrogen content control problem; the steel blanks are stacked layer by layer from bottom to top; the steel blanks on the same layer are arranged in parallel; thesteel blanks on the upper and lower adjacent layers are perpendicularly arranged; and gaps are formed between the adjacent steel blanks on the same layer. The method skillfully designs the steel blanks in the layer-by-layer stacking mode; and under the condition of not changing traditional equipment and conditions, hydrogen of casting blanks is preferably emitted within a certain temperature andtime range by using the hydrogen emission principle in the casting blank stacking mode of the steel blanks to achieve the purpose of reducing the hydrogen content in the casting blanks. The method issimple, easy to operate and lower in investment, and preferably solves the control difficulty of the hydrogen content in the steel blanks. The method is particularly suitable for processes of reducingthe hydrogen contents in the steel blanks.

The invention discloses a parameter self-tuning MISO (Multiple Input and Single Output) different-factor tight-format model-free control method. In view of the limitation of the existing MISO tight-format model-free control method adopting the same factor structure, that is, the limitation of only adopting penalty factors with the same value and step-size factors with the same value for differentcontrol inputs in a control input vector at a k moment, an MISO tight-format model-free control method by adopting a different factor structure is provided, penalty factors with different values and/or step-size factors with different values can be adopted for different control inputs in the control input vector at the k moment, and the control problem of different characteristics of control channels existing in a complex object such as a strong nonlinear MISO system can be solved. A parameter self-tuning method is also provided to effectively overcome the problem that penalty factors and step-size factors need to consume time and labor for tuning. Compared with the existing control method, the method of the invention is higher in control accuracy, better in stability and wider in applicability.

The invention discloses a flexible dexterous hand integrating negative pressure suction with bionic grabbing. The flexible dexterous hand comprises a flexible palm and flexible fingers arranged on theflexible palm. The flexible dexterous hand is of a full-flexible structure, effectively solves the problem that irregularly-shaped redundant objects and small-particle redundant objects such as dustare not prone to remove, and can carry out collision avoidance in a limited space.

The invention discloses an elastic connection support rod structure with a two-way action, which comprises a regulation screw thread, a spring sleeve barrel, a precompression spring, a sleeve barrel cover and a center rod; both ends of the center rod are respectively connected with two spherical hinges, the middle part of the center rod is provided with the spring sleeve barrel, the precompression spring is arranged in the spring sleeve barrel, the outer side of one end of the spring sleeve barrel is disconnected with the center rod connected with the hinges, one section of center rod connected with the hinges is provided with the regulation screw thread, and the length of the center rod can be regulated. The regulation amplitude of the length of the center rod is preferably 1-20cm. The elastic sway rod has the characteristic of a pull and press two-way action. When external pulling force is greater than the precompression force of the spring, the support rod is stretched until the residual compression quantity of the precompression spring completely disappears. When external pressure is greater than the precompression force of the spring, the support rod is shortened until a reserved clearance value completely disappears. The clearance value can be regulated, and the magnitude of the clearance value is estimated and determined according to the maximum turning resistance of moving components connected at both ends of the support connecting rod under different movement conditions.

The invention discloses a server BIOS automatic refreshing and version control method and relates to the field of server production and manufacturing. For the problem in server BIOS refreshing and version control, a program automatically judges and refreshes a corresponding BIOS file in a production process, and automatically compares whether a refreshed version is correct or not according to a version number and custom information during check. Compared with the prior art, the method has the advantages that the server BIOS automatic refreshing and version control are realized, manual operations and possible human errors are reduced, the production efficiency is improved, and the product quality is ensured.

The invention relates to the field of building construction, in particular to a construction method for a C type stock ground upper structure. The construction method is characterized by comprising the following steps of 1, construction preparation; 2, construction partitioning; 3, middle retaining wall construction; 4, transverse partition wall construction; 5, longitudinal low wall construction;6, concrete curing. According to the construction method, the C type stock ground retaining wall upper structure is partitioned in the plane direction, partitioning partition block jump warehouse construction is adopted, segmentation is carried out in the height direction, the retaining wall upper structure form is fully used for designing a steel frame large formwork and steel bearing frame construction method, the problem of the crack control of the retaining wall upper structure is effectively solved, the construction quality is guaranteed, the construction efficiency is improved, and thesafety and the reliability are achieved.

The invention discloses a novel normally closed braking device which is characterized in that a piston is mounted in a housing, a left oil cavity and a right oil cavity are formed in the housing, the oilway of the left oil cavity is connected with a main oil control crossing, and the oilway of the right oil cavity is connected with a check valve and a hydraulic control one-way valve respectively; outer threads are arranged at one end of the piston and are connected with the inner threads in the centre hole at one end of a brake block, the other end of the piston is tightly pressed with a disc spring group, and the disc spring group is sleeved and mounted with disc spring protection cover; the hydraulic control one-way valve is mounted on the housing through bolts, and the built-in spring and valve of the check valve are mounted in the oil inlet in the housing; the device provided by the invention is multifunctional, high in integration level, small in size, simple in structure, and convenient to maintain, has a short journey and big braking force, is capable of implementing braking efficiently, safely and reliably, solves the problem of pulley braking system controlling, and is suitable for popularization and application in various vertical and horizontal braking system.

The invention discloses detection equipment of a control system of a concrete mixing plant and relates to the engineering machinery technical field. The detection equipment of the control system of the concrete mixing plant solves the technical problem in the prior art that comprehensive detection cannot be conducted on the control system of the concrete mixing plant. The detection equipment of the control system of the concrete mixing plant comprises a framework, a liquid storage pipeline, a liquid storage pool, at least one measuring hopper, at least one diversion trench, at least two solution hoppers and indicator lamps. Control valves are arranged in respective liquid outlets of the liquid storage pipeline, the measuring hoppers and the solution hoppers. Circuits of the control system of the concrete mixing plant for outputting control signals of a mixing host is electrically connected with the indicator lamps. Circuits of the control system of the concrete mixing plant for outputting the control signals of control valves and circuits of the control system of the concrete mixing plant for outputting control signals of a material conveying motor are electrically connected with the various control valves, and capable of controlling states of the control valves. The detection equipment of the control system of the concrete mixing plant can detect the control system of the concrete mixing plant in a comprehensive mode.

The invention discloses a flywheel turbine which comprises a casing, a fuel system, an ignition system and a starting system, wherein the casing is provided with a flywheel shaft by a rotating device; the flywheel shaft is connected with the starting system; a flywheel is at least arranged on the flywheel shaft; a gas mixing chamber is arranged on the flywheel; a gas mixing chamber air inlet is arranged at the axial part of the gas mixing chamber; a gas mixing chamber air outlet is arranged on the periphery of the gas mixing chamber; the fuel system is arranged corresponding to the gas mixing chamber air inlet; a combustion chamber and a gas spraying chamber are at least arranged on the periphery of the flywheel; the ignition system is arranged corresponding to the combustion chamber which is provided with a combustion chamber air inlet and a combustion chamber air outlet; the combustion chamber air inlet is communicated with the gas mixing chamber air outlet; the combustion chamber air outlet is communicated with the gas spraying chamber; the area of the cross section of the combustion chamber air outlet is smaller than that of the maximum cross section of the combustion chamber; an inner cavity of the gas spraying chamber is expanded towards an opening in the direction of the outer edge of the flywheel; and an inclined angle is formed between the central axis of the gas spraying chamber and the radius of the flywheel. According to the flywheel turbine, by using the circular motion and the fluid motion, the fuel can be combusted more sufficiently, the energy can be converted more sufficiently and the structure is more simplified.

The invention discloses a moisture content measuring system based on a parallel spiral telescopic time domain reflection probe. The system comprises a time domain reflection probe, an insulation converter, a flexible cylinder and a time domain reflection signal generation collector. The time domain reflection probe comprises a positive electrode probe and at least one negative electrode probe. Thepositive electrode probe and the negative electrode probe are spirally arranged on the inner side wall of the flexible cylinder in parallel. The arranged time domain reflection probe at least accounts for 90% of the height of the flexible cylinder, and the positive electrode probe and the negative electrode probe penetrate through the insulation converter and are connected with the time domain reflection signal generator through coaxial cables. The scheme can be used for nondestructive real-time measurement of the moisture content of frozen soil, natural gas hydrate-containing soil, sandy soil, silt, clay, loess, special soil, rock and other samples in a triaxial shear test. The system not only guarantees the measurement effect of the moisture content of the sample, but also avoids the influence on the triaxial shear test data of the sample, and has a wide application prospect in the triaxial shear test of unsaturated soil and natural gas hydrate-containing soil samples.

The invention discloses a self-adaptive help thread pre-fetch quality control method, and belongs to the technical field of multi-core cache performance optimization. The method can be used for improve the quality of help thread pre-fetch in irregular data intensive applications. Real-time online self-adaptive regulation of a help thread pre-fetch control parameter value can be achieved through the techniques such dynamic sampling, program operation stage detection, pre-fetch gain feedback, and self-adaptive regulation, and then the control quality of help thread pre-fetch can be improved. The method mainly includes the following steps: 1) dynamic information acquisition and feedback statistics; 2) index calculation; and 3) self-adaptive pre-fetch control. The method fully utilizes hardware information of a multi-core platform to achieve real-time pre-fetch control of a help thread, can be widely applied to access performance optimization, help thread pre-fetch quality control and sharing cache pollution control of the irregular data intensive applications in a current big data environment.