43results about How to "Stable control" patented technology

The application relates to the technical field of robots, and discloses a kind of two-degree-of-freedom parallel ankle joint mechanism of humanoid robot and kinematics and mechanics solving method, including seven-link transmission structure, which is composed of two groups of closed-chain transmission of parallel four-bar linkages.Motor I and II are installed on the upper end of the lower leg, and the rotation drives link IV and III to move through link I, II, V and VI, and then coupled control ankle joint pitch and lateral freedom degree.The mechanism realizes load balancing of double motors through parallel transmission, improves equivalent torque, and can combine kinematics and mechanics solving method, so that precise control can be realized only by motor feedback, sensor cost is reduced, and is suitable for high stability motion demand of biped robot.

The utility model discloses a multicore wire stranding machine, including frame, swivel support, rotation axis, drive mechanism and at least two constant tension pay -off device, constant tension pay -off device sets up in swivel support and gives out core wire, drive mechanism drives rotation axis and swivel support rotation, constant tension pay -off device includes frame and sets up in the pay -off reel of frame, pay -off servo motor, gyro wheel, flexible connecting piece, rotation servo motor, tension take -up wheel, displacement detection subassembly and servo controller, and the output of pay -off servo motor is connected with the pivot of pay -off reel, and gyro wheel is linearly movably arranged in the frame, the output shaft of rotation servo motor is connected with tension take -up wheel, and displacement detection subassembly detects the rotation angle of the output shaft of rotation servo motor or detects the displacement of gyro wheel. The utility model can automatically control the tension of the core wire pay -off of stranding machine, makes the tension and line speed of cable keep constant, realizes digitization and intelligent production, effectively improves production efficiency and the quality of cable.

This utility model discloses a remote control switch circuit, including: a remote control communication unit, a signal control unit, and a switch response unit. The communication terminal of the remote control communication unit is communicatively connected to a remote control signal generator. The signal output terminal of the remote control communication unit is electrically connected to the signal input terminal of the signal control unit. The signal output terminal of the signal control unit is electrically connected to the signal input terminal of the switch response unit. The switch signal output terminal of the switch response unit is electrically connected to the switch signal input terminal of the appliance. The remote control communication unit receives remote control signals, and the signal control unit repeatedly processes these signals to stabilize the control of the appliance, preventing malfunctions. Finally, the switch response unit completes the automated control of the device, thus improving the stability of the remote control.

The utility model relates to a kind of device of pulse laser pulse sub-string, including pulse laser, laser attenuation device, laser beam-reducing device, laser polarization device, wave sheet, Pockels cell, output mirror, waveform detection device, and output mirror is to the waveform detection device output first light beam and to the original light path reflection second light beam;Laser polarization device side is also configured full mirror;Pockels cell is connected with high-voltage pulse generator, pulse laser is also connected with digital delay pulse signal generator, and digital delay pulse signal generator is used to send synchronization signal to high-voltage pulse generator to control high-voltage pulse generator to generate voltage pulse when pulse laser emits laser beam reaches Pockels cell.This application realizes the stable control and output of pulse sub-string by the electro-optic modulation characteristics of Pockels cell, compared with traditional method of improving laser repetition frequency, implementation is simple, and use component is less, while guaranteeing stability, reduce cost.

This invention discloses a sliding mode control method for wastewater treatment processes based on predetermined time performance, belonging to the field of wastewater treatment and nonlinear control technology. This invention is the first to combine second-order integral sliding mode control with a second-order command filter and apply it to the control system of a wastewater treatment plant (WWTP). It considers the requirement that the control coefficient must be greater than 0, and the control effect is superior to existing results. To ensure the timely operation of the wastewater treatment plant, predetermined time performance is used to keep the overall control performance within a specified range and achieve faster convergence. An improved integral sliding surface is constructed, and a novel adaptive controller is designed, achieving stable control of the wastewater treatment plant under three different weather conditions.

The utility model discloses a kind of cyclic treatment systems of silane gas decomposition tail gas in polysilicon production, including at least one group by adsorption tower and analysis tower composition pressure swing adsorption device, the gas inlet end of pressure swing adsorption device is equipped with tail gas compressor, tail gas compressor connects the tail gas outlet of silane gas decomposition device, the product gas outlet end of pressure swing adsorption device is equipped with adsorption product gas tank, adsorption product gas tank is connected to silane gas decomposition device by circulating hydrogen pipe, the pressure relief end of pressure swing adsorption device is connected to cold hydrogenation device.The utility model utilizes the principle of pressure swing adsorption to separate and impurity removal hydrogen in silane gas decomposition tail gas, obtained product hydrogen and pressure relief gas can be used as circulating hydrogen and cold hydrogenation device respectively, without material waste, the setting of tail gas compressor and adsorption product gas tank can guarantee the stability of system control and circulating hydrogen recovery.

This utility model discloses a hydraulic locking device for a gate blowout preventer, relating to the field of oil drilling and production technology. It includes a gate blowout preventer, a locking shaft and a cylinder liner mounted on the gate blowout preventer. Its key feature is that it also includes a main unit mounted on the gate blowout preventer. The main unit includes a hydraulic motor fixedly connected to the cylinder liner via a motor connecting sleeve. The rotor of the hydraulic motor has a hollow structure, and a drive sleeve is coaxially driven within the rotor. A drive rod is coaxially slidably fitted within the drive sleeve, with both ends of the drive rod passing through both ends of the drive sleeve. One end is fixedly connected to the locking shaft, and the other end is fixedly connected to a manual operating lever. The advantages of this utility model are: by adopting an external modular design, it eliminates the need to modify the original blowout preventer structure. Through the motor connecting sleeve and quick fixing to the cylinder head, and the direct connection of the drive rod to the original locking shaft, the manual locking blowout preventer can be quickly upgraded to a hydraulic locking mode, significantly reducing the difficulty, time, and cost of retrofitting existing equipment.

The application relates to a liquid rocket engine test heating device, in particular to a liquid rocket engine inner cavity induction heat accumulation type hot nitrogen gas supply device and method, and solves the technical problem that the existing low-temperature liquid rocket engine usually adopts an external hot air forced convection or electric heating wire heating nitrogen gas mode to heat the pipeline and the engine inner cavity nitrogen gas, and it is difficult to meet the low-temperature liquid rocket engine pipeline and engine inner cavity rapid temperature recovery requirement. The liquid rocket engine inner cavity induction heat accumulation type hot nitrogen gas supply device comprises a heating unit, a pressure monitoring unit, a temperature monitoring unit and a control unit; the heating unit comprises a buffer tank and a heating assembly arranged on the buffer tank; an air inlet of the buffer tank is used for being connected with an air source; the pressure monitoring unit and the temperature monitoring unit are arranged on the buffer tank and are connected with the control unit respectively; and the control unit is used for controlling the heating assembly to work according to the inner cavity nitrogen gas temperature and the outer wall temperature of the buffer tank.

This application belongs to the field of DC bus voltage control, specifically disclosing a super-spiral sliding mode active disturbance rejection control method based on an RBF neural network, including the following steps: establishing a mathematical model of a bidirectional Buck / Boost circuit; designing an active disturbance rejection controller, which includes a tracking differentiator and an extended state observer; using an RBF neural network to dynamically optimize the gain parameters of the extended state observer in real time; constructing a super-spiral integral sliding mode controller to replace the nonlinear state error feedback loop in the active disturbance rejection controller; calculating a current reference signal based on the output signal of the tracking differentiator and the observation signal of the extended state observer through the super-spiral integral sliding mode controller; generating a drive signal based on the current reference signal to control the bidirectional Buck / Boost circuit to maintain the stability of the DC bus voltage. This application can effectively improve the stability and disturbance rejection capability of the DC microgrid bus voltage.

The application discloses a data center container dehumidification and cooling system and method based on waste heat driving, and relates to the technical field of data center humidity control and refrigeration. The application discloses a data center container dehumidification and cooling system and method based on waste heat driving, and relates to the technical field of data center humidity control and refrigeration. The application discloses a data center container dehumidification and cooling system and method based on waste heat driving, and relates to the technical field of data center humidity control and refrigeration. The application discloses a data center container dehumidification and cooling system and method based on waste heat driving, and relates to the technical field of data center humidity control and refrigeration. The application discloses a data center container dehumidification and cooling system and method based on waste heat driving, and relates to the technical field of data center humidity control and refrigeration. The application discloses a data center container dehumidification and cooling system and method based on waste heat driving, and relates to the technical field of data center humidity control and refrigeration. The application discloses a data center container dehumidification and cooling method based on waste heat driving, and relates to the technical field of data center humidity control and cooling.

This invention proposes a tracking control method and system for tower cranes with unknown disturbances, belonging to the technical field of anti-swaying for tower cranes. The method includes: acquiring the state information of the tower crane's boom, trolley, and load; establishing a dynamic model of the tower crane and decoupling the unknown disturbance and its nonlinear unknown coefficients in the dynamic model using Young's inequality; designing a coordinate transformation to eliminate the pure feedback structure in the system; introducing coordinate transformation into a virtual controller designed based on the backstepping method, constructing the virtual controller, and decoupling it from the disturbance; and, based on the virtual controller and the actual controller, controlling the position of the trolley on the tower crane to maintain synchronization with the designed desired trajectory under unknown external disturbances using a near-disturbance decoupling control method. This invention avoids the swaying of the tower crane load due to uncertain disturbances, which is of great significance for improving the working efficiency and safe construction of tower cranes.

The utility model discloses a convenient water flux tester which comprises a first conducting hose, a peristaltic pump, a second conducting hose, a pressure gauge, a third conducting hose and a filter, one end of the first conducting hose extends into liquid to be tested, and the other end of the first conducting hose is connected with an inlet of the peristaltic pump; an outlet of the peristaltic pump is connected with a second conducting hose, and the other end of the second conducting hose is connected with a pressure gauge; the other end of the pressure gauge is connected with a third conducting hose which is connected with a filter; and a membrane to be detected is placed in the filter. According to the utility model, the water fluxes of different membrane materials can be conveniently and quickly tested, an accurate water flux value can be obtained through simple calculation, and the water flux testing device has the advantages of convenience in operation, easiness in carrying, wide application range and the like.

This invention relates to a pneumatic valve flow and pressure stabilization control device. The control device includes a DCS main controller, a signal distributor, a comparison storage trigger control device, a current signal measuring point, a valve positioner, a two-position three-way electrically controlled directional valve, a pneumatic amplifier, a pneumatic valve cylinder, a plant compressed air source, and a pressure stabilization control unit. The DCS main controller outputs a control command current signal connected to the input terminal of the signal distributor. The signal distributor outputs corresponding current signals in two paths to the comparison storage trigger control device. One path is sent to its internal relay trigger circuit, and the other path is sent to its internal comparison storage trigger circuit. The output signal of the comparison storage trigger control device is directly connected to the signal receiving terminal of the valve positioner. A valve positioner control current signal measuring point is connected in series in the control cable. The comparison storage trigger circuit controls the interruption of abnormal signals and stabilizes the normal control current signal to maintain the valve position.

Provided is a directional control valve capable of setting the pressure and flow rate of fluid controlled by a spool to be large and capable of performing stable control while preventing unstable operation of the spool. The directional control valve (1) of the present invention includes: a housing (10) having a cylindrical spool hole (20) that communicates with an inflow port (16) through which fluid flows in from an external supply source (2) and an outflow port (18A, 18B) through which fluid flows out to a working cylinder (4); a spool (22) that moves within the spool hole to vary the outflow amount of fluid; a first solenoid driving portion (30A) having a first movable element (22A) provided at a first end portion (22a) of the spool to drive the spool; and a second solenoid driving portion (30B) having a second movable element (22B) provided at a second end portion (22b) of the spool to drive the spool, and a pressure equalization circuit that applies pressure equally to both the first end portion side and the second end portion side of the spool is provided.

The utility model discloses a kind of hydrogen release systems of magnesium-based solid-state hydrogen storage reaction kettle, hydrogen storage tank is placed in each placement site in reaction kettle inner chamber, and each placement site is equipped with heat exchange coil;Hydrogen release system includes hydrogen release part, temperature control part, safety protection part;Hydrogen release part includes hydrogen release main pipeline, hydrogen release automatic switch valve is equipped on hydrogen release main pipeline, vacuum extraction pipeline is connected in parallel on hydrogen release main pipeline;Temperature control part includes external heat conduction oil circulation system, flow bypass pipeline is arranged between oil inlet pipeline and oil return pipeline, heat conduction oil shunt automatic switch valve is equipped on flow bypass pipeline;Safety protection part includes reaction kettle safety valve arranged on reaction kettle, reaction kettle safety valve is connected with vent line, vent line and hydrogen release main pipeline are arranged with pressure relief bypass pipeline, automatic switch pressure relief valve is equipped on pressure relief bypass pipeline.The utility model has the advantages that it realizes the fast, efficient hydrogen release of multiple hydrogen storage tanks in reaction kettle, and ensures system safety.

The present application relates to a kind of control method and sintering system of stable sintered ore magnesium oxide content, it is related to sintering production process technical field, it solves the problem that the existing sintered ore magnesium oxide content fluctuation is big, influence sintering quality, including the main source of magnesium oxide in sintered ore and its contribution ratio are analyzed, identify that born lime powder, steel slag fine powder in mixed ore and magnesite powder are as the key raw material of influence magnesium oxide content fluctuation;Upper limit standard of magnesium oxide content is set to the purchase of born lime powder;Magnesium oxide content lower limit and granularity standard are set to the purchase of magnesite powder;Steel slag fine powder is screened, control its granularity, and screened steel slag fine powder is involved in mixed uniform pile;Magnesite powder is screened, remove large block impurities therein;Batching process control and pre-adjustment;Equipment guarantee;With the qualified rate of magnesium oxide content is significantly improved, fluctuation range is stably in target interval, realize the effect of accurate, stable control to sintered ore magnesium oxide content.

The utility model discloses a kind of road concrete guardrail spraying maintenance devices, including the concrete guardrail of road side part, the covering layer with water absorption and moisturizing is covered in the upper part of concrete guardrail, the top of covering layer is provided with the spraying pipe arranged along the extension direction of concrete guardrail, spraying pipe is connected with water supply system, multiple clamping fixing frames are set on covering layer, the utility model is kept moisture by covering layer, adjustable fixed spray pipe of fixing frame, water supply system realizes accurate control, solve the problem that traditional spraying maintenance water resource is wasted, wet is not sustained, poor adaptability, with the advantages of improving water resource utilization, keeping sustained wet, adapting different size guardrail shape, stable fixed spray pipe and realizing accurate water supply control.

The utility model relates to road surface asphalt sampling equipment technical field, concretely is a kind of sampling equipment of road surface asphalt detection, the utility model includes support frame, the top of support frame is provided with the support sleeve that can be up and down active, motor is fixedly installed in the inside of support sleeve, the output of motor is fixedly connected with the communicating pipe, the bottom of communicating pipe is fixedly connected with blade, blade is used to rub broken road surface asphalt layer;Elastic connecting mechanism is arranged between support frame and support sleeve, the utility model is when carrying out road surface asphalt sampling, foot treads pedal, cooperates manual holding handle, so that the control of sampling equipment is more stable, avoid equipment vibration to produce lateral displacement, cause damage to the asphalt pavement outside sampling position, when applying pressure downward simultaneously, since pedal is resisted and touches on the road surface, the downward distance of support sleeve, motor, communicating pipe and blade can be limited, avoid blade excessive downward, cause damage to subgrade deep layer.

The application discloses a vacuum coating system and a control method for precisely controlling film thickness. The system comprises a coating chamber, a cathode device, a workpiece carrier and a driving device. The driving device can drive the workpiece carrier to reciprocate linearly between a first position and a second position. The workpiece carrier can pass through the cathode device and complete a coating process independently during the movement from the first position to the second position and from the second position to the first position. The method comprises dividing a to-be-coated film layer into multiple sub-film layers, presetting the thickness distribution of each sub-film layer and calculating the corresponding motion speed curve; detecting the film thickness distribution in real time during the coating of the first sub-film layer, and correcting the thickness distribution of the second sub-film layer according to the detection result; and detecting, correcting and coating the subsequent sub-film layers in sequence, and gradually approaching the target film thickness layer by layer. The application realizes efficient and high-precision film thickness control through a bidirectional coating mode and a layer-by-layer correction strategy, and is suitable for various coating requirements such as uniform film layers and gradient color film layers.

The application provides a self-control type air supply outlet system and a working method, relates to the field of ventilation systems, and aims at the problems of uneven distribution of lateral air inflow and lag of centralized control response in the prior art. The integrated air supply outlet system is formed as an independent product by arranging a flow rectifying grid in an air supply channel and cooperating with a flow equalizing component in a box, the turbulent flow input from the lateral direction is effectively corrected and converted into downward static pressure air flow capable of uniformly covering a filter, local closed loop control logic is constructed by using an integrated control component, edge computing is directly performed according to real-time feedback signals of a room pressure difference sensor and an air volume measuring component, and then an actuator is driven to change the opening degree of an air volume regulating valve, the uniformity of the air flow and the accuracy of the air volume measurement are improved, the delay of signal transmission and processing of the system is reduced based on the local rapid adjustment of the variable air supply and fixed air exhaust strategy, the pressure fluctuation caused by external disturbances such as door and window opening is inhibited, and therefore stable control of the indoor pressure difference environment is realized.

This invention provides an AC fault ride-through control device and method for wind power flexible DC grid-connected systems, belonging to the field of flexible DC transmission and new energy grid connection technology. Addressing the DC-side power redundancy and overvoltage issues caused by AC grid faults at the receiving end when wind power is connected to the grid via a modular multilevel converter (MWC) type HVDC transmission system, two control modes are proposed: First, when the DC voltage exceeds a preset threshold, the WFMMC initiates a step-down control; the energy storage system switches to a constant power control mode to adaptively absorb redundant power, and the wind turbine GSVSC maintains constant DC voltage control. Second, after the WFMMC initiates step-down control, the wind turbine GSVSC switches to a constant power control mode based on the grid connection point voltage deviation, and the energy storage system switches to a constant DC voltage control mode to absorb remaining power. This invention achieves redundant power storage, effectively suppresses DC voltage fluctuations, and improves the dynamic stability and operational reliability of the system during fault ride-through.

This invention provides a yarn holding force control device and method, including an upper yarn guide plate, a lower yarn guide plate, a yarn holding force adjustment device, and a controller. The yarn holding force adjustment device comprises at least one yarn holding force adjustment unit, an actuating rotary element, and a mounting frame. The yarn holding force adjustment unit is located on the mounting frame between the upper and lower yarn guide plates and includes a rotating shaft, a turntable, and a yarn holding assembly. The actuating rotary element and the rotating shaft are respectively disposed on both sides of the mounting frame. The actuating rotary element is connected to one end of the rotating shaft, and the turntable is disposed on the other end of the rotating shaft. The yarn holding assembly forms a zigzag yarn path with an adjustable bending angle on the turntable and the mounting frame. The controller controls the actuating rotary element to drive the rotating shaft and the turntable to rotate, automatically adjusting the yarn holding force passing through the zigzag yarn path. This ensures stable control of the yarn during high-speed winding and features a simple structure that is easy to maintain.

This invention provides a control circuit and an image sensor. The control circuit includes at least one control group. The control group includes an nth control unit and an mth control unit, corresponding to the nth row of pixel units and the mth row of pixel units, respectively. Each control unit includes a first control module. Within the control group, the first control module in the i-th control unit operates in a first stage and, under the control of the n-th row address signal and the m-th row address signal, generates an overflow switch control signal for the i-th row based at least on a mode enable signal. Here, n and m are both natural numbers greater than or equal to 1, and i is either n or m. The control circuit and image sensor provided by this invention solve the technical problem of the lack of an effective driving scheme for dual-mode LOFIC pixel structures in the prior art.

This utility model relates to the field of secondary sedimentation tanks, specifically to a solar-powered automatic cleaning device for secondary sedimentation tanks. It includes a fastening device, a transverse roller brush, a longitudinal roller brush, a drive device, a roller brush motor, wheels, a PLC controller, a reciprocating travel trigger, a base plate, and transmission lines. Fastening devices are installed at the four corners of the lower side of the base plate. Transverse roller brushes are installed at the front and rear ends of the lower side of the base plate, and a longitudinal roller brush is installed in the middle of the lower side of the base plate. The transverse and longitudinal roller brushes are connected to the roller brush motor via transmission lines. Wheels are installed on the lower side of the base plate and are connected to the drive device via transmission lines. The drive device, roller brush motor, PLC controller, and reciprocating travel trigger are all connected by transmission lines.

The utility model relates to a kind of double-cavity religious rotary live cattle slaughtering box, belong to live cattle slaughtering device field, including drive assembly, double-cavity rotary mechanism, positioning cattle assembly, front support assembly, rear support assembly, cattle inlet gate component, cattle receiving fence component and assassination platform, front and rear end of double-cavity rotary mechanism is installed front support assembly and rear support assembly, drive assembly is installed on rear support assembly, positioning cattle assembly is installed in double-cavity rotary mechanism, one side is equipped with cattle receiving fence component, cattle inlet gate component is arranged at the entrance of the cavity of double-cavity rotary mechanism, front support assembly is also equipped with assassination platform;By using the mature double-cavity rotary mechanism of two single-cavity rotary slaughtering box, double-cavity mechanism is connected with large-diameter split type driving wheel and front end plate, to form a whole, and there is center positioning circular tube in the middle, two ends front and rear support shafts are connected, to realize the continuous rotation of double cavity, solve the problem of low efficiency and cannot be truly put into use in the above.

The application relates to a separation control method for a symmetric reentry vehicle under lateral instability, and belongs to the technical field of attitude control. A three-channel trimming capability equation is established; lateral control deviation parameters LCDP are calculated; according to the three-channel trimming capability equation and the lateral control deviation parameters LCDP, the controllable attack angle interval of the vehicle is determined as [alpha min , alpha max ]; when the time is, the lateral instability is controlled; according to the physical limit constraint of the pitch rudder deviation range, a target attack angle alpha cx of preset pitch rudder deviation setting attitude adjustment demand before separation is formulated, and the separation control is performed according to the target attack angle alpha cx of the attitude adjustment demand; the application forms a separation control method for a reentry vehicle under lateral instability, is used for vehicle stable separation control method demonstration for the case that the separation control is lateral instability and the control capability is insufficient, and ensures the stability of the vehicle separation control.

The application discloses a biomass boiler flue gas temperature control method, which automatically adjusts the water supply flow of a smoke cooler and an air preheater according to the deviation of current boiler load and the deviation of current smoke cooler outlet smoke temperature, quickly responds to the control of the change of boiler load and the change of smoke cooler outlet smoke temperature, replaces the manual control mode of an operator, realizes the automatic control of the exhaust gas temperature of the biomass boiler, and keeps the exhaust gas temperature at the outlet of the smoke cooler stable. The biomass boiler load deviation caused by the change of the boiler load can be quickly adjusted when the boiler load changes, the change of the exhaust gas temperature is ahead of the change of the exhaust gas temperature, the control requirement of the exhaust gas temperature of the boiler is met, and the operation efficiency of the boiler is ensured. The biomass fuel of different types, heat values and moisture contents can be automatically adapted, the real-time change requirement of the boiler load is consistent, the exhaust gas temperature of the boiler is kept stable, the efficiency of the boiler is improved, and fuel consumption is reduced.

This invention claims protection for a high-speed laser scanning method for small-volume structures based on path optimization, belonging to the field of high-speed laser scanning and precision optomechanical control technology. The core of this method lies in constructing a complete closed-loop control system encompassing "data acquisition - model building - parameter adjustment - real-time feedback - dynamic suppression - closed-loop verification," focusing on high-order vibration suppression under high-frequency drive of MEMS micromirrors. By accurately acquiring vibration characteristic data to establish a dedicated database, and combining adaptive filtering and dynamic modeling to create a compensation model that fits the characteristics of the micromirror, the driving current adjustment parameters are finely configured. Vibration and trajectory data are acquired in real time during high-speed scanning, and the adjustment current is dynamically output. The suppression effect is simultaneously verified and iteratively optimized, achieving accurate perception and efficient suppression of internal dynamic vibrations. This method stabilizes the scanning trajectory without sacrificing scanning efficiency, overcoming the problem that traditional technologies relying solely on external parameter adjustments cannot simultaneously achieve high speed and accuracy, thus ensuring high-precision point cloud output for small-volume structures.