55results about How to "Stable operation control" patented technology

A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.

The invention provides an inverter control device, an electric compressor using inverter control device, and electric equipment. The inverter control device controls the operation of a brushless DC motor selsorlessly. A driving controller of the inverter control device switches commutation of switching elements from control based on a position detection commutation signal to control based on a forced synchronization commutation signal if an output voltage of an inverter circuit section is equal to or greater than a preset threshold and a value of a rotational speed detected by the rotational speed detector is equal to or less than a reference value less than a target value of the rotational speed. The output voltage controller of the inverter control device changes the output voltage control signal based on a phase difference detected by a phase difference detector when the driving controller is controlling commutation of switching elements based on the forced synchronization commutation signal.

The invention discloses a wastewater biochemical treatment method, and specifically discloses a method for treating PVC (Polyvinyl Chloride) mother liquor by utilizing MBR (Membrane Bioreactor) technique. The method comprises the following sequential process schemes: carrying out anaerobic reaction treatment on the PVC mother liquor with PVA (Polyvinyl Alcohol)-containing degrading bacteria, wherein the anaerobic reaction temperature is controlled at 20-35 DEG C, the reaction time is controlled at 6-10h, and the dissolved oxygen is controlled at 0.1-0.2mg / L; degrading organic macromolecules into micromolecules so as to improve biodegradability; and then introducing anaerobic reaction effluent to the MBR for aerobic treatment so as to ultimately obtain clean water with COD (Chemical OxygenDemand) not more than 30mg / L, wherein bacilli is contained in the MBR. The method has the advantages that treatment cost is only needed to be invested at one time, and long-term and stable treatment can be realized by expending low maintenance cost and electric cost in the following years; the longer the use time is, the lower the average treatment cost of per ton of wastewater is; and the methodcan be widely applied to sewage treatment enterprises.

The invention discloses an open-type display cabinet and a refrigeration device thereof, which can be used to control the opening degree of the expansion valve to stabilize the temperature of the blown cool wind. The refrigeration device (R) is constituted by a plurality of open-type display cabinets (1) and a refrigerators (2). A main control device (12) and a terminal side control device (13) of each of the open-type display cabinet (1) can be used to control the opening degree of the expansion valve (11) by changing the superheat degree of an evaporator (9) to the target superheat degree. By setting the blown the cool wind at the predetermined temperature to the display cabinets as the reference, a plurality of control zones can be arranged, and the target superheat degree of the various control zones can be changed.

The invention discloses a full-color high-definition video control system for a light-emitting diode (LED) display screen. The full-color high-definition video control system comprises a video input module and at least one video data sending module, wherein the video input module and the at least one video data sending module are connected through a video bus. The video input module comprises a video decoding module, a video image processing module and a video bus driving module which are all sequentially in signal connection. Every video data sending module comprises a video bus buffer driving module, a video data transceiving module and a kilomega network interface module which are all sequentially in signal connection. The full-color high-definition video control system has the advantages that an LED data controller sending function and a high-definition video processor function are integrated, tape loading capability of LED pixel points in the whole control system is effectively improved by adding the number of the video data sending modules, a single video data sending module can achieve high-bit video input and processing by utilizing the parallel processing advantage, and accordingly the goal of true high-definition display is achieved.

The continuous catalyst adding operation method for esterification reactor features that the operation method includes mutually related three items: A. one improved operation method suitable for high reaction rate esterification catalyst system, with prolonged stable reaction period and apparatus operation life and possessing in-line analysis result fed back to control the continuous addition of catalyst; B. stable esterification conditions including stable acid / alcohol feeding ratio, stable reaction temperature and processes and stable reaction system concentration distribution; and C. strong acid homogeneous catalyst system of sulfuric acid and its derivative capable of raising reaction rate. The present invention has greatly raised reaction rate and stability, reduced local corrosion, prolonged operation period and prolonged service life of the apparatus.

The invention discloses a method for recovering coin protein sugar dregs and preparing protein nitrogen sources and nitrogen-containing syrup in the production of enzymatic corn starch sugar, comprising the steps of size mixing, liquefying, saccharifying, standing separation, centrifugal separation, proteolysis, concentration, drying, compounding, and the like. In the invention, protein is condensed under the heat flash of liquefying, the protein sugar dregs concentrate and float upwards in saccharifying, the sugar dregs are recovered through the steps of standing separation and centrifugal separation, the sugar dregs are dried into protein, or the sugar dregs are hydrolyzed to prepare protein nitrogen sources, and the nitrogen sources can be compounded with syrup to form nitrogen-containing starch syrup for fermenting. Clarified saccharification liquid after centrifugal separation is decolored, filtered, refined and concentrated, and starch syrup products are obtained. The majority of lentous sugar dregs in the saccharification liquid are removed before the treatment of decoloring and filtering, and the decoloring and filtering performance of the material is better. The use level of active carbon, and the like can be properly reduced, the production capability of filtering equipment is improved, and the frequency of the loading and unloading of filters as well as the consumption of washing waste water and various kinds of loss are greatly reduced.

This invention discloses method and apparatus for separating butane and butylene. The method comprises: (1) pretreating the raw materials; (2) extraction-rectifying the heavy fractions separated from step 1; (3) extraction-rectifying the light-heavy fractions separated from step 1; (4) separating the heavy fractions and the extractant in a degasification column. The apparatus comprises a raw material pretreatment rectification column, a heavy fraction extraction rectification column, a light-heavy fraction extraction rectification column, and a degasification column. The method can effectively increase the yields and purities of the fractions separated from C4 raw materials, lower the consumption of the extractant, and effectively reduce the foaming in the extraction rectification columns. Besides, the operation is stable. When used to separate butane and butylene from C4 raw materials in oil refinery plant, the method can realize high yield and purity of butylene product, low consumption of the extractant, and high purity of butane product.

The invention relates to a hydrocracking method for heavy oil. The method comprises the following steps that the heavy oil, hydrogen and a catalyst enter a first reaction zone, the mixture flow of the heavy oil, the hydrogen and the catalyst flows upwards in the first reaction zone and reacts under the condition of hydrocracking on a suspended bed; after the mixture flow flows out of the first reaction zone, the mixture flow is divided into gas phase flow and liquid phase flow by gas-liquid separation; the liquid phase flow enters a second reaction zone, flows downwards and is in counter-current contact and reacts with the nitrogen flowing upwards under the condition of hydrocracking on the suspended bed; after the liquid phase flow flows out of the second reaction zone, part or all of the liquid phase flow enters a separation system to carry out product separation. According to the hydrocracking method for the heavy oil, not only can the separation rate of the gas in the reactor be reduced, but also a hydrocracking effect of the heavy oil can be further improved.

The invention discloses a processing method of whole grain vermicelli. The processing method comprises the following steps of carrying out drying, cleaning, grading, stone removal and milling processes on whole grain, carrying out ultramicro-crushing to obtain whole grain superfine powder having fineness less than 74 micrometers, carrying out adjustment on water content of the whole grain superfine powder until the water content is in a range of 10 to 50%, feeding the whole grain superfine powder with water content of 10 to 50% into an extruder for one-step pasting extrusion noodle forming, setting extrusion conditions, wherein a first zone temperature is in a range of 40 to 60 DEG C; a second zone temperature is in a range of 60 to 80 DEG C; a third zone temperature is in a range of 80 to 120 DEG C; a forth zone temperature of 80 to 120 DEG C; a fifth zone temperature is in a range of 120 to 150 DEG C; and a sixth zone temperature is in a range of 70 to 90 DEG C, carrying out extrusion, and carrying out hang drying, cooling, cutting and packaging processes on extruded whole grain noodles to obtain whole grain vermicelli products. The processing method adopts a superfine powder crushing technology and a twin-screw boiling-extrusion physical modification vacuum degassing one-step forming technology to produce the whole grain vermicelli products so that various original nutrientcomponents of natural grain are retained; storage time is prolonged; and whole grain food processing quality and whole grain food edible quality are improved.

The invention relates to a railway power system interconnection device with a dual-network ice melting function and a control method. The interconnection device comprises a low-impedance multi-winding transformer, a plurality of power units, a high-voltage filter and a low-impedance output transformer, the high-voltage side of the low-impedance multi-winding transformer is connected with an electrified railway contact network and a return line, and a plurality of low-voltage side windings of the low-impedance multi-winding transformer are connected with the rectification sides of the plurality of power units one by one; and the output side of a three-phase three-wire cascade inverter formed by the inversion sides of the plurality of power units is connected with a high-voltage filter and then is connected with a low-impedance output transformer. The control method of the interconnection device comprises the steps of railway traction power supply system ice melting control, railway power supply and distribution system ice melting control and interconnection operation control. Therefore, ice on wires of a railway traction contact net and a railway power supply and distribution network can be melted, railway traction 27.5 kV can be converted into 10 kV to supply power to the railway power supply and distribution network, and the advantages that the topology of interconnection device is not changed, and multiple functions of the interconnection device can be achieved only by changing the control method are achieved.

The invention provides a rotating speed regulating device for a steam-driven main feed water pump of a nuclear power station; the rotating speed regulating device comprises a regulating control unit,a rotating speed preset unit, a rotating speed collection unit, an operating state collection unit, a starting command collection unit and a drive unit, wherein the rotating speed preset unit receives the theoretical rotating speed preset to the steam-driven main feed water pump; the rotating speed collection unit acquires the actual rotating speed of the steam-driven main feed water pump; the operating state collection unit acquires the real-time temperature of the steam-driven main feed water pump; the starting command collection unit acquires a starting mode command issued by an user; theregulating control unit determines the current working stage of the steam-driven main feed water pump according to the actual rotating speed and the real-time temperature, and further selects the starting mode command or the theoretical rotating speed to realize the starting and / or rotating speed control of the steam-drive main feed water pump. The rotating speed regulating device and the method provided by the invention have the characteristics of flexible adjustment mechanism, high maintainability and fast system response, and can realize safe start control and smooth operation control of the steam-driven main feed water pump.

The invention discloses a fault-tolerant direct torque control method for a five-phase permanent magnet synchronous motor. Firstly, a mathematical model of the motor under a fault state is established, and the stator flux linkage ψ of the motor is calculated through the corrected flux equation and torque equation. s and torque T e The estimated value of , compare it with the given stator flux linkage ψ s * and torque T e * As a difference, combined with the sector where the stator flux vector is located, the corresponding space voltage vector in the fault-tolerant switch table is selected according to the control requirements to realize direct control of the motor torque and stator flux. Then the fault-tolerant switch table is applied to the five-phase permanent magnet synchronous motor under the condition of no fault, and the same dynamic and steady-state performance as that of the traditional switch table is obtained for the fault-free motor. The invention ensures that under the condition that the same switch table is used for the motor, the output torque and dynamic performance of the motor are consistent before and after the single-phase open circuit fault, and can effectively restrain the torque ripple of the motor, greatly simplifying the design of the switch table.

The purpose of the invention is to detect the communication timings of an inverter securely when a DC brushless motor is started and the load of the motor is light. The microcomputer 1 of a DC brushless motor drive generates inverter drive signals U+,..., W-. The switching devices 6a to 6f of an inverter 11 are driven with the PWM signals of the drive signals for every current application section in a predetermined order to supply a drive current to a DC brushless motor 12 to rotate. The level of a pole position detection signal is detected in accordance with the PWM signals to detect the switching timing (communication timing) of the current application section.

The invention discloses a full-color high-definition video control system for a light-emitting diode (LED) display screen. The full-color high-definition video control system comprises a video input module and at least one video data sending module, wherein the video input module and the at least one video data sending module are connected through a video bus. The video input module comprises a video decoding module, a video image processing module and a video bus driving module which are all sequentially in signal connection. Every video data sending module comprises a video bus buffer driving module, a video data transceiving module and a kilomega network interface module which are all sequentially in signal connection. The full-color high-definition video control system has the advantages that an LED data controller sending function and a high-definition video processor function are integrated, tape loading capability of LED pixel points in the whole control system is effectively improved by adding the number of the video data sending modules, a single video data sending module can achieve high-bit video input and processing by utilizing the parallel processing advantage, and accordingly the goal of true high-definition display is achieved.

The invention relates to a high-pyrite copper ore flotation treatment method. The high-pyrite copper ore flotation treatment method is characterized by comprising the following steps: 1) after raw ores are roughly separated, foams are fed for finish separation; and rough-separated tailings are separated for scavenging I and scavenging III; 2) foams after finish separation I are fed for finish separation II; and tailings in finish separation I are fed for finish scavenging; 3) foams after finish separation II are fed for finish separation III to obtain copper concentrates; and tailings in finish separation II are fed for finish scavenging; 4) foams after finish scavenging are returned for finish separation I; tailings in finish scavenging are separated to feed for scavenging I and scavenging III; 5) tailings in scavenging I are fed for scavenging II; foams are fed for magnetic separation; foams in scavenging II are returned for scavenging I; and tailings in scavenging II are fed to a tailing warehouse; 6) tailings in scavenging III are fed for scavenging IV; foams are fed for magnetic separation; foams in scavenging IV are returned for scavenging III; and tailings in scavenging IV are fed to the tailing warehouse; and 7) nonmagnetic matters after magnetic separation are returned for rough separation; and magnetic matters are fed to the tailing warehouse. The copper concentratesare high in recovery rate and grade; the problem of influence on the flotation separation effect by great increment of the load due to total introduction of high-pyrite contained middlings in scavenging I is solved; the process is simplified; and the cost is reduced.