91results about How to "Stable speed control" patented technology

The present invention provides an automatic speed control apparatus for a treadmill and the control method including a deck, a track belt of endlessly rotating on the upper and the bottom face of the deck, and a driving unit for driving unit for driving the track belt comprising: at least one front load sensor located in the front part of the track belt for measuring load from a user on the track belt; at least one rear load sensor located in the rear part of the track belt for measuring load from the user on the track belt, wherein the proceeding speed of the track belt is controlled based on the user's location or movement on the track belt by comparing the measured values from the front load sensor and the rear load sensor and catching the user's location based on the comparison therebetween, whereby the proceeding speed can be automatically controlled corresponding with the user's running speed without the user's direct operation.

The present invention discloses an electric vehicle asynchronous motor fuzzy adaptive dynamic surface control method with the consideration of an iron loss. According to the control method, by using the nonlinear function in a fuzzy logic system approximation system, an adaptive backstepping method is used to design a controller, and the dynamic surface control technology and a fuzzy adaptive method are combined. Through introducing a first-order low-pass filter, a 'computing explosion' problem caused by continuous derivation in traditional backstepping control is successfully overcome. In addition, control signals uqs and uds only exist in an adaptive parameter Theta<^>, and the amount of computation is reduced. Through fuzzy adaptive dynamic surface control method adjustment, motor operation can rapidly reaches a stable state and is more suitable for a control object with the need of rapid dynamic response like an electric vehicle driving system, a simulation result shows that the influence of parameter uncertainty is overcome and an ideal control effect is ensured according to the control method, and the rapid and stable response of rotation speed is realized.

The invention discloses an input saturation considered asynchronous motor command filter finite time fuzzy control method. Aiming at nonlinear problems of a motor driving and control system, a fuzzy logic system is adopted for approximation to a nonlinear function in the system, a command filter technique is introduced into a traditional backstepping design method, errors generated in filtering are reduced through introduction of a compensation mechanism, the problem of computation explosion caused by continuous derivation in traditional backstepping control is successfully solved, and control precision is improved. Small system stable tracking errors and short dynamic responding time under finite time control are realized, system convergence rate is increased, and interference rejection capability is improved. Under the condition of consideration of input saturation, bounded parameters of a closed-loop system can be guaranteed, and convergence of tracking errors of the system into a sufficiently small origin neighborhood in finite time can be guaranteed as well.

A speed control device for a vehicle includes a vehicle speed obtaining means obtaining a vehicle speed, a shape obtaining means obtaining a curve shape, a position obtaining means obtaining a positional relationship between a curve and the vehicle, a target vehicle speed determining means determining a target vehicle speed based on the curve shape and the positional relationship, a vehicle speed controlling means controlling the vehicle speed based on the target vehicle speed and the vehicle speed, and an acceleration operation quantity obtaining means obtaining an operation quantity of an acceleration operating member operated by a driver, wherein the target vehicle speed determining means includes a modification means modifying the target vehicle speed based on the operation quantity so that the target vehicle speed obtained when the operation variable is greater than zero becomes a greater value than the target vehicle speed obtained when the operation quantity is zero.

A speed control device includes: a reference point setting unit that sets, based on shape and position of a curve in advance of a vehicle, first and second reference points within the curve, the second reference point being nearer the curve exit than the first reference point; a distance calculating unit that calculates, based on the vehicle location and the reference points, first and second distances, between the vehicle and the first and second reference points, respectively; a target speed determination unit that determines, based on the curve shape and the first and second distances, the first and second target vehicle speeds to be maintained, respectively, before and after passing the first reference point; and a speed control unit that controls the speed of the vehicle based on the target speeds and the detected speed of the vehicle.

The invention discloses a fuzzy backstepping control method of an asynchronous motor of an electrical automobile considering iron loss, and provides a self-adaptive fuzzy controller based on a backstepping method principle, which aims at solving the non-linear and iron loss problems of the motor driving and control system of the electrical automobile. The fuzzy logic system is used for approximating to the unknown non-linear item, and the self-adaptive backstepping method is used for designing the controller. The method has the advantages that the part lacking the complete controller design in the traditional method is supplemented, the Lyapunov stability analysis is added, and only one self-adaptive parameter theta exists in the control signals u[qs] and u[ds], so as to reduce the calculation amount; after the motor is adjusted by the control method, the motor can quickly run to the stable state; the method is more suitable for the control objects requiring quick dynamic response, such as the driving system of the electrical automobile; the simulation result indicates that the control method can overcome the influence by inaccurate parameters, and is favorable for ensuring the ideal control effect, and realizing the quick and stable response of rotation speed.

A lens control apparatus and an image pickup apparatus each of which, during a magnification varying operation in an inner focus type of lens system, predicts a destination position to be reached by a variator lens after a predetermined time period, calculates a speed at which to move a focusing lens to a correction position of a focal plane relative to the predicted position of the variator lens, and controls the focusing lens.

The invention provides a traverse control technology, capable of preventing the deviation and broken line of a wire rod in advance with the bigger change of the wire rod reeling spacing. A traverse device (1), reels the wire rod (3) of a reel (4) for a linear saw (2) on a traverse roller (5) and a tension roller (14), when the traverse roller (5) is the reciprocating motion along the axial direction of the reel (4), the target position of the wire rod (3) is in the right-angle direction relative to the axial direction of the reel (4) between the reel (4) and the traverse roller (5), the reference force (F1) of the wire rod (3) is detected at the tensioning roller (14), the variation force (F2) based on the displacement of the wire rod (3) deviated from the target position is detected at the traverse roller (5), based on the variation of the difference (delta F) of the reference force (F1) and the variation force (F2), the reciprocating speed (V) of the traverse roller (5) is controlled.

The invention discloses a command filter limited time fuzzy control method of a permanent magnet synchronous motor. The control method is capable of, in allusion to the existent nonlinear problem in a motor drive and control system, introducing a command filter technology into the traditional backstopping design method, and successfully overcoming the problem of 'computation explosion' in the traditional backstopping control caused by the continuous derivation. A fuzzy logic system is used for approaching the nonlinear function in the system, and the command filter backstopping technology is combined with a fuzzy self-adaption method to construct a fuzzy self-adaptive controller; the limited time method has the anti-interference performance and the robustness to the signals, such as the external load interference; and under the limited time control, the system stability tracking error is small, the dynamic response time is short, and the convergence rate and the interference rejection capability of the system are improved. Compared with the prior art, the control method has the faster response speed, the stronger anti-interference performance and the better tracking effect.

The invention discloses an observer-based command filtering error compensation fuzzy control method of an induction motor. Aiming at the problem of non-linearity existing in a driving and control system of the induction motor, a command filtering technology is introduced to a traditional backstepping design method; and meanwhile, by an error compensation mechanism, an error caused by filtering is reduced, so that the control accuracy is improved, and the problem of calculation explosion caused by continuous derivation in traditional backstepping control is successfully solved. According to the method, the rotor angular speed of the induction motor is estimated by a dimension reduction observer; meanwhile, a fuzzy logic system approaches to a non-linear function in the motor driving system, and the command filtering backstepping technology is combined with an adaptive method to construct a controller; after regulation by the method, the motor running can rapidly reach a stable state; and a simulation result shows that by the method, the influence of parameter inaccuracy can be solved, an ideal control effect is favorably ensured, and the rapid and stable response to a rotation speed is achieved.

The invention relates to a control method of compensation speed decrease of a hot continuous rolling finish rolling rack, belonging to the field of steel rolling. According to the method, before steel is bitten by the finish rolling rack, a speed compensation value is applied to the rack in advance, and the speed compensation value is 2-5% of the rack speed reference value; after the steel is bitten for 100-200ms, the speed compensation value is canceled, and the rack speed reference value is recovered for rolling. After the method is adopted, the speed decrease of the rack which bites the steel can be reduced, a strip steel movable sleeve between racks is normally controlled, the rolled waste steel is reduced, and good benefit is obtained.

A vehicle speed control system includes: a unit for computing a first target velocity based on map information; a unit for computing a second target velocity based on a road profile obtained from other information than the map information (such as lane recognition using a camera); a unit for comparing the first target velocity and the second target velocity; a unit for selecting a lower target velocity therefrom; and a unit for controlling a vehicle velocity in accordance with the selected target velocity.

A position detector generates a position error signal corresponding to a current position of a head, a position controller generates a position control signal from the position error signal, a voltage detector detects a voltage signal generated when driving an actuator by a driver, a disturbance estimator generates a disturbance estimation signal from a driving signal and the voltage signal, and a corrector outputs the driving signal from the disturbance estimation signal and the position control signal. The disturbance estimator includes a comparator which compares the disturbance estimation signal with a voltage signal and which outputs a deviation signal, and an adder which adds a signal obtained by multiplying an integral signal, which is obtained by integrating the deviation signal, by a first coefficient and a signal obtained by multiplying a proportional signal proportional to the deviation signal by a second coefficient, and which generates the disturbance estimation signal. The disturbance estimation signal suppresses a tracking deviation of the head due to a disturbance such as an inertial force applied to the head actuator and stabilizes head positioning control.

The invention relates to a low-carbon wire rewinding shaft device, in particular to a low-carbon wire constant tension rewinding shaft device. The low-carbon wire constant tension rewinding shaft device structurally comprises a flexible damping payoff mechanism, a constant speed traction mechanism, a tension control mechanism and a plastic finished product bobbin, wherein the flexible damping payoff mechanism, the constant speed traction mechanism, the tension control mechanism and the plastic finished product bobbin are arranged in the running direction of a rewound wire. According to the low-carbon wire constant tension rewinding shaft device, the take-up speed can be regulated to stabilize tension according to a tension change represented by the specification and strength of the wire, so that the phenomena of circle swinging, wire clamping and tightness non-uniformity of the rewound wire are avoided, and the quality of a product is greatly improved.

The invention provides a multi-field real-time monitoring and servo pressurizing bottom friction testing system for a large-size rock-soil body. The multi-field real-time monitoring and servo pressurizing bottom friction testing system comprises a conveyor belt driving system, a model vertical uniform distribution force loading servo system, a friction force determination system and an image acquisition and resolving system. The model vertical uniform distribution force loading servo system comprises a hydraulic column and a pressurizing plate; the pressurizing plate is internally provided with a pressure sensor and is connected with a background controller; the controller is connected with a servo motor connected with a hydraulic oil tank; the conveyor belt driving system comprises an alternating current motor, a frequency converter and a speed monitor; the friction force determination system is composed of a stress sensor and an outer data receiver; the image acquisition and resolving system is composed of a high-speed camera, a sliding rail, an illumination lamp, a scale and a background computer. According to the multi-field real-time monitoring and servo pressurizing bottom friction testing system provided by the invention, a large-size quantitative simulation test of deformation damages of the rock-soil body under the action of gravity and an evolution process of the rock-soil body can be realized; different stress fields are simulated by changing normal stress on a model to be detected and a stress field and a displacement field of the model are monitored in real time.

The invention belongs to the technical field of asynchronous motor position tracking control, and specifically discloses a state constraint based asynchronous motor fuzzy position tracking control method. The method is characterized in that state variables and controlled variables of a motor system are constrained based on a Barrier Lyapunov function in allusion to control accuracy requirements for an asynchronous motor and a nonlinear problem in a driving system, a fuzzy logic system is utilized at the same time to approach to a nonlinear function in the system at the same time, and a fuzzy adaptive position tracking controller is built. According to the method, a tracking error of the system can be ensured to converge to a small enough neighborhood of the origin, simulation results show that the new control method ensures each state variable of the motor to be within a constraint space of the system, and controller input ud and controlled input uq are stabilized within a bounded region. The method disclosed by the invention realizes fast and effective response for asynchronous motor position tracking control.

The invention relates to a bearing bush two-sided chamfering machine with an automatic feeding and discharging function, and a use method thereof. According to the invention, a pushing device, a blanking groove, a material feeding conveying device, a stirring platform, a retaining cylinder block and an allocation cylinder are arranged on an original machine tool, so that bearing bush blank can be fallen onto the bottom of the blanking groove in pairs and can be pushed into a station moulding bed by the pushing device; the bearing bush blank rotates along with the station moulding bed and is pushed out by the pushing device after being processed by a compressing device and a two-end-face processing device, so that an automatic circulating continuous processing production line is formed. The bearing bush two-sided chamfering machine with the automatic feeding and discharging function is simple in structure, high in automation degree, high in processing efficiency, high in machining precision and low in labor strength; meanwhile, the chamfering machine is simple in use method and operation, and the whole machining process is highly harmonious and unified and is high in security.

The invention provides a motor speed detection method for detecting the motor speed at an extremely low speed and an high speed. In the motor speed detection method, self-defined impulse sampling interval is adopted to replace impulse sampling interval to perform the calculation of the motor speed without changing the impulse sampling interval and speed control period. The motor speed detection method enables the detection of the accurate motor mean velocity, realizes the steady speed control when in extremely low speed range and high speed of a motor by utilizing the rapid speed adjustment characteristic, and effectively lowers the cost of a speed control system at the same time by adopting a pulse encoder with low resolution and low cost.

The invention discloses an observer-based electric vehicle permanent magnet synchronous motor system error compensation control method. According to the problems of nonlinearity and iron loss in an electric vehicle motor driving and control system, a command filtering technique is introduced into a traditional back-stepping design method; a compensation mechanism is introduced, so that error caused by filtering can be reduced, and therefore, control precision can be improved, and the problem of calculation explosion caused by continuous derivation of traditional back-stepping control can be solved; and a dimensionality reduction observer is adopted to estimate the angular velocity of the rotor of a permanent magnet synchronous motor, a fuzzy logic system is utilized to approximate a non-linear function in the driving system, and a command filtering back-stepping technique and an adaptive method are combined together to construct a controller. With the method of the invention adopted, the operation of the motor can achieve a stable state fast. The method is more suitable for such control objects as electric vehicle driving systems which require fast dynamic response.

A speed control device includes: a reference point setting unit that sets, based on shape and position of a curve in advance of a vehicle, first and second reference points within the curve, the second reference point being nearer the curve exit than the first reference point; a distance calculating unit that calculates, based on the vehicle location and the reference points, first and second distances, between the vehicle and the first and second reference points, respectively; a target speed determination unit that determines, based on the curve shape and the first and second distances, the first and second target vehicle speeds to be maintained, respectively, before and after passing the first reference point; and a speed control unit that controls the speed of the vehicle based on the target speeds and the detected speed of the vehicle.

The invention discloses a parameter measuring device for a large cylindrical workpiece. A supporting structure used for supporting a workpiece is fixed to a base. A length measuring mechanism is arranged at one end of the base. The length measuring mechanism comprises an air cylinder, a measuring grating and a first laser displacement sensor. The air cylinder is fixed to the base. The measuring grating is fixed on a push rod of the air cylinder and is pushed by the air cylinder to approach the end part of the workpiece. The first laser displacement sensor is fixed to the base to obtain the moving distance of the measuring grating, and the first laser displacement sensor outputs a displacement distance signal to a controller. The measuring grating is used for sensing the end position of theworkpiece and outputting a signal to the controller, and the controller outputs a driving signal to the air cylinder. According to the invention, the length of a large-size workpiece is accurately measured, the human capital is saved, the efficiency is improved, and errors caused by manufacturing errors, reading error of human factors and workpiece eccentricity of a traditional contact type measuring instrument are reduced.

A method of forming a thin film of the present invention comprises: an optical characteristic adjusting step of repeatedly conveying a substrate holder between a zone to perform an intermediate thin film forming step and a zone to perform a film composition converting step while controlling a conveying speed of the substrate holder for holding a substrate, and adjusting a film composition of a finally formed thin film to form the thin film having an optical characteristic value of a region where a hysteresis phenomenon occurs.

The invention discloses a grating magnetic separation type sewage treatment apparatus. The apparatus comprises a magnetic separation cabinet, the middle portion of the magnetic separation cabinet is provided with a grating magnetic separation purifier, two sides of the magnetic separation cabinet are respectively provided with a water inlet and a water outlet, two sides of the grating magnetic separation purifier in the magnetic separation cabinet are respectively provided with a first perforated wall and a second perforated wall, an inlet water pool is formed between the first perforated wall and the water inlet of the magnetic separation cabinet, a purifying pool is formed between the first perforated wall and the second perforated wall, an outlet water pool is formed between the second perforated wall and the water outlet of the magnetic separation cabinet, and the inlet water pool, the purifying pool and the outlet water pool are sequentially communicated. The apparatus has the advantages of simple structure and convenient manufacturing, allows the speed of water flow in the grating magnetic separation purifier to be stably controlled through using the first perforated wall and the second perforated wall and cooperating with the purifying pool formed by the grating magnetic separation purifier, allows water to be effectively and comprehensively cleaned through the grating magnetic separation purifier, and ensures adaption to large sewage throughout.

The invention relates to an underactuated flexible gripper, and belongs to the technical field of agricultural intelligent equipment. The underactuated flexible gripper includes a gripper base, guiderods, a palm, a palm-adjacent finger, a fingertip structure, a driving device and a control device, wherein the fingertip structure includes a fingertip, a ball, a compression spring, a spring limit device, a slider limit surface, a slide groove and a rubber cushion, the driving device includes a stepper motor, a coupling, a ball screw, a disc slider, a curved push rod, the guide rods, a connecting rod I, a connecting rod II, a connecting rod III and a slide bar, and the control device comprises a controller and a pressure sensor. The underactuated flexible gripper is used to solve the problems that the fruit harvesting rate is not high and fruits are easily damaged.

The invention discloses a novel rotary spraying stirrer for preventing oil sludge deposition of a crude oil storage tank. The novel rotary spraying stirrer comprises a fixed pedestal, a hydraulic damper outer cylinder, a thrust bearing, a hydraulic damper inner cylinder, a planet gear mechanism, a rotary shell, a top cover and a nozzle; the hydraulic damper outer cylinder and the hydraulic damper inner cylinder jointly form a hydraulic damper; the lower end of the hydraulic damper is connected with the fixed pedestal; an output shaft at the upper end of the hydraulic damper is connected with an output shaft of the planet gear mechanism; the fixed pedestal is connected with the hydraulic damper outer cylinder via a supporting fin. When fluid passes through a rotary spraying stirrer flow channel and is sprayed out of the nozzle, the ejected flow generates a contrary action force on the shell of the rotary spraying stirrer, so that the shell of the rotary spraying stirrer is driven to rotate. The novel rotary spraying stirrer is small in energy loss, stable in speed control, easy to process and produce and low in price, and can be applied to prevention of oil sludge deposition of the crude oil storage tank, occasions of blending and homogenizing crude oil, component oil, lubricating oil and the like in oil product tanks and occasions of cleaning and dredging storage tanks.

The embodiment of the invention provides a wind speed information processing method, a wind speed information processing device, a variable-pitch control method, a variable-pitch control device and a variable-pitch control system. The variable-pitch control method comprises the following steps: acquiring the current wind speed change data of the weather side of a wind generator set; determining whether the wind speed change of the wind generator set is matched with the current wind speed change of the weather side or not according to the wind speed data measured by the wind generator set; and if the wind speed change of the wind generator set is matched with the current wind speed change of the weather side, and the current rotational speed is within a predetermined rotational speed range, carrying out variable-pitch control on the wind generator set according to the current wind speed change data of the weather side. With the adoption of the embodiment of the invention, control for the rotational speed of the wind generator set can be more stable, the load of the wind generator set is effectively reduced, and the generating efficiency is increased; and moreover, requirements on the measurement accuracy and the installation position of a wind speed sensor are avoided.

The invention discloses an extreme learning machine based control method for an asynchronous motor drive system of an electric automobile. According to the invention, aiming at a problem of nonlinear and iron loss problem of a prior electric automobile motor drive system, a command filtering technology is introduced into a traditional backstepping design method. Through the introduction of a compensation mechanism, errors caused by filtering waves are reduced and a problem of calculation explosion caused by continuous derivation in traditional backstepping control is solved successfully. According to the invention, by utilizing the extreme learning machine algorithm for approximating a nonlinear function in the motor drive system, the method provided by the invention is combined with the command filtering technology and a self-adaptive backstepping method. Through regulation by utilizing the method provided by the invention, operation of the motor can reach a stable state quickly. The method is suitable for control subjects requiring quick dynamic response such as the electric automobile drive system. A simulation result shows that the control method provided by the invention can eliminate influence due to parameter uncertainty and is beneficial to ideal control effect, so that quick and stable response to rotation speed is realized.

The invention discloses a command filtering control method of an extreme learning machine of a permanent-magnet synchronous motor for an electric vehicle. According to the control method, aiming at the problems of iron loss and non-linearity existing in an electric vehicle motor driving system, a command filtering technology is introduced to a traditional back-stepping design method, an error generated by filtering is reduced by introducing a compensation mechanism, and the problem of computation explosion caused by continuous derivation during the controller design process by the traditional back-stepping design method is successfully solved. An extreme learning machine algorithm approaches to a non-linearity function in the system, and the command filtering technology and a self-adaptive back-stepping method are combined; after adjustment by the control method, the operation of a motor can rapidly reach a stable state, and the control method is more suitable for a control object, such as a driving system for the electric vehicle, requiring rapid dynamic response; and a simulation result shows that the influence of parameter uncertainty can be solved with the adoption of the control method, an ideal control effect is favorably ensured, and rapid and stable response to a rotational speed is achieved.