36results about How to "The control method is stable" patented technology

The invention relates to a quadruped robot movement track control method based on a PSO-PD (Particle Swarm Optimization-PD) neural network. The quadruped robot movement track control method comprises the following steps: (1) calculating a target falling point of a robot on a movement track; (2) inputting the target falling point and a feedback body gravity center position into an input layer of the PSO-PD neural network, performing linear conversion, inputting into a first hidden layer, performing ratio calculation and differential operation, performing linear conversion, inputting into a second hidden layer, and acquiring instruction displacement in an x direction and a y direction, inputting into a third hidden layer, calculating an instruction displacement distance, instructing a body direction, inputting into a fifth layer, performing foot tract control and steering control on a quadruped robot, inputting into a sixth layer, adjusting the posture of the quadruped robot in case of disturbance, inputting into a seventh layer, calculating the body direction and the body gravity center position of the quadruped robot, feeding back the body direction to the fifth layer, and feeding back the body gravity center position to the input layer. The quadruped robot movement track control method has relatively good non-linear decoupling control capability, is precise in control and good in stability, and has relatively good anti-interference properties.

The invention belongs to the technical field of high-speed wind tunnel tests, and discloses a continuous variable speed pressure control method for a subsonic flutter test. According to the continuous variable speed pressure control method, the area of a second throat is changed by adjusting a second node of an adjusting sheet of a supersonic speed diffusion section, namely, the Mach number is controlled by dynamically adjusting the position of the second node of a super-expansion section, and the position adjustment of the second node of the super-expansion section is added into a wind tunnel test Mach number control program. The continuous variable-speed pressure control method for the sub-transonic-speed flutter test is stable, reliable and high in control precision, air sources are saved, the total pressure linear change rate is 0.5 kPa/se-2 kPa/se-2 kPa/se-2 under the continuous variable-speed pressure driving mode, the Mach number control precision is within the range of 0.002, and the continuous variable-speed pressure control method can be used for the sub-transonic-speed flutter test.

The invention discloses an electromagnetic drive type magnetic suspension rotating platform which comprises an electromagnetic suspension structure positioned on an outer ring and an electromagnetic drive structure positioned on an inner ring, wherein a rotating platform casing is arranged outside the electromagnetic suspension structure and the electromagnetic drive structure; the electromagnetic suspension structure comprises an annular electromagnetic suspension iron core; a plurality of teeth are symmetrically arranged on the annular electromagnetic suspension iron core along the circumference; an electromagnetic suspension winding is wound on each tooth; a high-precision air gap sensor is arranged at the clearance between every two teeth; an annular suspension conductor plate is arranged above the annular electromagnetic suspension iron core; the electromagnetic suspension structure comprises an annular electromagnetic drive iron core; three groups of teeth are symmetrically arranged on the outer side of the electromagnetic drive iron core along the circumference; the electromagnetic suspension windings are continuously wound on each group of teeth; each group of electromagnetic drive winding is in a link type structure; an annular permanent magnet rotor is arranged outside the annular electromagnetic drive iron core; and a photoelectric encoder is arranged on a rotating shaft of the rotating platform casing. The assembly difficulty is reduced and the manufacturability is improved.

The invention discloses an ROV attitude control method based on error quaternion feedback. An inertial coordinate system and an ROV motion coordinate system are established; a three-freedom-degree rotating attitude of an ROV is modeled; an attitude sensor detects the ROV and outputs an attitude quaternion, the current quaternion of the ROV is compared with a target quaternion, and an error quaternion is solved; the error quaternion is input into a PID controller, needed torque on three axes in the ROV motion coordinate system is calculated, a processor controls the voltage of a propeller motor according to the needed torque, corresponding push force is generated, the ROV attitude adjustment is finished, the ROV is made to rotate by 360 degrees without the dead angle, the attitude is stable, and operation under the complex work environment is achieved.

The present invention provides an air-conditioner and an air-conditioner control method. The air conditioner includes an outdoor unit (2) having an outdoor heat exchanger, a plurality of indoor units (3a to 3d) each having an indoor heat exchanger, a refrigerant circuit, which links the outdoor heat exchanger, a compressor (20), and the indoor heat exchangers together, electric motor operated valves (33a to 33d), which are provided in the refrigerant circuit and serve to adjust the amount of refrigerant flowing into each of the indoor heat exchangers, respectively. a discharge pipe thermistor (24)serving to detect the temperature of the discharge pipe of the compressor, and an outdoor controller (27). In the case where there are a plurality of indoor units that are not operating during heating operation, the outdoor controller controls, on the basis of the delivery temperature, the degrees of opening of the motor-operated valves corresponding to the indoor units that are not operating. Further, the outdoor controller individually corrects the degrees of opening of the motor-operated valves corresponding to the indoor units that are not operating. According to the present invention , the air conditioner is capable of stabilized refrigerant control even when a multiple type air conditioner is performing heating operation or even when there are a plurality of indoor units that are not operating.

The invention discloses a vehicle brake system, a control method of the vehicle brake system and a vehicle. The brake system comprises a brake pedal; a driving device for driving the brake pedal; a hydraulic brake device with a pushrod, wherein the pushrod is provided with a sliding groove, the brake pedal is slidably connected with the pushrod and the brake pedal can slide between a first limit position and a second limit position of the sliding groove; a control device and a motor, wherein the control device controls the brake pedal to rotate to a preset position; when the brake pedal is stepped down, the control device outputs a control signal to enable the motor to brake and charge a battery; when the brake pedal is stepped down and continuously rotates after the brake pedal rotates to the second limit position, the pushrod is pushed to realize braking through a brake master cylinder. The vehicle brake system disclosed by the invention has the advantages that the associated control between the stepping of the brake pedal and electric braking and hydraulic braking is realized through a mechanical structure, and the control method is simple and stable.

The present invention provides an inverter boost current-loop vector auxiliary control method. The method comprises the step of providing a first acquisition unit to acquire the deviation current in real time. The method further comprises an acquisition step: providing a second acquisition unit to acquire bus ripples in real time; a decomposition step: providing a first orthogonal extractor to conduct the orthogonal decomposition of the deviation current so as to obtain a first real component and a first imaginary component; providing a second orthogonal extractor to conduct the orthogonal decomposition of the bus ripples so as to obtain a second real component and a second imaginary component; an operation step: providing a first vector-synthesis unit to generate a first control current; and a control step: providing an integral controller to respectively conduct the integration control for the first control current and a second control current so as to enable the first control current and second control current to be zero respectively. According to the technical scheme of the invention, bus ripples and acquiring error currents are acquired, and the closed loop control process is conducted simultaneously. In the case of frequency changes, the control method is more stable compared to a proportional resonance controller.

The invention provides a control method and device for a rectifier. Output-side voltage and reference voltage of the rectifier are acquired, and the voltage difference between the reference voltage and the output-side voltage is determined; proportional integral control is performed on the voltage difference, and reference current is acquired; an input-side voltage peak and current components of the rectifier are acquired; the current components are subjected to filtering processing, and a filtering result is obtained; the current deference is obtained according to the reference current and the filtering result; the controlling quantity is acquired by performing proportional control processing on current deviation; a reference control signal is determined according to the control quantity and the voltage peak. The method and the device have the beneficial effect of stabilizing output voltage of the rectifier. The invention further provides a rectifier control circuit with the same beneficial effect.

The invention relates to the technical field of combined audio and visual display equipment and discloses a bow-drill fire making simulation exhibition item and a control method thereof. The bow-drill fire making simulation exhibition item comprises a background wall, an operating floor, a display screen and a control host. A data acquisition and conversion module is arranged in the control host, a square groove is formed in the operating floor, a pressure sensor is arranged in the groove, a square block is placed on the pressure sensor, the square block is in sliding fit with the groove, a conical groove is formed in the square block, and a rod-shaped object with one conical end is placed in the conical groove; a temperature sensor probe is installed in the square block, a rotating speed sensor probe is arranged on the side wall of the groove, and the electronic detection elements are all in circuit connection with the data acquisition and conversion module. A visitor can experience the bow-drill fire making process firsthand through actual operation, the interestingness of the visiting process is improved, and the visitor can experience the wisdom and tough living conditions of the ancients more deeply.

The present invention relates to a virtual synchronous motor control method for simulation of a diesel generating set, belonging to the technical field of electric power. The method comprises the steps of: performing simulation of the frequency droop characteristics and shafting rotation characteristics of a real diesel generating set to output simulated shafting angular speed and angle; performing simulation of the voltage droop characteristics of the diesel generating set to output a simulated exciting voltage; inputting the shafting angular speed and angle, the exciting voltage and the collected simulated motor output current into a motor equation to calculate and obtain the electromotive force of the synchronous motor; taking the electromotive force as a switch tube of a modulating wave drive inverter for power supply. A traditional virtual synchronous motor control method is improved to allow the control method to be simple, stable and reliable.

The invention discloses a rotor type aircraft self-adaptive landing deck control system and method. The system comprises a base, a landing deck, MEMS gyroscopes, hooke joints, a hydraulic control valve, an ECU control center and a hydraulic controller. And three groups of hooke joints are uniformly distributed on the bottom surface of the landing deck along the circumference. Three groups of hookejoints are uniformly distributed on the upper surface of the base along the circumference. The base is installed on a ship body. The hooke joint arranged on the landing deck and the base are staggered. The top ends of push rods of the hydraulic valves are connected with the landing deck through the hooke joints, and the bottom ends are connected with the base through the hooke joints. And the twoMEMS gyroscopes are respectively arranged on the landing deck and the base. When an aircraft lands on the carrier, signals of the MEMS gyroscopes are transmitted to the ECU control center, the control center transmits instructions to the hydraulic controller after calculation, the hydraulic controller sends the instructions to the hydraulic valves and adjusts the lengths of push rods of the hydraulic valves, so that the landing deck is kept horizontal all the time, is higher than the ship deck after rising and keeps the altitude unchanged. The system is stable in performance and high in control precision.

The invention provides a camera movement control method. Due to the fact that the maximum speed is set for camera movement, it is guaranteed that a camera can do uniform movement, and the accuracy of image acquisition is provided; in addition, a circulation path is formed by the first preset position, the second preset position, the third preset position and the fourth preset position, chip image acquisition can be achieved on a back-and-forth path of the camera movement, and the maximum efficiency is achieved. According to the camera movement control method, movement photographing of a chip can be completed in a 2*5 chip frame within 10 s, and the detection efficiency is four times higher than the manual detection efficiency.

The invention discloses an afterheat intelligent self-adaption turbine power generation system, and belongs to the field of energy equipment. In the operation process of the system, redundant heat in a boiler is adjusted by a self-adaption control cabinet to flow through a generator set to generate electricity; and in the power generation process, according to the heat release difference of the boiler, the self-adaption control cabinet can automatically adjust the rotating speed of the generator set under the effect of a controller to guarantee higher energy utilization rate. The afterheat intelligent self-adaption turbine power generation system is simple in structure and stable in control method, can satisfy multiple power demands through modular design, reduces the equipment cost, and is convenient for use.

The invention relates to a method for controlling an electric motor (10), in particular a reluctance motor, in order to provide a desired torque (Msoll) of the electric motor (10) which is generated by two current setpoints (Idsoll, Iqsoll) in field coordinates (d, q). For this purpose, it is provided according to the invention that the current setpoints (Idsoll, Iqsoll) are determined by a motor-side control unit (11) with the aid of operating point-dependent maps (Mmax (VDC, omegaactual), Idmax (VDC, omegaactual), Iqmax (VDC, omegaactual)) which represent a maximum torque (Mmax) of the electric motor (10) and/or two corresponding current values (Idmax, Iqmax) depending on an applied intermediate circuit voltage (VDC) and / or a speed (omegaactual) of the electric motor (10).

An exhaust gas denitration device for reduction of nitrogen oxides contained in engine exhaust gas discharged from a main engine mounted on a ship, the exhaust gas denitration device being provided with: an exhaust flow passage through which the engine exhaust gas discharged from the main engine flows; a reducing agent storage tank; a reducing agent spray nozzle; a denitration reactor including adenitration catalyst; a boiler exhaust gas conduit which guides boiler exhaust gas discharged from a boiler mounted on the ship to the upstream side of the denitration reactor in the exhaust flow passage; a boiler exhaust gas control valve which controls the flow of boiler exhaust gas in the boiler exhaust gas conduit; and a blower which blows the boiler exhaust gas flowing through the boiler exhaust gas conduit to the downstream side.