144 results about "Acceleration control" patented technology

The invention belongs to the technical field of trajectory planning, and discloses an urban road trajectory planning and control method and system, and the method comprises the steps: generating an obstacle set and a Frenet projection of a road physical boundary through employing a spatial clustering algorithm; utilizing an extreme value method and a self-adaptive smoothing algorithm to dynamically construct a feasible trajectory region trajectory, and synchronously performing interval constraint expansion on a future prediction trajectory of the dynamic obstacle; constructing a path optimization objective function with interval constraints, and solving an optimal path variable in real time by using a numerical optimization method; an expected speed and acceleration sequence of each sampling point is generated based on a space-time domain dynamic planning method, and a longitudinal motion curve is optimized in real time by using an objective function; and inputting the space path and the longitudinal speed sequence into an MPC system, and calculating an optimal front wheel steering angle and acceleration control instruction to realize vehicle trajectory tracking. The method can sense errors and environment changes in a self-adaptive mode, the response speed and robustness of dynamic traffic flow are improved, and multi-target collaborative optimization is achieved.

The present application relates to the technical field of vehicles, and provides a vehicle control method and apparatus, an electronic device, and a medium. The method comprises: on the basis of the transverse motion state quantity and the longitudinal motion state quantity of a first vehicle, solving for a tracking control problem for tracking a planning path and a planning speed, so as to obtain a first wheel steering angle control quantity and an expected acceleration of the first vehicle, wherein the first wheel is a front wheel or a rear wheel, the planning path comprises a reference value of the transverse motion state quantity of the vehicle at a series of time points in the future, and the planning speed comprises a reference value of the longitudinal motion state quantity of the vehicle at a series of time points in the future; obtaining the acceleration control quantity of the first vehicle on the basis of the expected acceleration of the first vehicle and the actual acceleration thereof; and controlling the first vehicle on the basis of the first wheel steering angle control quantity and the acceleration control quantity of the first vehicle. In the present application, vehicle control is carried out in a transverse and longitudinal combined tracking control mode, so that the speed tracking accuracy can be improved as much as possible while the path tracking accuracy is ensured.

The invention discloses an interpretable high-speed ramp intelligent driving vehicle confluence control method. The method comprises the steps that a state space is constructed, wherein the state space comprises the position and speed of a vehicle, lane information and the relative position and speed of adjacent vehicles; human-like decision guidance: training a human-like behavior discriminator based on real driving data by using a random forest model, screening action selection of reinforcement learning, and constructing a sample set containing state vectors and human-like action labels; reinforcement learning control; and carrying out interpretability analysis. Through an SHAP analysis method, an explainable DQN longitudinal acceleration control model in an automatic driving vehicle ramp merging process is provided, and an explainable automatic driving vehicle ramp merging control model is constructed in combination with an merging decision-making model constructed based on a random forest. According to the explainable high-speed ramp automatic driving vehicle confluence control method based on the confluence urgency degree and the environmental historical information, traffic conflicts during highway confluence can be relieved, and therefore the road passing efficiency is effectively improved.

The invention relates to a vehicle obstacle avoidance trajectory planning method which comprises the following steps: in response to a trigger condition, planning an initial trajectory of a vehicle from a current pose to a target pose based on a vehicle kinematic model; the planning process of the initial trajectory comprises collision detection based on environment obstacle information sensed in real time, and the environment obstacle information comprises static obstacles and dynamic obstacles; and by taking the initial trajectory as an optimization initial value, performing trajectory optimization based on a preset constraint condition to obtain an optimized trajectory. Forward movement and backward movement generated by positive acceleration control and negative acceleration control are considered at the same time in the trajectory planning process, so that candidate movement strategies of the vehicle are multiplied, the vehicle can handle forward and lateral obstacles and can effectively cope with dangerous scenes such as rapid approaching of rear vehicles, and the vehicle driving safety is improved. The limitation that only forward obstacles are processed in the prior art is overcome, and the application scene and safety of the automatic driving function are improved.

In a vehicle control apparatus, an acquiring unit acquires factor information that causes acceleration or deceleration of the own vehicle while the own vehicle is subjected to the acceleration / deceleration control. A setting unit sets, based on the factor information, a maximum level of deceleration and / or a maximum level of acceleration. The maximum level of deceleration represents a maximum rate of reduction in a speed of the own vehicle during deceleration of the own vehicle. The maximum level of acceleration represents a maximum rate of increase in the speed of the own vehicle during acceleration of the own vehicle. A control unit is operative to perform (i) deceleration control of the own vehicle using the maximum level of deceleration as an upper limit for the deceleration control, and / or (ii) acceleration control of the own vehicle using the maximum level of acceleration as an upper limit for the acceleration control.

The invention relates to the technical field of automobile active safety, in particular to a vehicle accelerator mistaken stepping prevention control method and system based on scene awareness, and the method comprises the steps: collecting the driving speed, position, radar and image information of a target vehicle, determining an initial driving state according to the speed, and combining with position correction to obtain a final state; judging whether the vehicle is in an accelerated state or not based on the radar and the image information, setting a corresponding time threshold for the accelerated state, controlling deceleration and giving out early warning if the time threshold is exceeded, and relieving deceleration through specific accelerator force. The system comprises a collecting module, a processing module, a judging module and an early warning module, multi-information fusion perception and dynamic control are achieved, normal acceleration and mistaken stepping behaviors can be accurately distinguished, multiple driving scenes are covered, the vehicle driving safety is effectively improved, and the technical requirements of intelligent networked vehicles are met.

To provide a riding simulator that can reproduce rolling motion similar to that of a real vehicle, and a method for reproducing the behavior of a two-wheeled vehicle. [Solution] The riding simulator 1 includes a calculation device 3 that calculates values ​​of a plurality of driving behavior parameters, including at least vehicle speed and roll angle, based on the amount of steering operation on the steering control 21, the amount of accelerator operation on the accelerator control 22, and the amount of braking operation on the brake control 23, 24, and a behavior reproduction device 5 that reproduces the motorcycle driving behavior, including at least rolling, in a manner that can be perceived by the user's sense of balance and at least their visual sense, based on the calculated values ​​of the plurality of driving behavior parameters by the calculation device. The calculation device 3 calculates the value of the reaction force from the tire contact point and calculates the value of the roll angle based on the roll angular acceleration, which is expressed as the sum of a gravity term proportional to the acceleration due to gravity, a centrifugal force term proportional to the square of the vehicle speed, and a reaction force term proportional to the reaction force.

The application discloses a two-wheel robot, comprising: an angle sensor for acquiring an upright angle of the two-wheel robot; a processing module for determining a corresponding control strategy based on the upright angle; a control module for controlling the two-wheel robot to keep upright; an acceleration control module for controlling the two-wheel robot to accelerate; and a braking module for generating inertia by braking the two-wheel robot. The two-wheel robot provided by the application can adjust the robot from a state deviating from the upright state to the upright motion state by adopting multiple motion control strategies according to the robot state, thereby increasing the adaptability of the robot to harsh working conditions, and the robot can be adjusted from the initial state or the toppling state to the upright motion state without external intervention.

The application discloses a construction method of a flat wire permanent magnet wheel hub motor backstepping model predictive controller, first derives an angular velocity deviation, constructs a corresponding Lyapunov function one, calculates q-axis current, obtains a q-axis current estimation value according to a calculation formula of the q-axis current and a torque estimation error, and constructs a backstepping controller with the angular velocity deviation input and the q-axis current estimation value output; then constructs a corresponding Lyapunov function two according to the angular velocity deviation and a current tracking error, solves acceleration, constructs an acceleration control module with the angular velocity deviation and the current tracking error input and the acceleration output, and finally evaluates each d-axis current prediction value, q-axis current prediction value and acceleration prediction value through a value function formula, selects a voltage vector corresponding to a prediction value that makes the value function minimum; the method realizes rapid and accurate acquisition of motor given current under complex working conditions, improves the response capability of a hub driving system, and is favorable to improvement of collaborative control performance of a distributed driving system.

The invention discloses an acceleration control method for a multi-combustion-chamber variable-cycle engine. According to the method, the thrust performance requirement in the acceleration process of an engine is mapped into an optimization problem, the multi-combustion-chamber acceleration control rule is solved through an optimization method, the optimal acceleration control rule is obtained, and on this basis, a closed-loop acceleration control strategy of combined rotation and acceleration is provided in combination with the multi-rotor response characteristic; oil supply of the high-selection interstage combustion chamber is controlled in a closed-loop mode through rotation acceleration of the low-pressure rotor and the medium-pressure rotor, the thrust response speed of the engine in the middle and later acceleration periods is increased, and the acceleration performance of the engine under different inlet conditions and different working states is improved. The invention further discloses a multi-combustion-chamber variable-cycle engine acceleration control device. Compared with the prior art, the thrust quick response of the multi-combustion-chamber variable-cycle engine under different working conditions and different performance degradation conditions can be realized.

The embodiment of the invention provides a rotor operation control method of a magnetic drive conveying system and related equipment, and the method comprises the steps: obtaining the real-time position data and the real-time motion state data of a rotor when the rotor is driven to or located in a cutting region; according to the real-time position data and the real-time motion state data, the estimated brake position of the rotor is obtained; position range comparison is carried out based on the rotor size parameters of the rotor and the estimated braking position and the area boundary range of the cut-off area, and when it is represented that the rotor exceeds the area boundary range, braking control is carried out on the rotor; the range comparison result represents that when the rotor does not reach the region boundary range based on the estimated braking position, the rotor is located in the region boundary range after braking control; when acceleration control or weakening brake control is performed on the rotor, the rotor is enabled to be located in the area boundary range after the acceleration control or the weakening brake control, so that the operation reliability and safety of the magnetic drive conveying system during cutting operation are improved.

The application discloses an electric vehicle handle structure, which comprises a handle core, an acceleration control structure and a connecting piece, wherein the acceleration control structure comprises a Hall seat, a Hall seat cover plate, a magnetic steel seat, a magnetic steel, a Hall sensor and a reset spring; the bottom surface of the Hall seat is provided with a mounting cavity, the top wall of the mounting cavity and the bottom wall of the magnetic steel seat are both provided with a clamping hole; the two ends of the reset spring are vertically bent to form clamping columns; the magnetic steel seat is arranged in the mounting cavity and is limited by the Hall seat cover plate, the clamping columns at the two ends of the reset spring are respectively clamped in the clamping holes for positioning; and the outer side surface and the inner side surface of the magnetic steel seat are provided with magnetic steel grooves. The structure of the application is reasonable, is combined by various components, and can realize batch processing by machining the components separately, thereby improving the machining efficiency. When a component is damaged, only the corresponding component needs to be replaced, thereby reducing the disassembly and maintenance cost, facilitating the disassembly and combination, and being suitable for wide application and good practicality.

The invention relates to the technical field of server hardware control, and discloses a server hardware acceleration control system based on noise temperature coupling. The system comprises a multi-source noise collector, a temperature control accelerator, a noise temperature coupling analyzer and an acceleration decision master control unit. The multi-source noise collector is deployed on the surface of the acceleration unit and an internal key node, and captures an electromagnetic radiation noise spectrum and a mechanical vibration noise waveform in real time; the temperature control accelerator integrates a thermoelectric refrigeration array and a voltage frequency modulation module, receives the temperature sensing data flow, and generates a pulse type refrigeration instruction and clock frequency correction according to a dynamic strategy; the coupling analyzer decomposes the multi-modal noise signal, extracts an energy feature vector, and constructs a coupling coefficient matrix; and after receiving the matrix operation, the acceleration decision-making unit outputs a frequency scaling factor and a voltage offset to the temperature control accelerator, feeds back a failure frequency band marking result update coefficient, and combines noise and temperature coupling characteristics to realize dynamic balance of hardware acceleration performance and stability.

The invention belongs to the technical field of concrete test piece preparation, and particularly relates to test piece forming equipment and method based on acceleration factors, the forming equipment comprises a controller and a base, four corners of the top end of the base are fixedly connected with a top plate through supporting columns, a vibration table is arranged between the base and the top plate, and a vibrator is arranged at the bottom end of the vibration table; the four corners of the bottom end of the vibration table are connected with the top end of the base through guide mechanisms, an acceleration control mechanism is further connected between the vibration table and the base, a plurality of test piece forming containers are fixedly connected to the top end of the vibration table, and the controller is configured to control the vibrator and the acceleration control mechanism. In the forming process of the test piece, an acceleration factor is introduced, and the aggregate is promoted to be uniformly distributed in the test piece through the novel process method and equipment, so that each part of the test piece can really feed back the concrete performance, and the defect that the performance of the test piece cannot be correctly evaluated due to non-uniform distribution of the aggregate at each part of the test piece is overcome.

The utility model belongs to the technical field of acceleration control, and relates to an anti-interference Hall circuit of an acceleration rotating handle, which comprises a Hall element, a signal conditioning unit, a filtering unit, an output driving unit, a power input, a voltage stabilizing circuit and an electrostatic discharge protection circuit which are electrically connected, an output end of the signal conditioning unit is connected with a signal input end of the filtering unit, an input end of the filtering unit is connected with an output end of the signal conditioning unit, an output end of the filtering unit is connected with a signal input end of the output driving unit, and a ground wire of the filtering unit is connected with a ground wire of power input. The input end of the output driving unit is connected with the output end of the filtering unit, and the output end of the output driving unit is connected with the driving end of the motor. Noise interference in original signals is effectively suppressed, and stability and accuracy of the signals are ensured; the circuit can still work stably under different voltage fluctuations, and the robustness and reliability of the whole system are improved.

A vehicular control system includes a sensor disposed at a vehicle and, based on processing of captured sensor data, determines a leading vehicle within a traffic lane the equipped vehicle is currently traveling along, and controls the equipped vehicle to travel at a following speed that approximates speed of the leading vehicle with at least an initial following distance between the equipped vehicle and the leading vehicle. The vehicular control system receives an updated following distance different from the initial following distance and determines a period of time based on the initial following distance, the updated following distance, and the following speed. The system determines a velocity profile based on the determined period of time and controls acceleration of the equipped vehicle based on the velocity profile to establish the updated following distance between the equipped vehicle and the leading vehicle.

The invention discloses a network connection vehicle signal lamp control intersection passing method and system based on safety reinforcement learning, and relates to the technical field of intelligent traffic intelligent network connection vehicle control. The method comprises the following steps: receiving traffic environment information, wherein the traffic environment information comprises signal lamp state information and state information of a front vehicle and a controlled vehicle; and a reinforcement learning intelligent controller is constructed, the traffic environment information is input into the reinforcement learning intelligent controller, and the driving acceleration control quantity or the braking deceleration control quantity of the controlled vehicle at the next moment is decided and planned in real time by adopting a self-adaptive soft action evaluation algorithm. The problem that a traditional safety control strategy and a traditional learning type control strategy are poor in adaptability under the high-dimensional complex condition is solved, and the safety and the real-time performance of decision control over vehicle passing at the intersection under the condition that forward traffic flow interference is included are achieved through organic combination of the safety control strategy and the learning type control strategy.

1. Name of the product in this design: The main body for remote control content display and interactive graphical user interface of electronic devices. 2. Purpose of this design: An electronic device. 3. The key design features of this product are: the parts in the graphical user interface, and the parts not marked with dotted lines are the parts for which protection is required. 4. The picture or photo that best illustrates the key design points: Design 1 main view. 5. Design 1 is designated as the basic design. 6. Purpose of the graphical user interface: The overall design for which protection is sought is used to display the remote control interface, such as: directional controls, indicator controls, acceleration controls, docking controls, etc. in the interface. It can also be used to operate the corresponding function controls to control the device, such as: operating the directional buttons to achieve forward, backward, left, right, front left, front right, back left, back right, etc. The purpose of the partial design for which protection is sought is the same as that of the overall design. 7. Human-computer interaction method of graphical user interface: In the main view of Design 1, the current pointer direction is displayed in the middle of the interface. Users can operate the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "accelerate" or "dock" controls to control the device to perform the corresponding operation. In the main view of Design 2 (where the user has already performed the forward function), the current pointer direction is displayed in the middle of the interface. The user can use the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Dock" controls to control the device to perform the corresponding operation. In the main view of Design 3 (where the user has already performed the left-forward function), the current pointer direction is displayed in the middle of the interface. The user can use the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "accelerate" or "dock" controls to control the device to perform the corresponding operation. In the main view of Design 4 (where the user has already performed the leftward function), the current pointer direction is displayed in the middle of the interface. Users can use the directional controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Dock" controls to control the device to perform the corresponding operation. In the main view of Design 5 (where the user has already performed a backward function), the current pointer direction is displayed in the middle of the interface. Users can use the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Park" controls to control the device to perform the corresponding operation. In the main view of Design 6 (where the user has already performed the right-forward function), the current pointer direction is displayed in the middle of the interface. Users can use the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Park" controls to control the device to perform the corresponding operation. In the main view of Design 7 (where the current user has enabled the "Accelerate" function), the current pointer direction is displayed in the middle of the interface. Users can use the directional controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Dock" controls to control the device to perform the corresponding operation. In the main view of Design 8 (where the current user has enabled the "Accelerate" function and performed a backward operation), the current pointer direction is displayed in the middle of the interface. Users can use the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Park" controls to control the device to perform the corresponding operation. In the main view of Design 9 (where the current user has enabled the "Accelerate" function and has performed the forward operation), the current pointer direction is displayed in the middle of the interface. Users can use the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Dock" controls to control the device to perform the corresponding operation. In the main view of Design 10 (where the current user has enabled the "Accelerate" function and performed the left-forward function operation), the current pointer direction is displayed in the middle of the interface. Users can operate the direction controls on the left and right sides of the interface to control the movement direction of the device, and can also click the "Accelerate" or "Dock" controls to control the device to perform the corresponding operation.

The invention discloses a control method for a rotary table of an injection molding machine, and the method comprises the steps: obtaining motion parameters of the rotary table of the injection molding machine, the motion parameters at least comprising the total load mass of the rotary table and an injection mold, and the torque related parameters of a motor; based on the motion parameters, motion constraints of the turntable are obtained, the motion constraints at least comprise speed constraints, acceleration constraints and jerk constraints, and the acceleration constraints and the speed constraints are obtained based on the total load mass and the torque related parameters; on the basis of the motion constraint, an acceleration control sequence is obtained, and motion of the rotary table is controlled through the acceleration control sequence, through the method, mechanical impact generated when the injection molding products are subjected to station conversion through the rotary table is effectively controlled, and the yield of the injection molding products is increased.

An example of a vehicle seat that does not use a large electromagnetic solenoid is disclosed. SOLUTION: A vehicle seat 1 includes an air bag 7 built into the seat back that inflates and deflates according to the inflow and outflow of air, a compressed air generator 9 that generates compressed air to be supplied to the air bag 7, an injection valve 11 connected directly or indirectly to the air inlet of the air bag 7, an exhaust valve 13 connected directly or indirectly to the air outlet of the air bag 7, an acceleration sensor 19 that detects the acceleration of the vehicle, and a controller 15 that is capable of performing acceleration control to control the opening of at least one of the injection valve 11 and the exhaust valve 13 using the detection signal of the acceleration sensor 19. This makes it possible for the vehicle seat 1 to impart a repulsive force to the seated occupant according to the acceleration of the vehicle without using a large electromagnetic solenoid.

The invention relates to the technical field of range hood control, and discloses a variable-frequency range hood control method which comprises the following steps: after a variable-frequency range hood enters a motor acceleration control mode, acquiring the current motor output power of the variable-frequency range hood; based on the current motor output power and the rated power, determining a current adjustment coefficient of a motor of the variable-frequency range hood in real time; and determining the maximum flux weakening current of the motor based on the current adjustment coefficient and the rated current of the motor. Therefore, after the variable-frequency range hood enters the motor acceleration control mode, the maximum flux weakening current of the range hood is dynamically and reasonably controlled and adjusted based on the current motor output power of the variable-frequency range hood, the motor acceleration effect is guaranteed, and meanwhile the situation that the service life of a circuit board of the motor and the range hood is affected due to long-term high-load operation of the motor is effectively avoided.

The application belongs to the technical field of brain-computer interface and automatic driving human factor engineering, and discloses a method for evaluating motion sickness induced by longitudinal acceleration based on electroencephalogram, which comprises the following steps: step 1, a subject is located on a six-degree-of-freedom motion platform, wears an electroencephalogram acquisition device, and watches a static three-dimensional in-vehicle scene through a virtual reality head-mounted display; step 2, low-intensity, medium-intensity, high-intensity and mixed-intensity stimulation experiment groups are set, an experiment paradigm is implemented, electroencephalogram data are collected, and the subject performs subjective discomfort scoring; step 3, the electroencephalogram data are preprocessed; step 4, an Alpha frequency band index analysis is performed; and step 5, a Beta frequency band event-related network analysis is performed. The application not only provides a new methodological tool for the research on the neural mechanism of motion sickness, but also lays a foundation for the optimization of acceleration control algorithms of automatic driving vehicles and the development of a real-time motion sickness monitoring system.

The application belongs to the field of intelligent traffic management and control, and particularly relates to a hybrid traffic flow cooperative control method based on H∞ direct strategy search, comprising the following steps: S1, establishing a linear state space model of a hybrid traffic system; S2, taking minimization of H∞ norm of a closed-loop transfer function from w(t) to z(t) as an optimization target, and constructing a controller optimization problem with K as an optimization variable; S3, solving the controller optimization problem of S2 by using a direct strategy search method to obtain an optimized gain matrix K*; S4, configuring the K* in each AV; in the process of system operation, each AV acquires or estimates x(t) in real time, and calculates and executes an acceleration control instruction according to a control law u(t)=‑K* x(t). The method can realize strong robust inhibition of non-smooth and time-varying disturbances in the hybrid traffic flow, and ensure that the control strategy has theoretically provable stability and performance boundary.

The invention provides a magnetic suspension motion platform acceleration control method based on embedded hardware, and the method comprises the steps: executing a PSO-MPC control algorithm and current calculation through an FPGA controller, and generating a digital control signal; the digital control signal is converted into an analog control signal to be transmitted to a driver to drive an electromagnetic coil to control the movement of the magnetic suspension platform; the position information of the magnetic suspension platform is detected in real time through a laser displacement sensor, and the position information is converted into a digital position signal through an analog-to-digital converter A / D to be input into a real-time simulation controller; the dynamic model of the magnetic suspension platform is operated through the real-time simulation controller, state updating is carried out according to the digital position signal, and updated state data is sent to the FPGA controller; and the FPGA controller generates a new control signal and carries out the next control period. According to the invention, the PSO-MPC algorithm and the current solution are executed through the FPGA, the dynamic response capability and the anti-interference performance of the system can be enhanced, and the calculation speed is improved.

The present invention provides a vehicle control device and other equipment that can improve safety while reducing the possibility of causing anxiety or discomfort to the occupants of the vehicle when a pedestrian is positioned in front of the vehicle during the execution of driver assistance control. [Solution] The vehicle control device includes a forward information acquisition device that acquires forward information regarding the situation in front of the vehicle, and a controller that performs follow-up driving control to match the distance between the vehicle and a target object located in front of the vehicle to a target distance based on the forward information. The follow-up driving control includes acceleration control to accelerate the vehicle, deceleration control to decelerate the vehicle, and constant speed control to maintain the vehicle's speed at a constant speed. If, during the execution of follow-up driving control, the forward information indicates that a pedestrian is present within the vehicle's predicted driving area, which is within the range in front of the vehicle, and the pedestrian is selected as a target object to follow, the controller does not perform acceleration control in the follow-up driving control.

The invention relates to a high-order cruise optimal acceleration control method and system, and the method comprises the steps: determining prospective road conditions based on a navigation map, and the road conditions comprise the slope and curvature of a road; constructing a function of a first acceleration curve in a set look-ahead time domain based on the look-ahead road condition, the engine power and the vehicle running speed; defining a sliding mode surface by taking the speed error and integral and differential of the speed error as state variables, determining switching gain and boundary layer thickness of a sliding mode controller of the sliding mode surface based on road conditions, and outputting a function of a second acceleration curve in a set look-ahead time domain through a control law of the sliding mode surface; performing peak filtering on the higher values of the first acceleration curve and the second acceleration curve at the same moment to obtain the estimated acceleration of the vehicle; through deep fusion of navigation map data, a forward-looking sliding mode controller with parameters capable of being adaptively adjusted is designed, so that the high-order cruise process has smoothness, economical efficiency, safety and high robustness.

The invention discloses a driving method for reducing pause sense of a scooter, and aims to provide a driving method for reducing pause sense of a scooter by monitoring the rotating position of a rotating handle and the angle of the rotating handle rotating at a target position as a monitoring standard and changing the output current to control the rotating speed of a motor. According to the technical scheme, the driving method is characterized in that the power, the accelerated speed and the rotating speed are set and serve as comparison bases, the rotating speed of a motor of the scooter is controlled through current output, or the position of a Hall element in a rotating handle assembly is monitored, so that the stability of the scooter is improved. Whether the acceleration needs to be controlled or not is judged by monitoring the rotating angle of the rotating handle, starting and stopping of the motor can be achieved by rotating the rotating handle, however, the acceleration of the motor is controlled by the set acceleration, the pause feeling caused by driving is reduced to a great extent, and the electric vehicle control method and device are suitable for the technical field of electric vehicle control.

This invention discloses an electrically controlled bidirectional braking cable laying pulley control system, belonging to the field of intelligent control technology for power construction equipment. The system includes a pulley body, a sensor module, a controller module, and an execution drive module. The controller module includes: a state recognition unit that constructs an operating state vector based on cable tension and pulley speed, and integrates an improved fusion tension estimation model, combining historical tension trends with current observations for weighted fusion to improve the stability and robustness of tension estimation; and a control optimization solution unit that establishes a joint control strategy based on performance objectives and safety constraints, switching control paths between normal and abnormal states according to the current state, generating acceleration control inputs to adjust the pulley state, and achieving closed-loop control. This invention possesses dynamic recognition, intelligent judgment, and adaptive control capabilities, and is suitable for cable laying conditions with significant tension fluctuations and high safety requirements, improving the control accuracy and system stability of the pulley operation.

To properly reduce vibration of a drum by allowing rolling elements to roll in an annular container even in the case where the weight of the rolling element is large.SOLUTION: A drum type washing machine includes: an outer tub; a drum constituted so as to rotate around an axis line extending in a horizontal direction or in an oblique direction in the outer tub; an annular container mounted on the drum and for storing a plurality of rolling elements and a liquid; and control means for controlling the rotational frequency of the drum. The weight of the rolling element is equal to or greater than 110 g. In the case where, in the middle of accelerating the rotational frequency of the drum toward high-speed dewatering rotation, the vibration of the drum exceeds a predetermined value at predetermined rotational frequency exceeding resonance rotational frequency, the control means performs rapid acceleration control for increasing the acceleration of the rotational frequency of the drum and then decreasing it.SELECTED DRAWING: Figure 8

The invention belongs to the technical field of boat control, and particularly relates to an acceleration control method for a boat in a top speed state. According to the acceleration control method in the ship top speed state, when the ship accelerator is in the maximum state and the ship is in the sliding state, the height of the propeller of the outboard engine is increased, the propeller is exposed out of the liquid level to reach the semi-submerged state, at the moment, due to air intervention, the reverse thrust borne by the ship can be increased, and the ship is accelerated. Therefore, further acceleration in a top-speed state is achieved. The reverse thrust borne by the boat is improved by changing the immersion depth of the propellers, and therefore the boat is further accelerated in the top speed state.