41 results about "Computed torque" patented technology

The invention relates to the technical field of torque control, in particular to a motor torque control method, system, equipment and medium, and the method comprises the following steps: obtaining a winding temperature rise and rotating speed signal through a temperature and rotating speed sensor, calculating the resistance and flux linkage offset, and filtering to obtain a torque evaluation parameter; the acceleration and inertia reference are compared to obtain inertia disturbance, a least square method is combined to calculate a compensation coefficient, a current component is corrected to synthesize an expected torque, a torque error is calculated to judge whether the torque reaches the standard or not, and a torque control result is output and optimized. Load changes are quickly responded through filtering and inertia disturbance recognition, differential calculation is conducted on the relation between acceleration and a correction coefficient to act on a current component, torque output is stable, coefficient iterative optimization is promoted through error comparison, fluctuation is reduced, efficiency is improved, and reliable control over the motor under the complex working condition is kept.

We propose a novel technology for a tool used to fasten blade fixing nuts that secure cutting blades in cutting equipment. [Solution] A torque wrench for fastening a blade fixing nut for fixing a cutting blade, comprising: a grip portion for being held by hand; a holding portion for holding the blade fixing nut; a sensor for detecting the torque applied to a rod connected to the holding portion; and a control unit for receiving a signal from the sensor. The control unit calculates the torque based on the signal from the sensor, compares the difference between the calculated torque and a reference torque, and determines the fastening state based on the difference.

The application provides a position change calculation method of a torque gun, comprising: acquiring a first multi-turn number N t1 and a first single-turn position St1 at a first time t1 and a second multi-turn number N t2 and a second single-turn position St2 at a second time t2 within a time interval less than a time of one rotation of a servo motor; judging whether a single-turn absolute value encoder is in a non-jump state, a positive rotation jump state or a reverse rotation jump state; obtaining a corrected turn number N mod at the second time t2 according to the state of the single-turn absolute value encoder at the second time t2 judged in the previous step; and obtaining a position change of the torque gun in the interval time according to the first single-turn position St1 and the second single-turn position St2 and the corrected turn number N mod. The application can quickly and accurately calculate the position change of the rotation of the torque gun. The application also provides a control method of the torque gun and a torque gun using the control method.

The application discloses a strength training equipment control method, comprising: judging whether the training mode of the strength training equipment is a bilateral training mode; when the training mode is determined as the bilateral training mode, obtaining a target parameter of the strength training equipment; judging whether the first motor and the second motor are in a balanced state according to the target parameter; if the first motor and the second motor are not in the balanced state, calculating a torque adjustment value according to the target parameter; and adjusting the first motor torque and / or the second motor torque according to the torque adjustment value. The application judges whether the strength training equipment is in the balanced state according to the target parameter and adjusts the output torque, calculates the torque adjustment value, and adjusts the first motor torque and / or the second motor torque according to the torque adjustment value, so that the protection of the user training is realized.

The present application relates to a kind of super-range segment torque calibration methods, for the torque calibration of the maximum range of the torque calibration of the conventional torque measurement standard device beyond the maximum range of the torque calibration of the required calibration torque range section, using linear fitting extrapolation method, first, by separately calculating torque standard value part and torque measurement deviation part, then by different extrapolation coefficients, the calculation results of the two parts are adjusted, i.e. the linear extrapolation calculation value after the extension of the range can be obtained.The super-range segment torque calibration method of the present application can reasonably extrapolate and estimate the torque value of the super-range when calibrating the torque value in the small range.The method can be widely used in the super-torque measurement calibration scene of high-speed engine or wind turbine, to ensure the accurate measurement and traceability of super-torque value in the industrial field.

A torque compensator calculates a torque compensation value that is a compensation value for a basic torque. A compensation limiter outputs a limit-processed torque compensation command indicating a limit-processed torque compensation value obtained by the execution of the limitation processing on the torque compensation value. In the limitation processing, the compensation limiter limits an amplitude of the torque compensation value to be lower than or equal to a predetermined upper limit value. A first upper limit value that is an upper limit value for a value of the target rotational velocity within a first rotational velocity range is defined to be smaller than a second upper limit value that is the upper limit value for a value of the target rotational velocity within a second rotational velocity range indicating the rotational velocity lower than the first rotational velocity range.

The invention relates to the technical field of motor testing, and discloses a pulse type transient torque loading system for motor testing and a dynamic testing method.The pulse type transient torque loading system comprises a dynamic loading and sensing assembly, a data acquisition module and an industrial computer, and the industrial computer adopts feedforward and feedback compound control based on an inverse dynamic model. The dynamic loading and sensing assembly is driven to apply accurate pulse type transient target torque to the tested motor, the torque residual error and the control residual error are calculated by comparing the actual output torque with the feed-forward model prediction torque and comparing the actual control signal with the feed-forward control signal, and the health reference model is determined based on the deviation degree of the residual error vector and the health reference model. And the motor health state is diagnosed in real time. According to the invention, high dynamic performance testing and online health diagnosis can be seamlessly integrated on a single platform, potential weak fault features can be effectively excited and amplified by using the transient load, and the sensitivity and accuracy of early fault diagnosis are improved.

The invention discloses a bolt tightening torque control method based on a yield point method, and relates to the technical field of bolt tightening. Calculating the slope differential quotient of the torque-rotation angle curve; a machine learning model is utilized to adapt to a specified value range, and ultrasonic pre-tightening force data are fused to carry out cross validation to obtain an adjusted specified value range; and when the slope differential quotient is reduced to an adjusted specified value range, judging that the bolt reaches a yield point, and sending a tightening stopping signal. According to the method, the slope differential quotient is calculated in real time, it is judged that the bolt reaches the yield point when the slope differential quotient is lowered to be within the regulated value range after adjustment, stable control over the pre-tightening force is achieved, inapplicability of a traditional torque / corner method to a small-corner short bolt is avoided, the risk of plastic deformation of a bolt thread and a rod part is reduced, reusability and durability are improved, and the method is suitable for popularization and application. The bolt is not influenced by a friction coefficient and a corner starting point, and material fatigue and loosening risks are reduced on occasions where the bolt is poor in plasticity or repeatedly used.

The application discloses a rotary table system and a control method thereof. The rotary table system comprises a rotary table body, a base and a device platform. The rotary table body is installed on the top of the base. The device platform and the top of the rotary table body are detachably connected. The bottom of the base is provided with a walking mechanism. The device platform is provided with matrix-shaped mounting holes. The control method comprises the following steps: a control unit in the rotary table body acquires and analyzes a control command of an upper computer to obtain a target direction; the control unit calculates a motor torque to control the motor of the rotary table body to rotate and adjust the device on the device platform to the target direction; and the control unit acquires data uploaded by the device on the device platform, an angle sensor unit, a temperature sensor unit and a position sensor unit in the rotary table body, and uploads the analyzed data to the upper computer. The application improves the applicability of the rotary table system, realizes accurate control of the rotating direction through accurate calculation of the torque, and can also realize real-time processing and uploading of the measurement data.

The application discloses a kind of off-highway dump truck electric quantity balance control method and system, belong to off-highway dump truck electric quantity management technical field, method includes: current operating state information is collected, including motor state, operating condition and battery state of charge;Based on operating state information, vehicle demand torque or brake recovery torque in future preset period is known, and torque constraint boundary is calculated;According to battery state of charge and operating condition, comprehensive weight factor is obtained by weighting calculation, and the higher weight is greater in driving condition under state of charge, and the contrary in braking condition;Based on comprehensive weight factor and torque constraint boundary, demand torque is distributed to each drive motor;Through closed-loop control continuous cycle.The application realizes the multi-objective collaborative optimization of the electric quantity of multi-power system under heavy load condition by the collaborative control of torque constraint boundary and electric quantity balance, introduces health correction factor, efficiency factor and state of charge reference value closed-loop correction.

The application discloses an electric two-wheeled vehicle and an adaptive cruise method thereof, and relates to the technical field of vehicles.The method comprises the following steps: a radar acquires surrounding environment information; in the adaptive cruise mode, the acceleration of the self vehicle and the acceleration of a preceding vehicle as a target vehicle are estimated according to the data fed back by the radar and the speed of the self vehicle, the relative acceleration of the two vehicles is calculated, and the required speed change value is obtained; the speed change requirement is sent to a controller through a CAN bus or other communication modes, the controller calculates a torque request, and when deceleration is required, a power system responds to the calculated torque request through energy recovery and other modes. The vehicle is controlled to brake through the energy recovery mode, and since the response speed of an electric signal is much higher than that of a mechanical structure, the braking delay time can be reduced. The function of active braking is replaced by energy recovery, and therefore, it is unnecessary to use an ABS with an active boost function, and the vehicle space is saved.

The invention relates to a method for calibrating a torque sensor in a robot joint of a robot having one or more robot joints, each comprising a torque sensor and a rotational position sensor, the method comprises the following steps: A, loading an end effector of the robot by using a mass piece with a certain weight; b. determining the weight of a mass on the end effector (5) by means of a force sensor; c. measuring a torque measurement by means of the torque sensor to be calibrated; d determining a respective rotational position of the robot joint by means of one or more rotational position sensors; e, based on the determined weight and the determined rotational position of the robot joint, calculating a torque as a torque reference value, the torque acting on the robot joint whose torque sensor is to be calibrated; wherein the method steps A, B, C, D and E are optionally repeated once or several times when the position of the robot changes, and wherein a correction function for correcting the torque measured by the torque sensor to be calibrated is determined by means of a torque measurement value or torque measurement values and a torque reference value or torque reference values.

This invention relates to the field of intelligent control technology, and more particularly to an AI-based torque prediction and precise feed control system for a centrifugal dewatering machine. The system includes: an acquisition module, an anomaly identification module, a first analysis module, a second analysis module, a prediction module, and a control module. This invention achieves precise detection of deviations from operating conditions by calculating the torque-flow rate slope in real time and comparing it with the statistical distribution of historical normal periods. Through a dynamic judgment mechanism based on historical statistical benchmarks, the system can issue early warnings before an anomaly develops into a torque over-limit stage, gaining a time window for subsequent targeted prediction and control. This significantly improves the dewatering system's proactiveness and operational stability in handling complex operating conditions, effectively solving the problems of low torque prediction accuracy and slow feed flow control response speed caused by the lag response based on a fixed pressure threshold.

The application discloses an electric two-wheeled vehicle and an adaptive cruise method thereof, and relates to the technical field of vehicles.The method comprises the following steps: when the electric two-wheeled vehicle is in an adaptive cruise mode, environment information and / or state information are received, and the road condition is judged and the torque request under the corresponding road condition is calculated according to the obtained environment information and / or state information; the environment information at least comprises road information, and the state information at least comprises pose state information; the road condition at least comprises a curve scene; and the controller calculates the torque request according to the road condition, can identify the curve and control the cruise speed, guarantees the safety when passing the curve, and can provide better curve passing body sensation.

Control for a drive mechanism (2) driven by a plurality of motors (13, 23), the control comprising according to the motors (13, 23): a position command calculation unit (10) that calculates a position command value to drive the drive mechanism (2); a position detection unit (14, 24) that detects a position of the motor (13, 23); a speed command calculation unit (11, 21) which calculates a speed command value based on a position error value determined from the position command value calculated by the position command calculation unit (10) and a position sensing value sensing by the position sensing unit (14, 24); a speed detection unit (15, 25) which calculates a speed detection value from the position detection value detected by the position detection unit (14, 24); a torque command calculation unit (12, 22) that calculates a torque command value from a speed error value determined from the speed command value calculated by the speed command calculation unit (11, 21) and the speed sensing value detected by the speed sensing unit (15, 25); and a preload torque superposition unit (30) that superimposes a set preload torque onto the torque command value, wherein, when a state in which the output of the motors (13, 23) is zero shifts to a state in which the output is non-zero, such that the preload torque is provided by the preload torque superposition unit (30), at least one of the motors (13, 23) forms a contact section between the drive mechanism (2) and the motor (13, 23) by speed control based on the speed sensing value detected in the speed sensing unit (15, 25), such that the preload torque is provided; and wherein the control unit controls the motors (13, 23) such that in a state in which the contact section is designed to remove a gap between one side of the drive mechanism (2) and one side of the motor (13, 23), the motor (13, 23) subject to speed control is switched to position control based on the position command value calculated by the position command calculation unit (10), so that the preload torque is provided.

The present application relates to the technical field of new energy commercial vehicle, and specifically discloses a new energy commercial vehicle crawling torque regulation control optimization integral algorithm, comprising the following steps: S1, VCU calculates torque instruction according to the difference between the pre-set crawling target speed and the current speed, and sends the torque instruction to MCU; S2, MCU receives the torque instruction, controls the motor speed and sends it to TCU; S3, TCU sends the gearbox output shaft speed to the whole vehicle system according to the transmission motor speed state, and the whole vehicle runs; S4, IC collects the vehicle driving information of the whole vehicle system, and calculates the speed feedback to VCU; the present application adopts the control scheme of adjusting and controlling the vehicle crawling through the variable PID of the target speed and the current speed difference, improves the speed regulation speed when the absolute value of the speed difference is large, improves the running speed stability when the absolute value of the speed difference is small, and increases the anti-disturbance ability; reduces the calibration test resource occupation and reduces the calibration difficulty.

The invention provides a torque control method and system of an electric automobile and the automobile. The method comprises the steps that whole automobile running state data including a motor rotating speed signal and a feedback torque signal are continuously collected; pre-processing the data to extract a pre-processing signal containing a rotating speed direct current characteristic and a rotating speed alternating current characteristic; judging the whole vehicle working condition based on the direct-current characteristics; selecting corresponding compensation parameters according to working conditions, and calculating a torque compensation value in combination with alternating current characteristics; and finally outputting a torque instruction. Through a signal decomposition technology, direct current characteristics are used for working condition identification to match a control strategy, meanwhile, a jitter state is reflected in real time by utilizing alternating current characteristics, and a torque instruction is generated in combination with working condition self-adaptive compensation parameters, so that the defect of poor effect of traditional fixed parameter control under variable working conditions is overcome. Active damping control can be achieved without changing hardware, shaking of the whole vehicle is effectively restrained, and riding comfort, system adaptability and driving smoothness are remarkably improved.

The invention relates to the technical field of speed control, in particular to a pure electric bus retarding braking system and a control method thereof.The system comprises a state sensing module, a road slope and dynamic parameter calculating module, a safe vehicle speed adjusting module according to the slope, a permissible electric quantity calculating module according to the temperature, a torque and amplification determining module according to a multi-dimensional table and a signal triggering module; the vehicle speed and electric quantity are compared to generate a trigger signal, a torque decision module and a judgment signal, if activated, a torque coefficient is calculated according to the vehicle speed difference value and PI control, and the retarding braking torque is obtained by combining the amplification and the basic torque. According to the method, dynamic matching is achieved by calculating the road slope, considering the motor and battery temperature, inquiring data, determining dynamic torque and amplification, calculating the allowable electric quantity according to the battery temperature and calculating the retarding torque according to the difference value between the current vehicle speed and the dynamic safe vehicle speed during triggering, the battery high temperature or high electric quantity charging risk is avoided, and the motor thermal load is guaranteed; and the braking safety and reliability are improved.

Control (1) for a drive mechanism (2) which is driven by a plurality of motors (13, 23), the control comprising according to the motors (13, 23): a position command calculation unit (10) that calculates a position command value to drive the drive mechanism (2); a position detection unit (14, 24) that detects a position of the motor (13, 23); a speed command calculation unit (11, 21) that calculates a speed command value based on a position error value determined from the position command value calculated by the position command calculation unit (10) and a position sensing value sensed by the position sensing unit (14, 24); a speed detection unit (15, 25) that calculates a speed detection value from the position detection value acquired by the position detection unit (14, 24); and a torque command calculation unit (12, 22) which calculates a torque command value from a velocity error value determined from the velocity command value calculated by the velocity command calculation unit (11, 21) and the velocity sensing value sensed by the velocity sensing unit (15, 25) by using at least one integral element, wherein the position command calculation unit (10) supplies the common position command value to each of the motors (13, 23), and wherein the torque command calculation unit (12, 22) switches between an individualization control, which provides for individual execution of an output of the integral element of the torque command calculation unit (12, 22) to each of the plurality of motors (13, 23), and a common control, which provides for sharing the output of the integral element of the torque command calculation unit (12, 22) to the plurality of motors (13, 23); where, if it is determined that the operating state is a transitional state, individualization control is carried out; if, on the other hand, it is determined that the operating state is a steady state, joint control is carried out; wherein, when the position command calculation unit (10) supplies the position command value specified as an abrupt acceleration / deceleration process, the operating state is determined as a transition state, so that the individualization control is carried out.

The invention provides a torque steering sensor. The torque steering sensor comprises a shell, a first rotor, a circuit board and a second rotor, the shell is provided with a shaft hole, the first rotor is rotatably embedded in the shaft hole, the first rotor extends in the radial direction to form first blades, the first rotor is fixedly connected to an input shaft of an automobile steering device, the second rotor extends in the radial direction to form second blades, and the second rotor is fixedly connected to an output shaft of the automobile steering device. The circuit board is installed in the shell and located between the first blade and the second blade, and an eddy current detection chip used for detecting the first blade and the second blade is arranged on the circuit board so as to calculate the rotation angle difference value of the first rotor and the second rotor. And the rotation angle difference value is transmitted to an electronic control unit of the automobile steering device for torque calculation. An eddy current detection chip is adopted to collect the angle difference of the double rotors to calculate the torque, the detection precision and the anti-interference performance are improved, and stable and reliable torque signals can be provided for an EPS system.

According to the low-frequency vibration drilling amplitude adjusting method, the torque in the low-frequency vibration drilling process is monitored through the monitoring system, and the amplitude is adjusted through the amplitude adjusting module according to the change of the torque slope. The method comprises the following steps: firstly, determining a torque slope critical value k0 during chip blocking according to a processing material; and in the stable drilling stage, the torque mean value is counted and calculated in real time in a window sliding mode, the torque slope k is calculated according to the two adjacent windows, and the chip removal state in the drilling process is judged according to k / k0. When k / k0 is larger than or equal to 1, it shows that chip blocking exists in the drilling process, k is reduced by increasing the amplitude at the moment, and after it is monitored that k / k0 is smaller than 1, the adopted amplitude A is the optimal amplitude value. The chip blocking condition in the drilling process can be effectively avoided, and the amplitude reaches the lowest level, so that the drilling chip removal capacity is improved, and too large impact loads caused by low-frequency vibration are avoided.

An electric two-wheeled vehicle (100) and an adaptive cruise method therefor. The method comprises: a radar (162a) acquiring surrounding environment information; in an adaptive cruise mode, on the basis of data fed back by the radar (162a) and a vehicle speed of the present vehicle, estimating an acceleration of the present vehicle and an acceleration of a preceding vehicle serving as a target vehicle, so as to calculate a relative acceleration of the present vehicle and the preceding vehicle, thus acquiring a required speed variation value; and sending a speed variation requirement to a controller (163) by means of a CAN bus or other communication modes, such that the controller (163) calculates a torque requirement, and when deceleration is required, a traction system (15) responding to the calculated torque requirement by means of energy recovery, etc. A response speed of an electrical signal is significantly greater than that of a mechanical structure, thereby reducing a braking delay. An active braking function is replaced by energy recovery, and it is unnecessary to use an ABS having an active boosting function, thereby saving on vehicle space.

The invention relates to a method for controlling a hybrid turbomachine comprising a drive shaft, an electric machine, and a mechanical transmission line between the shaft and the electric machine. This mechanical transmission line includes a torque meter and a control device for the electric machine. The method involves the following steps: a) applying a torque command to the electric machine via the control device; b) providing a measurement of the mechanical torque at the electric machine to the control device; c) calculating the torque difference between the torque command and the mechanical torque measurement; d) using the torque difference calculated in step c) providing a corrected torque command with a controller equipped with a proportional-integral function and a phase-advance function. Figure 2 is shown in the abstract.

The invention discloses ultrasonic transducer pre-tightening force intelligent assembling equipment and method based on piezoelectric feedback, belongs to the technical field of intelligent manufacturing, and constructs a direct feedback closed-loop control system with a piezoelectric ceramic crystal pile as a force sensing element. A multi-stage self-adaptive control strategy is adopted, idle stroke feeding is sequentially executed to quickly eliminate the assembly clearance, an electrical seating point is accurately judged to serve as a loading starting point by synchronously monitoring piezoelectric voltage and real-time torque, then linear loading is conducted, the torque rate is calculated in real time to monitor the process state, when the piezoelectric voltage is close to a target value, low-speed micro-feeding is conducted, and when the torque rate is close to the target value, low-speed micro-feeding is conducted. And finally, the hardware comparator triggers hardware interruption at the moment that the voltage reaches a preset threshold value, and the control unit is driven to realize millisecond-level sudden stop, so that overshoot is completely eradicated fundamentally. The technical transition from indirect torque control to direct force feedback control is achieved, the pre-tightening force control precision is improved, meanwhile, the consistency and reliability of high-end ultrasonic transducer products are guaranteed, and the production efficiency is greatly improved.

An electric tool system with a torque-correcting function includes an electric tool apparatus and a force-multiplier apparatus. The force-multiplier apparatus is assembled to the electric tool apparatus. The force-multiplier apparatus is configured to transmit a torque test data and a torque original data to the electric tool apparatus. The electric tool apparatus is configured to calculate the torque test data and the torque original data to obtain a torque correction data. The electric tool apparatus is configured to drive the force-multiplier apparatus to rotate based on the torque correction data.

A turning control device includes a first processor, a second processor, a third processor, and a fourth processor. The first processor calculates a torque command value based on a difference between a target pinion angle and a pinion angle. The second processor calculates a compensation value compensating resistance of a turning mechanism based on a difference between a target pinion angular velocity and a pinion angular velocity. The third processor limits a variation range of the torque command value based on a limit value of the torque command value and limits a variation range of the compensation value based on a limit value of the compensation value. The fourth processor calculates a turning torque command value by subtracting the compensation value from the torque command value. The third processor changes the limit values based on a traveling state of a vehicle.

The application provides a mechanical arm collision detection method, a control method and a cooking robot. The application is applied to the field of robot data processing. The method comprises the following steps: acquiring real-time motor current and real-time temperature of an off-axis motor in a current collision detection period; calculating real-time motor torque according to the real-time motor current; correcting the real-time temperature to obtain a corrected temperature, and calculating motor calibration torque according to the corrected temperature; calculating a torque threshold according to the corrected temperature Temp cal and the motor calibration torque; calculating a torque difference according to the real-time motor torque and the real-time motor torque of the last collision detection period; judging the relationship between the torque difference and the torque threshold; if the torque difference is greater than or equal to the torque threshold, it is determined that the mechanical arm collides; if the torque difference is less than the torque threshold, the next period of collision detection is continued. The application improves the sensitivity and accuracy of collision detection at high temperature, and reduces the false triggering rate of collision detection.

The invention discloses a welding seam torque strength evaluation method, device and equipment and a storage medium, and relates to the technical field of torque evaluation, and the welding seam torque strength evaluation method comprises the following steps: obtaining a plurality of hardness measurement values of the cross section of a welding seam, and determining a minimum hardness value from the plurality of hardness measurement values; the tensile strength of the weld joint is calculated according to a preset linear relation based on the minimum hardness value; calculating the shear strength of the weld joint based on the tensile strength; and the layer number, the width parameter, the angle parameter and the radius of the weld joint are obtained, and the torque strength is calculated based on the layer number, the shear strength, the width parameter, the angle parameter and the radius. The efficiency of evaluating the welding seam torque strength can be improved.

The application discloses a torque control method, device and equipment of a distributed four-wheel drive motor and a storage medium, relates to the technical field of vehicles, and comprises the following steps: calculating a torque distribution coefficient according to a current vehicle speed and a wheel end required torque to obtain a first torque distribution coefficient; calculating the torque distribution coefficient according to a total vehicle mass, a current slope and a longitudinal acceleration to obtain a second torque distribution coefficient; and controlling the torque of the distributed four-wheel drive motor according to at least one of the current slope, the first torque distribution coefficient and the second torque distribution coefficient. The first torque distribution coefficient and the second torque distribution coefficient are respectively calculated through the current vehicle speed, the wheel end required torque, the total vehicle mass, the current slope and the longitudinal acceleration, and then the torque of the distributed four-wheel drive motor is controlled in combination with the current slope, so that the accuracy of the torque of the four motors in the distributed four-wheel drive system is improved.