65 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.

The invention discloses a multi-mode man-machine cooperation industrial robot control system and method, and relates to the technical field of industrial manufacturing, and the method comprises the steps: collecting the face image and state perception data of an operator through a sensor group and an infrared camera which are installed at an assembly operation site, carrying out the feature extraction and data processing, and carrying out the recognition of the face image and state perception data; acquiring a fatigue behavior data set and an operation disturbance data set; calculating a multi-mode fatigue recognition index fat to perform fatigue state evaluation, and executing a machine response analysis instruction in a fatigue state; compensation driving evaluation is carried out by calculating a torque compensation driving index cmp, the robot automatically intervenes or takes over tasks of an operator according to an evaluation result, and assembly precision and operation safety are guaranteed. And control data before and after the task are compared with a result, and a control strategy and a man-machine cooperation effect are continuously optimized. According to the method, multi-modal signal fusion analysis and control response linkage is realized, and the intelligent cooperation capability of the industrial robot in a fatigue intervention scene is improved.

A method for steering system stability compensation includes receiving a calculated torque value associated with a steering system, providing the calculated torque value to a filter, receiving an output value from the filter, and determining a difference between the output value of the filter and a measured torque value associated with the steering system. The method further includes determining a torque command value based on the calculated torque value and a difference between the output value of the filter and the measured torque value, and controlling a motor associated with the steering system using the torque command value.

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.

Method for torque monitoring of the electric vehicle, characterized in that the method comprises the following steps: - a vehicle operation signal and a vehicle state signal are detected, and an actual torque of the electric motor is calculated according to the vehicle operation signal and the vehicle state signal; - it is judged whether a fault exists in the control system for the entire vehicle, and a fault regulating torque is generated according to the type of fault if the fault exists; - if the control system for the whole vehicle is OK, an actual output torque of the electric motor is used as a requested torque, otherwise the said fault regulation torque is used as the requested torque; - a torque limit is calculated based on the vehicle operating signal, the vehicle status signal and the capability of the components by calculating a maximum and a minimum value of the current deliverable torque based on the vehicle operating signal, the vehicle status signal and the capability of the components, and calculating a corresponding gradient based on the change in the torque and determining a gradient limit; - a comparison of the requested torque with the stated torque limit is carried out, and the requested torque is limited within the range of the torque limit, and an output torque is obtained by comparing the maximum and minimum values ​​of the deliverable torque with the stated requested torque; if the requested torque is within this range, the requested torque is delivered, otherwise the maximum value is delivered if the requested torque is greater than the stated maximum value; and the minimum value is delivered if the requested torque is less than the minimum value; and when the requested torque is varied, it is raised or lowered evenly and smoothly according to the size of the gradient limit.

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.

This invention relates to a steering control device. The steering control device includes a first processor (63E, 63F, 63G), a second processor (63H), a third processor (63J, 63K, 63L), and a fourth processor (63N). The first processor calculates a torque command value based on the difference between a target pinion angle and a pinion angle. The second processor calculates a compensation value to compensate for the resistance of the steering mechanism based on the difference between a target pinion angular velocity and a pinion angular velocity. The third processor limits the range of variation of the torque command value based on a limit for the torque command value, and also limits the range of variation of the compensation value based on a limit for the compensation value. The fourth processor calculates the steering torque command value by subtracting the compensation value from the torque command value. The third processor changes the limit value based on the vehicle's driving state.

To provide a hybrid vehicle control device capable of achieving both improved acceleration feeling and reduced vibration.SOLUTION: When a control device of a hybrid vehicle in which an engine and a motor are connected to an input side of an automatic transmission causes the motor to assist in rotation synchronization in downshifting of the automatic transmission in response to a driver's acceleration demand, the control device calculates a release change rate of a clutch mechanism included in the automatic transmission and time required to achieve a reduction to torque capacity in an inertia phase. Then, the control device limits an increase rate so that assist torque can be changed to an upper limit within the time.SELECTED DRAWING: Figure 2

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.

A motor control device includes: a current command generation unit that generates a current command based on a motor torque command and the rotational speed of a motor; a torque command calculation unit that calculates a torque command based on the generated current command and calculates the torque of the motor based on the detected value of the current flowing through the motor; a voltage phase control unit that controls a voltage phase angle so that the torque of the motor conforms to the torque command; and a power conversion unit that converts direct current into alternating current based on the voltage phase angle and rotation angle information of the motor and outputs the converted alternating current to the motor.The current command generation unit calculates a d-axis current command or a q-axis current command such that a current command of one of the axes approaches a current detection value of the axis as a d-axis current command and a q-axis current command.

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.

The embodiment of the application provides a motor control method and device and a vehicle, through executing the method, the motor fly vehicle prevention process can be periodically executed in the vehicle driving process; in each process: when it is determined that the motor speed and torque meet the first condition, the motor fly vehicle prevention function is activated; the torque limiting value is calculated based on the motor torque, the motor speed change rate and the inertia of the drive wheel system, and the motor speed is limited based on the torque limiting value; when it is determined that the motor speed meets the second condition, the motor fly vehicle prevention function is closed. Through periodically executing the motor fly vehicle prevention process to control the motor, in each period, after the motor fly vehicle prevention function is activated, the motor is subjected to the torque limiting operation through the calculated torque limiting value to implement the motor fly vehicle prevention processing, the rapid response of the torque control can be realized, the processing efficiency is improved, the frequency of the problem that the vehicle shakes due to the excessively high motor speed is reduced, and the user driving experience is improved.

The application discloses a torque control method and system in an adaptive cruise process and related components, relates to the field of adaptive cruise, and is applied to a target vehicle. The method comprises the following steps: obtaining a calculated torque obtained by an ACC control program; obtaining actual operation parameters of the target vehicle, wherein the actual operation parameters comprise an actual torque and an actual vehicle speed; determining a loss compensation torque based on a terminal transmission torque corresponding to the actual torque and the actual vehicle speed; and obtaining an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the output torque. The torque control method in the application determines the loss compensation torque based on the terminal transmission torque corresponding to the actual torque and the actual vehicle speed of the engine, compensates the calculated torque by using the loss compensation torque, can reduce or eliminate the problem of incomplete response of the engine and the gearbox, so that a more stable and effective adaptive cruise control effect is achieved, and the user experience is more comfortable.

A method for steering system stability compensation includes receiving a calculated torque value associated with the steering system, providing the calculated torque value to a filter, receiving an output value from the filter, and determining the difference between the filter's output value and a measured torque value associated with the steering system. The method also includes determining a torque command value based on the calculated torque value and the difference between the filter's output value and the measured torque value, and controlling a motor associated with the steering system using the torque command value.

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 diesel engine combustion control, and discloses a cylinder pressure sensing and fusion method based on the physical process of a four-stroke diesel engine. S2, modeling the volume of the air cylinder; s3, combustion turbulence is corrected; s4, updating gaseous parameters; s5, model cylinder pressure calculation; s6, calculating inertia torque; s7, decoupling the torque signal; s8, multi-cylinder torque approximation is calculated according to the characteristics of the four-stroke process; s9, single-cylinder pressure inversion is carried out; s10, initializing a system noise variance matrix, and determining forgetting factors in different stages; and S11, introducing a forgetting factor, and carrying out dynamic weight fusion. Through the physical process characteristics of the four-stroke diesel engine, a model estimation method and an indirect measurement method are optimized respectively, meanwhile, whether turbulence correction and empirical formula selection under different physical processes are considered or not can be freely selected according to the real-time requirement, and expansibility is high.

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.