224 results about "Control complexity" patented technology

The invention relates to a V2G-based alternating current charging power adjusting method and device. The method comprises the following steps: carrying out multi-scale data acquisition and preprocessing on a V2G alternating current charging system to obtain a standardized system state data set; constructing a system dynamic model comprising a power grid voltage characteristic and a charging power characteristic; carrying out decomposition to obtain a power output mapping relation calculation, and obtaining a power modulation control parameter; establishing a fast and slow time scale coordination control framework, and designing a power regulation agent and a voltage regulation agent to obtain a coordination control strategy; checking a charging power limit value constraint, a voltage limit value constraint and a power factor constraint to obtain a constraint violation judgment result, and executing constraint projection calculation to obtain a target control instruction; and controlling a power conversion circuit of the charging pile to execute power regulation operation. According to the invention, a hierarchical control structure is adopted, the control complexity of the system is reduced, and the robustness and the adaptive ability of the control strategy are improved.

The invention relates to the technical field of flexible direct-current power transmission, in particular to a centralized local energy storage modular multilevel converter MMC-CLES topology which comprises three phase units, each phase unit comprises an upper bridge arm and a lower bridge arm, and each upper bridge arm and each lower bridge arm comprise a bridge arm reactor arranged at one end, close to a power grid, of the bridge arm; a plurality of identical sub-modules SM which are connected to a power grid through a bridge arm reactor; the upper bridge arm and the lower bridge arm form a symmetrical structure; an energy storage sub-module is arranged at the position where the three-phase unit is directly connected with the direct-current bus. According to the invention, the control system is simplified, and the hardware cost and the control complexity are reduced. Voltage stress and current stress are smaller, higher power can be borne, and the high-power capacitor is suitable for being applied to high-power occasions. And moreover, due to the symmetrical layout, the control method is relatively simple, soft switching can be realized, and the power divider can be used as a multi-port component unit.

The invention relates to the technical field of GPGPU (General Purpose Graphics Processing Unit), and relates to an SIMT stack and thread scheduling optimization method and device for GPGPU (General Purpose Graphics Processing Unit) branch instructions, a medium and a GPGPU architecture. The method comprises the steps that in a GPGPU, an SIMT stack is optimized, an SM unit is expanded to be a double-instruction assembly line, and a main thread beam scheduler and an auxiliary thread beam scheduler are arranged. And in a non-branch state, half threads of each tube of the scheduler are executed in parallel by the assembly line. When a branch instruction is encountered, instruction addresses, thread masks and branch reunion points of the two branch paths are pressed into the SIMT stack. Judging conflicts according to the thread masks; if conflicts exist, performing serial execution; and if no conflict exists, executing on double pipelines in parallel. And when the branch is completed to a reunion point, the SIMT stack pops up an entry, and the execution is continued. The method has remarkable effects in the aspects of improving the thread resource utilization rate, improving the calculation efficiency, simplifying the branch control complexity, enhancing the GPGPU flexibility and the like.

The invention discloses a flexible bionic muscle complex and a control method thereof, a driving module and a robot, and belongs to the technical field of bionic robots. The complex comprises a plurality of strip-shaped components, and the deformation behavior of the strip-shaped components at least under the excitation of an electric field has anisotropy; comprising a first component set and a second component set, and the axial rigidity of the first component set is higher than that of the second component set; the first component group and the second component group are coupled through a preset force transmission structure, and during electric field excitation, a first driving force which is generated by the first component group and comprises first deformation and a second driving force which is generated by the second component group and comprises second deformation cooperate with each other in space so as to realize motion output conforming to biological muscle motion characteristics. According to the method, a cooperative working mechanism of fast muscles and slow muscles in biological muscles is simulated by presetting different modulus component groups, endogenous synergy of contraction and bending is achieved on the premise that a complex control algorithm is not needed, the control complexity is reduced, and the bionic performance is improved.

The invention relates to a bio-inspired large-scale bee colony networking and formation control method, which comprises the following steps of: constructing a hierarchical clustering network by using a method based on maximum connectivity, and constructing routes in clusters and among the clusters; a hierarchical clustering network and grouping formation control are fused, and a message format is designed; the method comprises the following steps: constructing formation groups by network clustering; realizing pigeon flock formation simulation control in the groups; updating pigeon flock social levels by utilizing cluster heads; realizing starling formation simulation control among the groups; on the grouping level, a starling group mode, an obstacle avoidance mode and a following mode are realized. Compared with the prior art, the hierarchical clustering network architecture effectively reduces the routing overhead of the large-scale unmanned aerial vehicle cluster, and meanwhile, the control complexity and the control communication overhead of the large-scale unmanned aerial vehicle cluster are effectively reduced through the pigeon flock formation simulation control method and the starling formation simulation control method and the distributed architecture thereof.

According to a masonry task, a feasible path of a main arm and a feasible path of a slave arm are obtained, tasks of the main arm and the slave arm are subjected to labor division, the operation mode of one-hand grabbing and one-hand gluing of a mechanical arm is achieved, the two arms can efficiently cooperate in the respective task fields, and the work efficiency is improved. The control complexity is reduced, the system efficiency is improved, the cost of each group of executable pose actions in the multiple groups of executable pose actions is solved, the pose actions to be executed are selected according to the cost, inverse kinematics solving is conducted on each masonry point, and the pose actions to be executed are obtained. And operation cost calculation is performed on the solved pose action, and the greedy algorithm is combined to take the shortest execution time as an optimization target, so that the execution efficiency of the action path of the mechanical arm can be effectively improved, the total task duration is remarkably reduced, the beat control of engineering construction is facilitated, the problem of too tight coupling of a cooperation mode of two arms is solved, and the operation efficiency is high.

The invention discloses a cooperative control method for neutral-point balance and circulation suppression of an inverter. The method comprises the following control steps: collecting three-phase current of a power grid side, and generating a three-phase bridge arm modulation signal through a grid-connected current control loop; collecting a lower half bus voltage and generating a first zero-sequence component through a neutral-point balance control loop; collecting three-phase current on the power grid side, and generating a second zero-sequence component through a circulating current suppression control loop; inputting the first zero-sequence component and the second zero-sequence component into a competition logic processing module, and generating a final zero-sequence component by using a competition mechanism based on dynamic weight distribution; and the final zero-sequence component is subjected to over-modulation processing and then superposed to a three-phase bridge arm modulation signal of a grid-connected current control loop, and then a control signal of the three-level inverter is obtained after PWM (Pulse-Width Modulation). The method has the advantages that by dynamically coordinating the midpoint balance and circulating current restraining requirements, efficient coordination of the midpoint balance and the circulating current restraining requirements can be achieved, the control complexity is reduced, and the method is suitable for low-cost industrial application scenes.

The invention relates to a torque control foot type robot with a rotatable waist and a control method of the torque control foot type robot. The control method comprises the following steps that an initial gait data set of the foot type robot is obtained; a simulation learning framework based on an asymmetric act-critic structure is constructed; performing iterative training on a strategy based on the simulation reward and the task reward by utilizing the simulation learning framework to obtain a gait data set after waist self-adaptive training; based on the gait data set after waist self-adaptive training, motor parameters and environment parameters of the foot type robot are trained through course learning, and a final gait data set is obtained; based on the final gait data set, the waist of the foot type robot is made to rotate by controlling the output torque of a waist motor, and whole-body control over the foot type robot is achieved. Compared with the prior art, the method has the advantages of low control complexity, high steering capability, good scene adaptability and the like.

The invention relates to the technical field of surgical robot endoscope control, in particular to a surgical robot endoscope control method based on a hierarchical quadratic programming framework, and the method comprises the steps: determining the operation mode of the current surgical robot endoscope, the operation mode including a pivot motion mode, a path navigation mode and a dynamic tracking mode; according to the operation mode, a corresponding mechanical arm motion constraint model is determined based on a hierarchical quadratic programming method; the mechanical arm motion constraint model is solved based on output information of the position sensor and the force sensor, and the control speed of the robot joint is obtained; and controlling the robot joints to move based on the control speed, and finally completing endoscope control of the surgical robot. According to the invention, the endoscope control safety can be improved and the control complexity can be reduced.

The invention provides a control method and device of an optical storage direct flexible system and a storage medium, and relates to the technical field of electric power. The control method of the optical storage direct-flexible system is executed by a control device of the optical storage direct-flexible system, and comprises the following steps: in response to triggering of a specified operation mode, obtaining a characterization value of the residual electric quantity of an energy storage device in the optical storage direct-flexible system; under the condition that the characterization value of the residual electric quantity is smaller than a first threshold value and larger than a second threshold value, an energy storage converter in the optical storage direct flexible system is set to be in an off-grid mode, so that the energy storage converter conducts energy scheduling automatically; and setting the power of a grid-side converter in the optical storage direct-current flexible system to be a first power value so as to suppress electric quantity interaction between the optical storage direct-current flexible system and a power grid. Through the above method, the control operand of the energy scheduling of the optical storage direct flexible system can be reduced, the control complexity is reduced, and the occupancy of computing power resources is reduced.

The utility model discloses a multi-stage compression gas compression system which comprises a hydraulic driving unit with fixed displacement, a multi-stage compression cylinder, a gas storage device, a gas pressure detection unit and a control unit, the multi-stage compression cylinder comprises a plurality of compression cylinders which are sequentially connected in series from the first stage to the last stage through gas conveying pipelines. The signal output end of the air pressure detection unit is connected with the signal input end of the control unit. The air pressure detection unit is used for detecting air pressure signals of the multi-stage compression cylinder and sending the air pressure signals to the control unit. And the control unit is used for controlling the working states of the other stages of compression cylinders except the first-stage compression cylinder in the multi-stage compression cylinders according to the air pressure signal, so that the other stages of compression cylinders except the first-stage compression cylinder in the multi-stage compression cylinders are put into compression work or quit compression work. According to the utility model, the cost and the control complexity of the gas compression system can be reduced, and the efficiency improvement and consumption reduction of the gas compression system can be realized.

The invention discloses an energy storage converter grid-connected and off-grid seamless switching control method based on current droop control, and the method comprises the steps: taking an active current and a reactive current as the droop amount, and adjusting the amplitude of the output voltage of an energy storage converter through the active current under the condition of a resistive line of a low-voltage power distribution network; the output voltage angular frequency of the energy storage converter is adjusted by using the reactive current, so that the control complexity is reduced, the dynamic performance and the steady-state precision are good, and the grid-connected and off-grid seamless switching of the energy storage converter can be realized; therefore, the technical defects that an energy storage converter PQ / VF dual-mode control algorithm is complex, voltage and current are uncontrollable in the mode switching process, and dynamic response of power droop control is slow are overcome, and safe and stable power supply to important loads is guaranteed.

The invention relates to a denial environment air-ground cooperative control method and system based on multi-modal bionic perception, belongs to the technical field of unmanned system control, and solves the problems of high complexity and poor reliability of denial environment air-ground cooperative control in the prior art. Comprising the following steps: acquiring unmanned system information, an initial environment map and path information based on task information; wherein the task information comprises a target area which needs to be reached, and the unmanned system information comprises the number of selected unmanned platforms of various types; based on the unmanned system information, dividing each unmanned platform into an unmanned aerial vehicle group and an unmanned vehicle group; wherein the unmanned aerial vehicles and the unmanned vehicles can sense environment information; the environment information comprises a local map and a position; based on the obtained initial environment map and path information, the unmanned aerial vehicle group and the unmanned aerial vehicle group respectively use a bionic formation method to travel from the initial area to the target area; and when the unmanned vehicle group and the unmanned aerial vehicle group both travel to the target area, each unmanned platform blocks and attacks the target.

The invention provides a distributed photovoltaic grid-connected converter low-voltage ride-through control method based on sum-difference coordinate transformation, and solves the problems of insufficient synchronism, poor stability, insufficient reactive power support potential excavation and the like existing in collaborative response under power grid voltage drop during distributed photovoltaic grid connection. According to the method, impedance modeling and equivalent symmetry transformation are carried out on the distributed photovoltaic inverter, and a coupling multi-dimensional matrix equation is established; an original coupling system is decoupled into a sum current channel and a plurality of difference current channels, the control complexity is simplified, and an open-loop output impedance expression and a closed-loop output impedance expression are deduced; secondly, formulating a refined active / reactive current collaborative distribution strategy for different voltage drop depths, dynamically calculating the minimum reactive current during voltage drop, preferentially meeting the national standard, and maximizing active output or balancing loss under the limit of rated current; and finally, through sum-difference coordinate transformation, the total current demand and distribution are efficiently decoupled and issued to a current loop controller of each inverter, so that rapid, synchronous and stable cooperative operation of multiple inverters is realized.

The invention discloses a lighting control system and a lighting control method, and relates to the technical field of servers, the lighting control system comprises a transmission unit, a hardware equipment unit, a backboard logic device, a controller unit and a hard disk status lamp, the transmission unit obtains status information of the initialized hardware equipment unit, and sends the status information to the backboard logic device; the state information is packaged into the communication control frame, the communication control frame is sent to the backboard logic device, and the mode that the state information of the hardware equipment unit is obtained through the transmission unit replaces the mode that burning configuration is manually conducted on a corresponding user flash memory, so that the lighting control complexity is reduced, and the lighting control efficiency is improved. Therefore, the test efficiency of the lighting control system is improved.

The invention discloses a flight control device, an aircraft control method and a vertical take-off and landing aircraft, and relates to the technical field of aircraft control. The first joystick is configured to receive manipulation information input by a pilot; the second joystick is configured to receive manipulation information input by a pilot; and the processor is configured to generate a vector control instruction by using a signal corresponding to the control information received from the first control rod and / or the second control rod and combining a preset control mapping relation, and control the aircraft to perform vector motion according to the vector control instruction. And when the vector control instruction is an aircraft course control instruction, controlling the aircraft to perform yawing motion at least through tilt angle differential control and / or rotor speed differential control and / or lifting rudder deflection. According to the scheme, the control complexity of the aircraft can be effectively reduced, and then the operation burden of a pilot is relieved.

The invention relates to the technical field of space electric propulsion, in particular to a high-integration-level radio frequency ion electric propulsion system and a control method thereof. The system comprises an upper computer, a bus power supply, a working medium gas storage and supply unit, a power supply processing and control unit, a thruster impedance matcher, a radio frequency ion thruster, a neutralizer impedance matcher and a radio frequency neutralizer. According to the radio frequency ion electric propulsion system, the application requirements and the working characteristics of the radio frequency ion electric propulsion system are combined, all the single machines form a complete high-integration-level system, the problems that all the single machines are distributed in a scattered mode, and the system compatibility is poor due to interface conversion are solved, and the application reliability is enhanced; a pure radio frequency excitation scheme is adopted, so that the task response rate can be improved; the thruster impedance matcher and the neutralizer impedance matcher are used as an independent single machine, so that the control complexity of the system can be reduced.

The utility model relates to the technical field of telescopic rods, in particular to a differential screw rigid-flexible coupling electric telescopic rod. In order to solve the problems that an existing posture adjusting platform is complex in control, rod piece stretching and retracting control depends on material heating, heat influences are generated on other structures, and the stability and accuracy of a system are interfered, the following technical scheme is provided: the posture adjusting platform comprises a mounting seat which is arranged in a square shape; the driving mechanism is mounted in the mounting seat; the two sets of synchronous plates are arranged on the two sides of the mounting base correspondingly, and a moving frame is jointly mounted on the two sets of synchronous plates; the positioning plate is arranged on one side of the mounting seat; and the adjusting assembly is connected with the synchronous plate and the positioning plate and is used for finely adjusting the distance between the synchronous plate and the positioning plate. According to the utility model, high-precision adjustment of postures can be realized, the control difficulty is simplified, the stability and accuracy of system operation are improved, and the application range of related technologies in practical engineering is expanded.

The invention belongs to the technical field of VSG network construction active support, and particularly discloses a transient support power coordination control method and system for a network construction type optical storage system, and the method comprises the steps: building an equivalent mathematical model of the network construction type optical storage system, and obtaining key control parameters of a virtual synchronous generator control link of the optical storage system based on the equivalent mathematical model; constructing an internal energy flow characteristic analysis model of the network construction type optical storage system based on key control parameters of a control link of the virtual synchronous generator, and further obtaining a core defect of passive participation of energy storage in transient response; and based on the core defects, designing an energy storage driving control strategy based on VSG transient response power decomposition to control an energy storage subsystem to charge and discharge, and completing transient support power coordination control of the network construction type optical storage system. The problems that in the prior art, due to the fact that energy storage passively participates in frequency modulation, response timeliness and accuracy are insufficient, and due to the fact that VSG transient control complexity is high, large-scale engineering application adaptability is poor are solved.

The invention provides a multi-unmanned aerial vehicle cooperative transportation control method and device, equipment and a storage medium. A hoisting cluster controlled by the method comprises multiple unmanned aerial vehicles and a load. Each unmanned aerial vehicle is provided with a hanging interface; the plurality of unmanned aerial vehicles and the load are connected into a preset topological structure through the hanging interfaces and the high-strength flexible static ropes; a pulley is embedded into each rope; the method comprises the following steps: determining a pulling force borne by each unmanned aerial vehicle in a hoisting cluster; and adjusting the pose of each unmanned aerial vehicle according to the tension. The unmanned aerial vehicles and the loads in the controlled hoisting cluster are connected through the ropes to form the preset topological structure, the pulleys are embedded in the ropes, the pulleys can adjust the stress condition between the two unmanned aerial vehicles connected with the pulleys, the stability is improved, and the control difficulty is reduced. Based on the structure, the pose of the unmanned aerial vehicle can be adjusted according to the tensile force borne by the unmanned aerial vehicle, the pose of each unmanned aerial vehicle can be automatically adjusted to realize stable lifting flight, the control complexity is reduced, and the control robustness is enhanced.

The invention relates to a commutation circuit and an energy storage module and system, the commutation circuit comprises a full-bridge module, and the full-bridge module is connected with an external energy storage module; the full-bridge module comprises four switch units, and at least one switch unit in the four switch units comprises at least one semi-control switch device; at least two of the four switch units comprise at least one full-control switch device; and in the same switch unit, the full-control switch device and / or the half-control switch device are sequentially connected in series. Because the half-control switching device can only control the conduction and cannot control the turn-off, when the half-control switching device is arranged in the switch unit, other full-control switching devices can be controlled to be turned off, so that the half-control switching device is turned off. Therefore, on the basis that the original functions of the full-bridge module are realized and the performance is not influenced, the manufacturing cost of the circuit is reduced, and the control complexity of the full-bridge module can also be reduced because the half-control switching device does not need to be controlled to be switched off.

The invention relates to the technical field of legged robots, and aims to provide a joint coupling driven humanoid robot leg structure and a control method thereof. The whole mechanism has three degrees of freedom which are respectively the flexion and extension movement of the hip joint, the knee joint and the ankle joint, and the hip joint, the knee joint and the ankle joint can flexibly rotate and can reach the human body joint rotation angle range, so that the actions such as jumping can be realized. The invention provides the innovative design of the coupling joint, and has the advantages of enhancing the motion coordination, reducing the control complexity and reducing the energy consumption; on the basis of ensuring sufficient motor torque and proper volume, the appearance and the movement are in line with human body characteristics, and the biological performance advantages of a human body are fully exerted; the structural design is small and exquisite, a joint driving motor moves upwards, and overall light weight is achieved; a control strategy based on power limitation is provided, the Jacobian matrix is utilized to optimize the motor output torque, the system power consumption is further reduced, and the method has a wide social application scene.

The invention provides a control method and system of a single-stage isolation resonance type three-phase inverter. The control method comprises the following steps: dividing a power frequency period into a plurality of intervals; in each interval, a complete power transmission period is divided into a plurality of independent switching periods, and each switching period is divided into a plurality of stages through a direct current side voltage vihf and an alternating current side voltage vohf; carrying out Fourier decomposition on the voltage at the two ends of the resonant cavity in each switching period to obtain a fundamental component, calculating an expression of transmission power through a vector analysis method, and designing resonance parameters and switching frequency according to system requirements; and determining modulation signals of the direct current side and the alternating current side in each switching period based on the square wave duty ratio of the direct current side, the external phase shift angle of the alternating current and direct current side, the power factor angle of the alternating current side and the voltage phase. According to the invention, decoupling control of active power and reactive power at the AC side can be realized, and the control complexity of the system is reduced; accurate control of active power and reactive power of the AC side is realized, and the four-quadrant operation capability of the system is improved.

The invention relates to the technical field of hardware acceleration, and provides a convolutional neural network hardware acceleration method and system, and the method comprises the steps: obtaining a convolutional neural network instruction which comprises an img2col instruction, a systolic array multiplication instruction and a col2img instruction; analyzing an operation instruction code and a function code field of each instruction, determining a target register, a source register and calculation parameters, determining an instruction function and generating a control signal; data to be operated are taken out from the source register and transmitted to the corresponding operation module together with the control signal and the calculation parameter to be calculated, and then the data are written back to the target register; through hardware optimization strategies such as multi-level address superposition, systolic array data multiplexing, double-buffer window construction and a parallel comparison tree, extra power consumption caused by multiple times of data loading and storage and intermediate result calculation is reduced, and data handling overhead, calculation delay and control complexity are greatly reduced.

The invention belongs to the technical field of inverters, and discloses a three-phase four-leg optical storage converter and a control method and application thereof. According to the three-phase four-bridge-arm optical storage converter, the boost inductor is connected to the midpoints of the three-phase bridge arms through the three switching tubes respectively, device multiplexing of a bidirectional Buck / Boost converter and a three-phase full bridge is achieved, the converter can achieve boost / buck and inversion control at the same time, and then single-stage power conversion among the photovoltaic port, the storage battery port and the load port is achieved; the conversion efficiency and the integration level are improved, and the system cost is low. According to the converter, an SPWM and PWM hybrid control strategy is adopted, the high voltage utilization rate which is the same as that of traditional 3D-SVPWM control is obtained, but a large amount of sector judgment and vector selection are avoided, the calculation burden is remarkably reduced, and the system control complexity is reduced.

The invention relates to the field of robots, and discloses a chain-driven double mechanical arm which comprises two groups of forking arm structures arranged on a support, and each group of forking arm structure sequentially comprises a forking large arm, a forking small arm arranged at the tail end of the forking large arm and a fork hand arranged at the tail end of the forking small arm; by arranging a three-stage chain linkage system of the chain wheel a, the chain wheel b and the chain wheel c, precise cooperative control between the small arm and the fork hand is achieved. Compared with a traditional structure which depends on multiple servo direct driving, according to the scheme, the number of redundant motors is reduced, the control complexity is lowered, real-time matching of the forearm posture and the end executor can be achieved through unified chain driving, and the response speed and synchronous stability of the multi-joint mechanism in the high-speed dynamic state are effectively improved.

The invention discloses a three-axis modulation inertial navigation decoupling control method which comprises the following steps: establishing a three-axis modulation inertial navigation dynamic model which comprises inter-axis coupling torque and equivalent rotational inertia disturbance torque; obtaining the rotational inertia of the inner ring, the middle ring and the outer ring of the three-axis modulation inertial navigation along each axis; the rotation angles of the inner ring, the middle ring and the outer ring are obtained in real time, and angular acceleration is obtained through differential; according to the dynamic model, the rotational inertia, the rotation angle and the angular acceleration, inter-axis coupling torque and equivalent rotational inertia disturbance torque are obtained through calculation; compensating the calculated inter-axis coupling torque and equivalent rotational inertia disturbance torque, and changing the dynamic model into a first-order linear model, so that the three-axis modulation inertial navigation system is changed into a decoupling linear system; and finally, carrying out closed-loop control on the three-axis inertial navigation through a position loop-speed loop-current loop three closed-loop control structure. The control complexity can be reduced, and the system stability can be improved.

The application provides a miniaturized single-axis rotation modulation inertial navigation system and a rotation method thereof. The system comprises a MEMS inertial measurement unit, a direct drive servo motor, an angle encoder, a conductive slip ring, a navigation solution board, a power supply board, an external interface, a mounting part and a device shell. The rotation method comprises: controlling a rotation mechanism to perform modulation movement according to a double-position four-sequence scheme; constructing a unit vector to perform integration, simulating constant error accumulation; detecting the integral modulus of the vector at half-cycle and integral-cycle time, introducing an additional sequence when the modulus exceeds a threshold, solving the optimal stop position and stop time; and performing the additional sequence to complete adaptive compensation of the carrier angular motion disturbance. The application effectively weakens the influence of the carrier heading motion on the rotation modulation, improves the precision of long-time navigation under motion disturbance, shortens the continuous running time of the rotation mechanism compared with the existing motion isolation scheme, reduces the control complexity, and makes the system more stable.

The invention discloses an electric forklift six-phase motor driving system and a control method, and belongs to the technical field of electric forklift driving motor control systems, and the electric forklift six-phase motor driving system comprises a six-phase alternating current motor, a six-phase driving controller and a power battery. A first bridge arm, a second bridge arm and a third bridge arm of the six-phase driving controller are connected with a first winding of the six-phase alternating current motor, and a fourth bridge arm, a fifth bridge arm and a sixth bridge arm of the six-phase driving controller are connected with a second winding of the six-phase alternating current motor. The electric forklift has the advantages that the installation space problem and the control complexity of a low-voltage, large-tonnage and high-performance electric forklift are solved.

The invention belongs to the technical field of land-air amphibious unmanned aerial vehicles, and particularly relates to a driven-type land-air amphibious unmanned aerial vehicle which comprises a four-rotor unmanned aerial vehicle structure and a control module used for controlling the four-rotor unmanned aerial vehicle structure, and the four-rotor unmanned aerial vehicle structure comprises a four-rotor unmanned aerial vehicle and a connecting shaft installed on the four-rotor unmanned aerial vehicle. And driven wheels are assembled at the two ends of the connecting shaft. The driven wheel is connected to the four-rotor unmanned aerial vehicle through the carbon fiber pipe, the structure does not need additional land driving devices, the mass of the land-air amphibious unmanned aerial vehicle is reduced, the adjustment freedom degree is high, part of nonlinear factors in system dynamics can be eliminated through structure adjustment, and the control complexity is reduced; according to the structure, unified power driving devices are adopted in the land-air mode, mode switching can be rapidly carried out, carbon fiber materials are used, the safety of the unmanned aerial vehicle is improved, and the service life of the unmanned aerial vehicle is prolonged.