129 results about "Damping torque" patented technology

The invention relates to the technical field of hoisting equipment intelligent control based on multi-sensor cooperation, and discloses a hoisting equipment intelligent control method based on multi-sensor cooperation. A control unit reads and stores parameters such as air density, windward projection area, wind load arm length, arm section rotational inertia, rated output force of a hydraulic cylinder, sampling period and the like, and static self-inspection and dynamic calibration are performed on a wind speed sensor, a rotary encoder and a pressure sensor respectively; multiple paths of wind speeds are collected in parallel during operation, fused wind speeds are obtained through weighted fusion after abnormities are removed, and the wind load torque is calculated and limited by combining the windward area and the force arm length; reading two continuous encoder angle differences, performing amplitude limiting, calculating an angular velocity and kinetic energy, performing adaptive adjustment according to kinetic energy deviation, and performing amplitude limiting on a damping coefficient to generate a damping torque; and the amplitude-limited wind load torque and damping torque are synthesized into total control torque, and after amplitude limiting, the total control torque is converted into amplitude-limiting hydraulic cylinder operation output force which is issued and executed by a control unit.

The invention relates to the technical field of robot control, and discloses a robot multi-mechanical-arm cooperative anti-collision control method and system.The method comprises the steps that a three-dimensional Cartesian global reference coordinate system with a kinematics pivot point as an original point is established, inner and outer side operation domains are divided, and outer side virtual nodes are defined; a virtual safety monitoring section is constructed in an outer side driving domain, a dynamic rejection light spot is generated, and collision early warning is generated through position and trend composite judgment; mapping the virtual repulsive force into equivalent joint damping torque, and superposing the equivalent joint damping torque to a current control ring of the servo driver; by means of kinematics reverse deduction and virtual force field construction, mathematical reconstruction of the outside non-sensing blind area state is achieved on the premise that an external sensor is not needed, and external connecting rod hidden physical collision caused by'cohesion and divergence 'motion coupling of multiple mechanical arms is effectively prevented through force sense feedback of a current control ring level.

This invention provides a virtual-real fusion-based force feedback simulation control method for ship rudder control sticks, comprising: constructing a set of fluid control equations for the flow field on the rudder surface; discretizing the set of fluid control equations using a standard structured mesh to obtain a discretized set of fluid control equations; solving the discretized set of fluid control equations based on the finite difference method and boundary conditions to obtain the drag torque value of the fluid acting on the rudder plate; converting the drag torque value into a damping torque value; the control unit outputting a motor drive command based on the magnitude of the damping torque value; and the motor driver, based on the motor drive command output by the control unit, driving the force feedback simulation motor to generate a corresponding simulated damping torque value, which acts on the control stick to produce force feedback. This invention provides real-time control stick force feedback for the helmsman, allowing for direct perception of the ship's navigation status and enhancing steering stability.

The invention provides a network construction type electromagnetic scale stabilization control method and system based on a phase compensator, and relates to the technical field of phase compensators, and the method comprises the steps: obtaining the virtual damping torque of each link of a network construction converter grid-connected system; identifying a system electromagnetic oscillation leading link based on the virtual damping torque of each link; constructing a second-order lead phase compensator, and designing a controller structure of the second-order lead phase compensator; calculating a phase lag angle and a margin of the electromagnetic oscillation dominant link, and calculating a phase compensation angle of a second-order lead phase compensator according to the phase lag angle and the margin; parameters of a second-order lead phase compensator are set according to the phase compensation angle, and net-building type electromagnetic scale stabilization control is carried out based on the second-order lead phase compensator after parameter setting and an electromagnetic oscillation leading link; the electromagnetic oscillation problem in traditional control is solved, and the electromagnetic oscillation stability of the system is improved.

The invention provides a stability interaction analysis method for parallel connection of a grid-following converter and a grid-constructing converter. The method comprises the following steps: establishing a first grid-connected simulation model when the grid-following converter and the grid-constructing converter are connected in parallel; establishing a second grid-connected simulation model when the first grid-connected simulation model is connected to the alternating current system; based on the second grid-connected simulation model, establishing a damping torque model during grid connection of the grid-constructing converter and the grid-following converter; based on the damping torque model, constructing an interaction analytic expression between a network-constructing type converter and a network-following type converter, wherein the interaction analytic expression is related to control parameters; the control parameters are used for compensating the disturbance quantity in the power grid. The invention provides a mechanism for quantitatively analyzing interaction between network construction equipment and network following equipment.

The invention discloses a magnetic pole rotating type electromagnetic damping shimmy damper for a nose landing gear of an aircraft, and belongs to the technical field of vibration control of landing gears of aircrafts. The shimmy damper comprises a first stator disc and a second stator disc which are symmetrically arranged, a rotor disc, a plurality of pairs of permanent magnetic poles, a rotating shaft, a top cover, a base and a bearing. The rotor disc is in interference fit with the rotating shaft through the central square hole, the magnetic poles are circumferentially, uniformly and fixedly arranged on two sides of the rotor disc, and the magnetizing directions of the adjacent magnetic poles are opposite. An adjustable air gap is reserved between the stator disc and the magnetic pole. During working, shimmy motion of the nose landing gear is converted into rotation of the rotating shaft through the transmission mechanism, the rotor disc and the magnetic poles are driven to rotate, the stator disc cuts magnetic induction lines to generate eddy currents, damping torque is formed, kinetic energy is converted into heat energy, and efficient shimmy reduction is achieved. External power supply is not needed, the structure is compact, the weight is light, the problems of abrasion and maintenance of a traditional friction or oil damper are solved, and the damper is particularly suitable for a modern aircraft landing gear system.

The invention relates to the technical field of ship mounting equipment, and discloses a modular mechanical mounting structure for a ship deck, which comprises a wharf, and a slot is formed in one side, close to a ship body, of the top of the wharf; the ship body fixing base is connected with the lower portion of a ship side boarding opening, a springboard for personnel and micro-cargo to move up and down is arranged on the ship body fixing base, and the end, away from the ship body fixing base, of the springboard extends to the position above a wharf. The positions, close to the wharf, of the two sides of the ship body fixing base are fixedly connected with hinge connecting bases used for being connected with the hinged traction device. By adding and arranging the board body swinging stabilizing mechanism, when the ship docking personnel springboard is used, the mechanism can rapidly absorb and dissipate swinging energy through reverse damping torque generated by high-viscosity damping liquid on a universal inertia swinging ball according to the phenomena of high-frequency small-amplitude swinging, flutter and structural resonance of the springboard caused by sea waves, and the swinging energy is dissipated through the reverse damping torque generated by the high-viscosity damping liquid on the universal inertia swinging ball; swaggling superposition amplification is effectively restrained, and violent shaking of the springboard is avoided.

A motor control device is used in a battery electric vehicle provided with a motor that outputs power to a drive shaft connected to an axle via a gear mechanism, and controls the motor so as to output, to the drive shaft, a torque that is the sum of a required torque and an execution damping torque obtained by multiplying a required damping torque required for damping vibration by a gain, when the absolute value of the required torque is a first value greater than or equal to 0 and less than 0, the gain is set to a predetermined value greater than 0 and less than 1.

The utility model relates to an adjustable damping structure which comprises an output shaft, a driving motor, a damping piece and an adjusting assembly. The driving motor is connected with the output shaft and is used for driving the output shaft to rotate; the damping piece is installed on the output shaft and used for generating friction with the output shaft when the output shaft rotates. The adjusting assembly comprises a spring, a rotation stopping gasket and a locking nut which are sequentially installed on the output shaft, the damping piece is arranged on the side, away from the rotation stopping gasket, of the spring, and rotation stopping tooth-shaped parts which can be meshed with each other are arranged on the surface of the rotation stopping gasket and the surface of the locking nut. Wherein the output shaft is provided with a thread matched with the locking nut. The damping torque can be adjusted in real time, operation is easy and convenient, the anti-loosening function is achieved, it can be ensured that the damping torque is output stably, and use reliability is effectively improved.

The application discloses a single-shaft active and passive mixed driving intelligent artificial knee joint structure with energy recovery function, which comprises a joint rotating module, a gear transmission module, a hydraulic damping module, a rack and a motor. The gear transmission module comprises a primary bevel gear transmission system, a secondary gear transmission system, a synchronous belt wheel transmission assembly and a transmission rack. The motor is fixed on the transmission rack. In the active stage, the motor provides an active driving torque for the knee joint through the gear transmission module and the joint rotating module. In the passive stage, the joint rotating module transmits a passive torque of the knee joint to the motor through the gear transmission module, drives the motor to rotate, so that the motor generates electricity to recover energy, and the hydraulic damping module provides a damping torque to ensure the stability of the knee joint. In various use occasions, the required damping or driving torque can be obtained, the power consumption of the motor can be reduced by recovering the passive torque of the knee joint in the passive stage, and the working endurance of the intelligent artificial limb is improved.

This invention relates to the field of wind turbine technology, specifically to a wind turbine main shaft structure. The wind turbine main shaft structure includes a hub, a transmission frame, a main shaft, a nacelle base, a main bearing, and a rear bearing. The hub and transmission frame are respectively connected to both ends of the main shaft. The nacelle base has a main bearing seat and a rear bearing seat at both ends along the axial direction of the main shaft, with the main bearing connected to the main bearing seat and the rear bearing connected to the rear bearing seat. The main shaft is rotatably connected to the nacelle base via the main bearing, and the transmission frame is rotatably connected to the nacelle base via the rear bearing. The transmission frame is used for transmission connection with the generator. This wind turbine main shaft structure reduces the weight and load of the unit components, and the segmented design of the main shaft reduces the difficulty of main shaft machining. The structural installation design of the front and rear bearings improves the rigidity of the entire transmission chain and eliminates the requirement for vibration-damping torque arms in independent shaft transmission chains.

The application provides a torque output control method and device, an electric vehicle and a medium. The torque output control method comprises the following steps: in response to energy recovery starting, identifying a current working condition; if the current working condition is identified as a target energy recovery working condition, determining a target damping torque calibration value corresponding to the target energy recovery working condition according to a preset corresponding relationship between the energy recovery working condition and the damping torque calibration value; and adjusting an energy recovery torque value output by the motor through the target damping torque calibration value. Through the torque output control method provided by the application, the energy recovery torque value output by the motor can be quickly adjusted, the vehicle body can be timely ensured to be stable, and the occurrence of the vehicle body out of control can be reduced, so as to help improve the user's riding experience.

The invention discloses a stability analysis method and system for a virtual impedance control converter. The method comprises the steps that model parameters of a to-be-analyzed converter are acquired; establishing a chimeric torque analysis model of the converter; based on the embedded torque analysis model, deriving an analytical expression of damping torque provided by each feedback loop path in the multilayer feedback loop, and performing superposition calculation to obtain the total damping torque of the grid-connected system; positioning a key path which plays a leading role on the total damping torque of the grid-connected system; and analyzing a damping torque change trend of the key path, and determining an interaction relationship between the feedback loop paths, so as to determine an action mechanism between the virtual impedance and the stability of the converter. By using the scheme of the invention, the internal action mechanism of the virtual impedance control on the stability of the converter can be deeply disclosed. Compared with a traditional method which depends on empirical parameter design, the method has the advantages that the key control loops influencing the stability can be accurately traced, and the mutual excitation or competition relationship among the loops can be quantitatively analyzed.

The application relates to the technical field of robot control, and discloses a robot multi-mechanical arm cooperative anti-collision control method and system, which comprises the following steps: a three-dimensional global reference coordinate system with a kinematic pivot point as the origin is established, an inside and outside work area is divided, and an outside virtual node is defined; a virtual safety monitoring section is constructed in the outside driving area, a dynamic repulsion spot is generated, collision early warning is generated through position and trend compound judgment; the virtual repulsion force is mapped into equivalent joint damping torque, and is superimposed into a servo driver current control loop; the application realizes mathematical reconstruction of the outside non-perception blind area state without an external sensor through kinematic reverse deduction and virtual force field construction, and effectively prevents implicit physical collision of external connecting rods caused by the 'cohesion and external dispersion' motion coupling of the multi-mechanical arms through force feedback of the current control loop level.

The invention discloses a quick clamping type clamp for aluminum alloy precision forgings, and relates to the technical field of clamps, the quick clamping type clamp comprises a positioning plate, a bottom plate and a plurality of cushion columns, the positioning plate is mounted above the bottom plate through the cushion columns, a clamping groove is formed in the positioning plate, and a plurality of clamping pins and auxiliary supporting pins are arranged in the clamping groove. A pair of hinge blocks and a pulling mechanism are arranged on the same side of the positioning plate and the bottom plate, a transmission mechanism is arranged below the positioning plate and connected between the pulling mechanism and the clamping pin, when the pressing rod is pulled, the magnetic disc rotates, induction current and damping torque are generated in the copper anvil disc, the springback speed of the pressing rod is effectively reduced, mechanical damage is avoided, and the service life of the pressing rod is prolonged. The transmission mechanism can be of a spring inhaul cable structure or a hydraulic structure, synchronous deflection of the clamping pins is achieved, the clamping force can be changed in a stepless mode by adjusting the position of a nut, and the aluminum alloy precision forge piece clamping device is rapid in clamping, safe to operate, controllable in clamping force and suitable for efficient machining of aluminum alloy precision forge pieces.

The invention provides a method and a system for analyzing electromagnetic scale dynamic damping characteristics of network construction type equipment, and relates to the technical field of network construction type converters, and the method comprises the steps: carrying out the equivalent transformation of a system energy amplitude dynamic simplified model, and building a system class damping torque model; calculating a system energy amplitude dynamic dominant oscillation mode; based on the system type damping torque model and the dynamic dominant oscillation mode, virtual damping torque contributed by each feedback loop to the system is calculated; according to the virtual damping torque, the relation between the energy amplitude dynamic state and the virtual damping characteristic is established, and therefore the energy amplitude dynamic damping characteristic of the system is judged. According to the method, the oscillation mechanism of the network construction converter under the electromagnetic scale is disclosed, a complete analysis process is provided, and theoretical support is provided for engineering application and control link optimization, so that the oscillation suppression capability and stability of the system are effectively improved.

The invention provides a stepless hovering rotating shaft based on a rubber pad friction pair, and relates to the field of machinery. The stepless hovering rotating shaft based on the rubber pad friction pair comprises a front support, a rear support, a rubber pad, a bolt, a gasket, a disc spring and a nut, the front support, the rear support, the rubber pad, the bolt, the gasket, the disc spring and the nut are fastened through the nut, the bolt sequentially penetrates through the front support, the rubber pad and the rear support, the front support is installed in a first shell, and the rear support is installed in a second shell. According to the stepless hovering rotating shaft based on the rubber pad friction pair, through the design of the rubber pad friction pair, direct contact of metal is avoided, abrasion and stick-slip phenomena are reduced, and stable and smooth damping torque is provided; stepless hovering in the true sense is achieved, and the position can be stably kept at any angle. The structure is simple, cost is low, and production and maintenance are easy; the environment adaptability is good, and the vibration resistance and the impact resistance are excellent; the service life of the product can be prolonged by replacing the rubber pad, and maintenance cost is reduced.

The invention discloses an unmanned aerial vehicle front wheel turning and shimmy-damping integrated mechanism which comprises an electric driving mechanism, a front wheel turning mechanism and a front wheel shimmy-damping mechanism. The speed reducing mechanism is provided with a high-speed shaft and a low-speed shaft, and the high-speed shaft of the speed reducing mechanism is coaxially connected with the output shaft of the electric driving mechanism; the transmission mechanism is coaxially arranged behind a low-speed shaft of the speed reducing mechanism and is in transmission connection with a buffer rotating sleeve of a front wheel of the unmanned aerial vehicle; the angle sensor is arranged on a low-speed shaft of the speed reducing mechanism and used for feeding back angle data; the controller is electrically connected with the electric driving mechanism and the angle sensor, the controller has a turning mode and an anti-swing mode, and in the turning mode, the controller controls the target rotating speed value of the electric driving mechanism in a closed-loop mode according to angle data fed back by the angle sensor; in the anti-swing mode, the target damping torque of the electric driving mechanism is controlled in a closed-loop mode according to angle data fed back by the angle sensor. The front wheel steering function of the unmanned aerial vehicle can be achieved, the anti-swing function can also be achieved, and the advantages of being high in integration degree and light in weight are further achieved.

The utility model discloses an adjustable permanent magnet damper, and belongs to the technical field of permanent magnet brakes, and the permanent magnet damper comprises a housing, main shafts which are respectively fixed at two ends of the housing, and main shafts which are rotatably connected in the housing and on two end covers and penetrate through the two end covers; the magnetic piece is arranged in the shell, corresponds to the outer side of the main shaft and is used for generating a magnetic field; the sliding sleeve axially moves in the shell; the magnetic sleeve is fixedly arranged on the inner side of the sliding sleeve and located on one side of the outer portions of the multiple magnetic parts, and the adjusting assembly is arranged on the shell and the end cover, connected with the sliding sleeve and used for driving the sliding sleeve to move and adjusting the length of the magnetic sleeve covering the outer sides of the magnetic parts. According to the adjustable permanent magnet damper, the position of the sliding sleeve is changed through the adjusting assembly, and then the length of the part, covering the outer side of the magnetic piece, of the magnetic sleeve is adjusted, so that stepless adjustment from the minimum damping torque to the maximum damping torque can be achieved, and various requirements for torque under different working conditions are met.

The invention discloses a hand-assisted control method for a side-opening door of an electric vehicle. The hand-assisted control method is suitable for an electric side-opening door or a vertical hinged door of the vehicle. The system comprises a driving motor, a high-resolution magnetic resistance sensor and a controller, and the magnetic resistance sensor is installed at the tail end of an output shaft of a motor rotor, right faces a radial magnetizing permanent magnet and outputs angle signals in real time; the vehicle door opening and closing angle d is calculated through the controller on the basis of the signal and the reduction ratio, and the angular speed W is calculated through the second-order central difference method at the sampling frequency larger than or equal to 8 kHz; when Wgt; when W0 is larger than or equal to delta t and the duration time is larger than or equal to delta t, the motion direction is judged according to a W symbol, and target torque is generated according to a segmented power-assisted curve: the middle stroke T1 is in direct proportion to W, the tail stroke (d is smaller than or equal to 0.1 dmax or d is larger than or equal to 0.9 dmax) T1 is linearly attenuated to zero, reverse damping torque in direct proportion to W is superposed to achieve buffering, and when Wlt is larger than or equal to delta t within 50-100 continuous periods, Wt is larger than or equal to delta t within 50-100 continuous periods; when Wmin is detected, static is judged and power assisting is stopped, IMU is not needed, the structure is simplified, response is sensitive, operation is stable and quiet, and the user experience is remarkably improved.

This invention provides a variable damping magnetohydrodynamic coupler for marine generator sets and its control method, comprising a housing, an input shaft, an output shaft, an excitation assembly, a control unit, a piezoelectric element assembly, and an auxiliary sensing assembly. A damping cavity is provided within the housing. The excitation assembly includes a magnetorheological fluid, an excitation coil, and a magnetic ring. The magnetorheological fluid fills the damping cavity, and the excitation coil adjusts the magnetic field of the magnetic ring through the excitation current to control the damping torque of the magnetorheological fluid. Based on the controllable viscosity of the magnetorheological fluid, the damping torque can be continuously adjusted over a wide range of 50~500 Nm by adjusting the excitation current to change the magnetic field strength, dynamically adapting to complex operating conditions such as shipboard turbulence and sudden load changes. Combined with the micro-compensation function of the piezoelectric element assembly, the coaxiality accuracy of the shaft system is improved to ±0.002 mm, and the resonance risk caused by over-compensation under high-speed conditions is avoided through a speed correction coefficient.

The invention discloses a force feedback device based on a direct drive motor and a magnetic powder damper and a control method and a control system of the force feedback device, and relates to the technical field of driving simulation. The device comprises a rotary adjusting support, a servo motor, an angle sensor, the magnetic powder damper, a steering column and a PLC which are coaxially arranged; the rotary adjusting support simulates a real cockpit structure and supports the whole device. The angle sensor detects the angle and the angular speed of a steering wheel, and the PLC calculates the needed torque based on the vehicle speed, steering wheel parameters and empirical coefficients and controls the servo motor and the magnetic powder damper to work. The servo motor is used for simulating and generating aligning torque and assisting torque according to the control of the PLC, the magnetic powder damper is controlled to simulate and generate damping torque, and the torque is fed back to a steering wheel through the steering column. According to the scheme, through component division and precise control, the simulation authenticity and response speed are improved, and the method is suitable for driving training, vehicle simulation testing and other scenes.

The application discloses a kind of drive motor speed control system and its design method, new energy vehicle.Drive motor speed control system includes load observer, speed regulator, damping torque unit, motor torque synthesis unit;Load observer is used to obtain estimated load and estimated speed in real time;Speed regulator is used to receive motor target speed and feedback speed, and according to motor target speed and feedback speed, the output torque of speed regulator is calculated;Damping torque unit is used to receive feedback speed, and according to feedback speed, damping torque is calculated;Motor torque synthesis unit is used to receive estimated load, the output torque of speed regulator and damping torque, and according to estimated load, the output torque of speed regulator and damping torque, motor target torque is calculated;Wherein, feedback speed includes estimated speed or the running speed in the mechanical movement process of drive motor.Implementation improves the anti-interference and robustness of drive motor speed control in the process of vehicle gear shifting.

The invention relates to the technical field of engineering machinery, in particular to a torsional vibration simulation method for a shaft system of a hydraulic excavator loaded with a TCP (Transmission Control Protocol) spring coupling, which comprises the following steps of: analyzing and simplifying an engine shaft system structure, and establishing a forced vibration differential equation of the hydraulic excavator by combining an engine input excitation formula, coupling rigidity and a damping torque loading formula; then, a simulation model is built through MATLAB / Simulink, and then the torsional vibration condition of the hydraulic excavator shaft system is obtained through simulation. According to the method, shafting torsional vibration knowledge in the automobile field is used for reference, the blank of hydraulic excavator shafting torsional vibration simulation is filled, the hydraulic excavator shafting torsional vibration condition is researched through the simulation method, the working reliability of a hydraulic excavator is improved, guidance is provided for the torsional vibration test of the hydraulic excavator, and the test efficiency is improved. And unnecessary waste of manpower, material resources and financial resources is avoided.

The embodiment of the invention provides a control method and system for steering of a storage vehicle based on a handle, and belongs to the technical field of storage vehicles. The control method comprises the steps that zero position calibration is conducted on a handle and a driving wheel of the storage vehicle; acquiring a mechanical steering angle of the handle and a rotating angle of the driving wheel; judging whether the mechanical steering angle of the handle is consistent with the rotation angle of the driving wheel or not; and when it is judged that the mechanical steering angle of the handle is inconsistent with the rotating angle of the driving wheel, it is judged that the whole vehicle enters a fault mode, and the steering damping torque of the handle is adjusted according to the current and the mechanical steering angle of the handle. Whether the whole vehicle enters the fault mode or not can be judged by comparing the mechanical steering angle of the handle with the rotating angle of the driving wheel, and it is ensured that the steering damping torque of the handle is adjusted in time when abnormity occurs, so that the fault risk is reduced, and the steering accuracy of the storage vehicle can be improved.

The utility model belongs to the technical field of car washing machines, and particularly discloses a car washing machine brush arm mechanism which comprises a car washing brush arm, two torque arm clamping plates, a damping torque arm, a motor box assembly, a brush shaft and a car washing brush. A torque arm hollow shaft is arranged in the middle of the interior of the square pipe, and damping rubber is arranged between the periphery of the torque arm hollow shaft and the four corners of the interior of the square pipe. Through welding of staggered square pipes at the upper end and the lower end of the damping torque arm and flexible connection of damping rubber in the square pipes and a hollow shaft of the torque arm, longitudinal twisting, transverse twisting and transverse and longitudinal twisting are achieved, meanwhile, the limiting effect is achieved within a certain range, in addition, the mechanism prevents grease for maintaining a bearing from splashing to bristles, and the service life of the bearing is prolonged. And therefore, the types of parts are reduced, the mounting efficiency is improved, and the cost is reduced.

A rotary damper (1) suitable for use as a brake pedal damper with fail-safe function is provided. In the rotary damper (1) for automobile brake pedal that generates damping torque when the housing (11) rotates in the forward direction (N) relative to the rotor (12), the housing (11) is formed of thermoplastic resin, and the housing (11) is provided with a pair of radially outward protruding arms (19a, 19b) that clamp and rotate around the pedal rotation center (O) in conjunction with the brake pedal (4). In addition, the arm (19a) of the pair of arms (19a, 19b) located downstream in the forward direction (N) is provided with a curved portion (191) of constant width, and the plate (5) is supported by a support portion (192) located at a position closer to the end of the curved portion (191).

This invention relates to a film tension deformation control device for a two-step prepreg machine, comprising a film drive device, a DC brushless motor, a damping torque device, a force sensor, and a vision inspection device. The film drive device propels the film forward. The DC brushless motor is connected to the film drive device and drives the conveyor belt of the film drive device to rotate. The force sensor is sequentially connected to the DC brushless motor and the damping torque device, and is used to analyze and transmit the measured horizontal force change signal at the position of the paper feed roller in the film drive device to the DC brushless motor and the damping torque device. The damping torque device is used to adjust the damping of the film. The vision inspection device is located at the outlet end of the film drive device and is used to monitor the tension of the film. The purpose of this two-step prepreg machine film tension deformation control device is to solve the problems of prepreg wrinkling and bubbling caused by tension deformation during the production of prepreg in existing two-step equipment.

The present disclosure provides a network configuration type electromagnetic scale stabilizing control method and system based on a phase compensator, relates to the technical field of phase compensators, and comprises the following steps: obtaining virtual damping torques of each link of a network configuration converter grid-connected system; identifying a system electromagnetic oscillation dominant link based on the virtual damping torques of each link; constructing a second-order leading phase compensator and designing a controller structure thereof; calculating a phase lag angle and a margin of the electromagnetic oscillation dominant link, and calculating a phase compensation angle of the second-order leading phase compensator according to the phase lag angle and the margin; adjusting parameters of the second-order leading phase compensator according to the phase compensation angle, and performing network configuration type electromagnetic scale stabilizing control based on the second-order leading phase compensator with the adjusted parameters and the electromagnetic oscillation dominant link; and the present disclosure overcomes the electromagnetic oscillation problem in traditional control and improves the electromagnetic oscillation stability of the system.

The invention discloses a damping torque-based low-frequency oscillation suppression method for a grid-forming inverter. The method comprises the following steps of: firstly, establishing a small-signal model of a virtual synchronous machine; deriving a damping torque model based on the small signal model; an additional damping branch is introduced into the power control loop to enhance the damping torque of the system; and finally, the suppression effect of the additional damping branch on low-frequency oscillation is verified through simulation. According to the method, a damping torque method and a small signal model are combined, an additional damping branch is introduced into a power control loop, additional damping is provided under the condition that operation of an original system is not affected, and then the low-frequency oscillation phenomenon of the VSG is improved.