760 results about "Fast speed" patented technology

Disclosed is a low-precision incremental encoder-based method for ultra-low speed control of a servo system. According to the present invention, a fast speed observer in an ultra-low-speed working state is achieved, only a sampling speed and load torque in an M / T method need to be observed, and position information of an electric motor does not need to be observed, such that the structure of the observer is simplified, and calculation is simple and fast; moreover, the influence of a friction force and cogging torque on a speed change is considered, such that the speed observation precision is further improved. The fast speed observer can reduce hysteresis and measurement dead zones, such that the speed response and the speed control precision in a low-speed working state are greatly improved, the problem in a traditional observer of a large position deviation caused by nonlinear factors such as an external load is avoided, improving the stability and robustness of the system. According to the present invention, the processing of sampling measurement time at a medium-high speed and the processing of switching the observer at a low speed in the M / T method can optimize the speed measurement precision at both the medium-high speed and the ultra-low speed, and can better satisfy the requirements of apparatuses such as a radar on rotating speed control.

The invention includes a mutant Taq polymerase, which can significantly extend and amplify a target sequence where the extension conditions are time limited to as little as one second. The mutant Taq polymerase, or a biologically active fragment thereof, has one or more substitutions differing from the wild type as shown in Table I.

The invention belongs to the technical field of mechanical lifting platforms, and particularly relates to a pushing chain type synchronous lifting platform and a control method.The synchronous lifting platform is formed by combining two lifting platform bodies, and each lifting platform body comprises a pushing chain driving system and a guiding mechanism; the multi-axis virtual axis electronic gear is combined with a fuzzy reasoning library to realize synchronous accurate control of the double servo motors, and the synchronous control system has the advantages of high speed, high bearing capacity, multi-point control, high precision, low initial height, large stroke, small occupied space, no maintenance, high efficiency, energy conservation and the like.

The invention discloses an air suspension self-adaptive adjustment method and system based on road condition recognition and prediction, and belongs to the field of air suspension adjustment. S1, parameters of an air suspension are initialized; s2, predicting road condition information of a road to be driven in real time; meanwhile, identifying the road condition information of the current driving road; s3, adjusting the height, rigidity and damping of the air suspension in combination with the predicted road condition information of the road to be driven and the identified road condition information of the current driving road; and S4, circularly executing the steps S2 to S3. By the adoption of the air suspension self-adaptive adjusting method and system based on road condition recognition and prediction, the height, rigidity and damping of the air suspension can be automatically adjusted according to the current road condition and the road condition of the road to be driven, the driving comfort and the driving stability of the vehicle are improved, and therefore the vehicle and passengers are protected; the system has the advantages of being high in universality and flexibility, low in maintenance cost, high in response speed, high in driving comfort and stability and the like.

The utility model relates to a circuit breaker, including a base, a partition, an upper cover, an operating mechanism, an electromagnetic system and a leakage tripping mechanism, wherein the leakage tripping mechanism includes a leakage tripping device, the operating mechanism includes a handle, an L-pole contact seat, an L-pole moving contact arranged on the L-pole contact seat, an N-pole contact seat, an N-pole moving contact arranged on the N-pole contact seat, a lock and a tripping lock, in a closed state, a tripping rod extends out of an installation space, and when tripping, the lock rotates the tripping rod under the action of the electromagnetic system to retract the installation space, and the leakage tripping mechanism also includes a pull rod, the pull rod includes a fixed arm, a swing arm and a leakage pushing arm that are integrally formed or fixedly connected, and the fixed arm is connected to the lock. By adopting the above technical solution, the utility model provides a circuit breaker with a reasonable structural layout, flexible and smooth lock action, fast tripping speed, and a simple transmission structure between the leakage tripping device and the lock, good stability, and fast transmission.

The utility model relates to a handcart type switching device for power supply or distribution, in particular to a circuit breaker. The circuit breaker comprises a fixed base, a mechanism box and a three-phase solid-sealed polar pole are arranged on the fixed base, an opening and closing mechanism for driving the three-phase solid-sealed polar pole to conduct opening and closing is arranged in the mechanism box, and the opening and closing mechanism comprises an electromagnetic mechanism and a permanent magnet maintaining mechanism which are integrated in the mechanism box and used for driving the closing action. An output shaft is arranged on a movable iron core of the electromagnetic mechanism, the permanent magnet holding mechanism and the repulsive force mechanism both act on the output shaft, so that each stage in the opening and closing process can be rapidly completed, the repulsive force mechanism is high in response speed, needed repulsive force can be rapidly generated, and the reliability of the opening and closing operation is improved. The permanent magnet holding force is overcome, rapid opening is realized, the opening time is shortened, and the opening speed is obviously improved.

The invention belongs to the technical field of tunnel construction detection, and discloses a high-speed rail tunnel construction undercut detection method and device and a computer program product in order to solve the problems of large workload and low data acquisition efficiency in the prior art. The laser can be directly scanned by a laser scanner without point-by-point measurement, so that the workload is reduced, and the detection efficiency is improved; meanwhile, the geometric state of the tunnel can be reflected by the three-dimensional point cloud data, and an accurate construction excavation section can be constructed during detection, so that the detection accuracy can be ensured; on the basis, the invention provides a tunnel under-excavation detection mode which is high in efficiency, low in workload and high in precision, so that the tunnel under-excavation detection method is very suitable for large-scale application and popularization.

The invention relates to a method for optimizing processing speed calculation processing during path turning based on dynamic planning by taking all moving axes in a three-dimensional space as objects in a numerical control system. The method comprises the following steps: judging whether a turning condition exists in a front-back moving instruction or not; the total turning duration T is calculated; determining the direction in which the jerk reaches the maximum value; calculating jerk in all moving axis directions; obtaining the time u of the acceleration increasing stage and the time p of the acceleration keeping unchanged stage in the turning process; calculating displacements in all moving shaft directions in the turning process; calculating the coordinates of A1; and calculating the coordinates of all the moving axes in each time period. According to the method, the device, the processor and the computer readable storage medium, the method, the device, the processor and the computer readable storage medium for calculating and processing the optimized machining speed during turning instruction implementation based on dynamic programming in a numerical control system are adopted, fastest machining during turning interpolation is achieved, the speed is high, precision is high, processing is simple, the adaptability to changes of input parameters and instruction parameters is high, and practicability is high.

A laser scribing system, comprising: a bearing mechanism (10), wherein a bearing region (111) for bearing a product (200) is formed on the surface of one side in a first direction; shaping devices (20) respectively arranged on two sides of the bearing region in a second direction, wherein at least a part of each shaping device can move relative to the bearing mechanism in the second direction so as to abut against the side surface of the product in the second direction, and the shaping devices arranged corresponding to the bearing region cooperate with each other to adjust the position of the product on the bearing region; and a flying device (30) and a flying driving device that are connected to each other, wherein the flying driving device can drive the flying device to move in a third direction, first laser can be emitted in the first direction by means of the flying device to scribe the product shaped by means of the shaping devices on the bearing mechanism, and the first direction, the second direction and the third direction intersect in pairs. Also provided is a laser scribing method. The scribing system can ensure that the position of a product before laser scribing is accurate, ensures the scribing precision, can control the flying device to fly at an extremely fast speed, has a fast scribing speed, and improves the scribing efficiency.

The embodiment of the invention provides a silicon wafer lifting method and a silicon wafer, and the method comprises the steps: completely cutting a crystal bar into silicon wafers through a cutting line, and controlling the silicon wafers to move upwards; and in the process of controlling the silicon wafer to move upwards, controlling the cutting line to alternately and circularly move in the positive and negative directions. According to the silicon wafer lifting method provided by the embodiment of the invention, the contact area of the silicon wafer clamping the cutting line is smaller by utilizing the characteristic that the wire bow of the forward and reverse routing is smaller than that of the one-way routing, so that the probability that the cutting line forms scratches on the surface of the silicon wafer in the lifting process can be reduced, the condition of wafer falling during lifting can be reduced, and the lifting efficiency of the silicon wafer is improved. The method has the advantages of fast speed increase, high surface quality of the prepared silicon wafer and small secondary damage.

The invention belongs to the technical field of traffic intelligent perception, and particularly relates to a road area traffic perception and intervention low-speed operation vehicle collision early warning system and method, and the system comprises a data collection module, a data transmission module, a data processing module, a collision risk judgment module and an early warning information issuing module. Data used by the method are collected data of millimeter wave radar and camera detection equipment installed on a movable device, the method is convenient and rapid to use, real-time radar data is adopted, the method has the characteristics of high detection precision and high detection speed, real-time video data is adopted, the method has the characteristics of light weight and low deployment cost, and the method is suitable for popularization and application. And real-time sensing of vehicle position and size information, weather information and personnel position information can be realized through the edge calculation unit. And the constructor out-of-bound early warning module can judge the position information of the constructors according to the outer contour of the construction operation area and perform early warning prompt on the constructors exceeding the construction operation area, so that the possible interference of the constructors on traffic operation is reduced.

The utility model discloses a lightweight foldable scooter, comprising a front wheel frame, a rear wheel frame and a seat frame, wherein the front wheel frame is provided with a front wheel, the rear wheel frame is provided with a rear wheel, and the seat frame is provided with a seat, the front wheel frame and the rear wheel frame are rotatably matched, the front wheel frame is composed of an arc frame arranged parallel to the front wheel and a front wheel mounting frame connected to the arc frame, the front wheel mounting frame is hingedly provided with a handle mounting frame, and a connecting bridge is provided on the side of the arc frames away from the front wheel. The technical solution provided by the utility model realizes the full-automatic folding of the scooter by driving the movement of multiple groups of connecting rod structures by an automatic push rod, and the folding speed is fast, the coordination of various components is perfect, the coordination of various connecting rod structures reduces manual operation, and the scooter can be erected after folding, which not only occupies a small space but is also convenient for towing.

The invention discloses a power plant personnel safety equipment wearing detection method based on YOLO v5. A YOLO method is combined with a monitor to standardize and supervise behaviors of workers in a power plant. The YOLO network is a neural network based on a convolutional neural network, the network is high in real-time performance and high in detection speed, the whole image is divided into grids for one-time target detection, the complex process of multiple times of convolution is avoided, efficient target detection is achieved, and the method is suitable for application needing real-time target detection. According to the method, the detection precision of safety equipment and constructors who do not wear the safety equipment can be effectively improved; meanwhile, response is made at the fastest speed, and the detection requirement for the wearing condition of the safety equipment under the complex condition of a power plant can be met; the safety of power plant workers is effectively protected, and warning for illegal behaviors is given in time; the manual inspection cost is reduced, and the equipment maintenance cost is reduced; and normal production and operation of a power plant are ensured.

The invention aims to provide a virtual simulation method of a diesel engine movement mechanism considering rotation speed fluctuation. The method comprises the following steps: acquiring structure and material parameters of a valve mechanism, acquiring contact parameters of the valve mechanism, acquiring cam lift data, acquiring rigidity damping parameters and structure parameters of a gear transmission system, and acquiring cylinder pressure data. The output torque of a gas distribution unit, the angular acceleration of a cam shaft and the angular acceleration and torque of each gear are predicted respectively, the load torque state is judged, the crankshaft rotation angular acceleration is predicted, and the crankshaft dynamic angular velocity and the angular velocity fluctuation quantity are calculated. All motion mechanisms of the diesel engine are included, all kinetic parameters of the motion mechanisms of the diesel engine can be predicted, and the prediction result is complete. The influence of crankshaft rotating speed fluctuation caused by the load on the kinetic parameters of the diesel engine movement mechanism is considered, and the prediction result better conforms to engineering practice. Complex mathematical theories are not needed, a common numerical method can be adopted for solving, the calculation scale is small, and the calculation speed is high.

An indoor simulation device and method for a wheel rolling on an icy and snow-covered road surface. The temperature, humidity, and the surface temperature of the test piece in the experimental chamber are respectively collected by a temperature sensor, a humidity sensor, and an infrared temperature sensing device. Then, the start and stop of the snow-making system are controlled through a control box, so as to adjust the experimental environment to meet the conditions of simulating harsh winter driving conditions such as snowfall and freezing rain. Finally, the start and stop of the wheel rolling device are carried out. The snow-making system of this device has the advantages of good refrigeration effect, fast cooling speed, and can reach -196°C. At the same time, this device can simulate the process of a wheel rolling on the road surface during actual driving, and is used to evaluate various fast, effective, and environmentally friendly snow removal methods and the anti-slip performance of the road surface after the wheel rolls on the road surface indoors.

According to the method, a fuzzy subset is set according to the required torque, the current SOC value and the difference value between the engine rotating speed and the motor rotating speed, and the torque of an ISG motor is dynamically adjusted through a fuzzy control algorithm. The fuzzy control adopts a fixed fuzzy rule, so that a Q table is established through a Q learning algorithm, the compensation torque of the ISG motor is obtained, the final output torque of the ISG motor is determined to be the sum of the output torque of the fuzzy controller and the compensation torque output by the Q learning algorithm, and the torque output by the ISG motor is determined. According to the method, the advantage of high response speed of the torque of the motor is utilized, the difference value between the required torque and the actual torque is effectively compensated, the rotating speed fluctuation of the engine caused by overlarge change of the torque of the engine is avoided, and the fuel economy and the driving operation stability are improved.

The utility model discloses a centering positioning mechanism which comprises positioning blocks arranged in pairs, the positioning blocks are arranged on a guide rail sliding block, and the guide rail sliding block is arranged on a linear guide rail. The positioning blocks are connected with a ball screw assembly, the ball screw assembly is provided with a ball screw, the ball screw is provided with a left-hand thread and a right-hand thread, and the ball screw rotates to drive the paired positioning blocks to move in the middle at the same time or move away from the middle in the reverse direction. According to the centering and positioning mechanism, the positioning blocks are arranged in pairs to clamp the steel backing, the ball screw is driven to rotate, the ball screw is provided with the left-hand thread and the right-hand thread, the two positioning blocks can be driven to move in a centering mode at the same time or move away from the middle in the reverse direction, clamping and positioning of the steel backing are achieved, the positioning precision is high, and the positioning speed is high; rigid positioning is achieved through the ball screw, and reliability is high.

The invention relates to the technical field of damping devices, in particular to a driving valve, a damping valve device, a damper, a suspension system and a vehicle. A first valve body in the driving valve is provided with a first fluid chamber, and the first fluid chamber is configured to be provided with conductive liquid; the first deformation part is connected with the first valve body, and the first deformation part covers the side, facing the overflow valve, of the first fluid cavity in a sealing mode; the magnetic mechanism is connected with the first valve body and is configured to drive the electrified conductive liquid to move towards or away from the first deformation piece, so that the first deformation piece deforms to control the overflow valve to act. The driving valve drives the conductive liquid to flow through Lorentz force, and has instantaneous response speed, so that the driving valve has the advantage of high response speed; the response speed of the driving valve is high, the first deformation piece moves towards the first valve body, and the first deformation piece can give the valve rod assembly opposite force away from the overflow valve to achieve operation such as rapid pressure relief or pressurization.

The invention discloses an electronic full-automatic lock body, and relates to the technical field of locksets, a driving structure comprises a gear motor, a motor gear and a belt convex gear which are in transmission connection, and the belt convex gear is embedded with a dead bolt shifting block and a square steel shifting piece in a sleeving manner; the overturning tongue structure comprises an overturning tongue provided with a two-way inclined surface and a fork way sliding groove; the trigger tongue structure comprises a telescopic trigger tongue and microswitches which are triggered after stretching and retracting, and the microswitches are connected to the controller; the main spring bolt structure comprises a telescopic main spring bolt, the convex gear is coaxially sleeved with a square steel shifting piece, and the main spring bolt, the lock head shifting piece and the unlocking shifting piece are arranged in a stacked mode. According to the electronic full-automatic lock body, the gear motor and the detection switch are arranged in the electronic full-automatic lock body, the functions are diversified, the lock body is small and exquisite, the overall power consumption is small, the speed is high, the unlocking force is high, and switching of two installation directions can be conveniently achieved through the rotatable overturning tongue under the condition that the inclined tongue is not detached or replaced.

The invention discloses a voltage conversion rate adjusting circuit suitable for an intelligent high-side switch, and the circuit is characterized in that when an IN enable signal is at a high level, an INV inversion signal is at a low level, a pull-up branch is switched on, a pull-down branch is switched off, the size of a pull-up current is adjusted according to the copy proportion of a current mirror in the pull-up branch and a feedback signal, and the voltage conversion rate is adjusted. The switching-on conversion rate of the intelligent high-side switch is changed; when the IN enable signal is at a low level, the INV inversion signal is at a high level, the pull-up branch is switched off, the pull-down branch is switched on, the size of the pull-down current is adjusted according to the copy proportion of the current mirror in the pull-down branch and the feedback signal, and the switching-off conversion rate of the intelligent high-side switch is changed. The conversion rate of the intelligent high-side switch can be regulated and controlled, the operation speed is high, and the power consumption and the area are superior to those of a traditional conversion rate adjusting circuit structure.

The invention discloses a sandwich machine and a production process for sandwich nori production, and relates to the technical field of nori processing equipment. The device comprises a mounting frame, a baking box, a conveying assembly and a sandwich assembly, a conveying belt rotates to drive a pushing block to move, the pushing block moves to push a supporting plate to move, when a rotating baffle moves and passes through the bottom end of a sandwich guide plate, the guide plate baffle rotates, nori pieces on the inclined face of the sandwich guide plate slide down, and one end of each sliding nori piece makes contact with the rotating baffle; when the supporting plate moves and drives the rotating baffle to move, the sliding sea sedge pieces gradually fall on the sea sedge pieces on the top surface of the supporting plate, and sandwich sea sedge is formed; according to the technical scheme, the sea sedge pieces which are not scattered gradually slide to the top surfaces of the sea sedge pieces which are completely scattered, so that the situation that the sea sedge pieces are relatively high in placement speed, drive air to flow to fan scattered sandwich materials and pollute the processing environment is avoided, meanwhile, the quality of the sandwich materials is kept unchanged, and the accuracy of sandwich work is improved.

The present application relates to a kind of narrow body vehicle balance control method based on control moment gyro, belong to narrow body vehicle active roll control system field.The dynamics equation of control moment gyro is established, the active roll dynamics model of narrow body vehicle is calculated to obtain the roll angle error and roll angular velocity error of vehicle, then the active roll controller is designed using sliding mode control method to control the roll angle error and roll angular velocity error, and the rotational angular velocity of control moment gyro frame is obtained;Finally, the control moment gyro on narrow body vehicle is adjusted in real time, and vehicle balance is realized.The vehicle roll scheme in the present application uses control moment gyro device, with high control precision, fast response speed, and independent of suspension system, can realize greater balance torque.By controlling the frame angular velocity of control moment gyro, the dynamic balance of narrow body vehicle when steering can be realized, to assist the safe steering of driver.

The invention discloses a vehicle control method, a computer readable storage medium, a controller and a vehicle, and the vehicle control method comprises the steps that when it is determined that the vehicle is in a floating state, a load module in the vehicle is controlled to move, so that the vehicle is adjusted to a second posture from a first posture. According to the vehicle control method, when it is determined that the vehicle is in the floating state, the load module in the vehicle is controlled to move, the gravity center of the whole vehicle is adjusted, control over the floating posture of the vehicle is achieved, and the vehicle control method has the advantages of being high in leveling speed, low in cost, good in platform expansibility, high in engineering application and low in matching work amount.

The invention discloses an electronic wedge brake system of a sprung actuator. An angle module part, a vibration reduction system, an electronic wedge brake system, a wheel unit and a steering system are integrated. The system executes braking work completely through a mechanical and electrical integration device, compared with an electro-hydraulic braking system, a hydraulic pipeline device is omitted, and the system has the advantages of being few in structural parts and high in response speed; compared with an existing electronic mechanical braking system, the scheme of the sprung actuator is adopted in the system, the braking execution motor and the planetary gear reducer are installed on the angle module supporting arm, braking torque is transmitted to the electronic wedge-shaped braking device through the universal transmission device, and the electronic wedge-shaped braking device is made to complete service braking work. And meanwhile, the electronic wedge-shaped braking device is arranged on the virtual main pin axis, and the problem that braking torque transmission is unstable under the steering working condition can be effectively solved. According to the system, unsprung mass can be effectively reduced, the driving operation stability is improved, the wheel side space is saved, and the arrangement problem of all systems of a distributed driving wheel side is solved.

The invention relates to a three-channel loading station and method with loading capacity exceeding ten thousand tons per hour, which comprises a steel structure frame, a first channel, a second channel and a third channel, and a transition chute is arranged between a surge bin and a discharge chute of the third channel. One-time weighing of the quantitative bins of the first channel and the second channel is a large part of a carriage, one-time weighing of the quantitative bin of the third channel is a small part of the carriage, and at least one-time weighing of the quantitative bin of the third channel can be contained in the transition chute. The three buffer bins, the quantitative bin discharging chutes and the transition chute specially arranged on the third channel are utilized, the efficient loading requirement of the heavy-load train exceeding ten thousand tons is met in a three-channel alternate operation mode, the loading capacity reaches 10,000-13,000 t / h, the loading speed ranges from 1.5 km / h to 2 km / h, and whole-column loading of the heavy-load train of 30 thousand tons can be completed within about 2 hours. The loading speed is high, the loading capacity is large, the adaptive capacity is high, the transportation efficiency is remarkably improved, and the logistics cost is reduced.

The utility model provides a hydraulic control two-wheel belt sander and a polishing system, which comprises a driving mechanism, a hydraulic control mechanism and a belt sander, the polishing mechanism comprises abutting wheels and abrasive belts, the abutting wheels and the driving wheels are arranged at intervals, and the abrasive belts are arranged on the abutting wheels and the driving wheels in a sleeving mode; and the force control mechanism comprises a control assembly and an adjusting assembly, the adjusting assembly is connected to the driving mechanism and the polishing mechanism, and the control assembly comprises a force sensor, a displacement sensor and a central control module. Driving force is provided for the polishing process of the polishing mechanism through the driving mechanism, in the process, the force control mechanism can adjust the operation position of the polishing mechanism so that the polishing mechanism can keep high precision and high rigidity of polishing all the time, the force control mechanism can conduct self-adaptive adjustment on the process, and the polishing precision of the polishing mechanism is improved. Therefore, the method has the advantages of high response speed, accuracy and high efficiency. Compared with conventional grinding equipment at the present stage, the grinding equipment has the remarkable advantages in the aspects of grinding quality, the regulation and control process, the machining efficiency and the like.

The invention belongs to the technical field of engine simulation, and relates to an engine variable-dimension numerical simulation method and device, and the method comprises the steps: calculating the parameters of a contra-rotating propeller fan based on a contra-rotating propeller fan three-dimensional lift line model; determining the axial average speed of air flow at the inlet of the air inlet; determining section parameters at an inlet of the air inlet channel; calculating section parameters at an outlet of the air inlet; the air flow at the outlet of the air inlet channel is divided into two parts, one part of the air flow is distorted, the other part of the air flow is distortionless, and section parameters at the outlet of the low-pressure compressor are determined through mixing at the outlet; calculating inlet and outlet section parameters of each component according to the zero-dimensional model of each component of the engine; a balance equation is constructed according to circulation of airflow in all parts of the engine; constructing a balance equation according to the balance relation between the shaft power and the torque output by the free turbine and the power and the torque calculated by the contra-rotating propeller fan three-dimensional lift line model; the balance equation is iteratively solved to determine an initial guess value, and when iteration converges, engine performance is calculated. The method is high in simulation precision and high in speed.

The present invention belongs to the technical field of fault detection in power systems, and proposes a line selection method for single-phase grounding faults in small current grounding systems, including collecting the fundamental component and the fifth harmonic component of the zero-sequence current of each line in the small current grounding system, and obtaining its inherent modal energy through empirical mode decomposition (EMD); then, these fault characteristics are used as input, BP neural network is used for fusion processing, and the line selection result is output. The line selection method for single-phase grounding faults in small current grounding systems proposed by the present invention has the advantages of high line selection accuracy, fast speed, good reliability, etc., and can be widely used in fault detection and positioning of power systems, providing a strong guarantee for the safe operation of power systems.

The invention provides a design and application method of a sliding-mode deadbeat reaching law, and relates to the technical field of electrical engineering, and the method comprises the steps: designing a sliding-mode deadbeat reaching law SMDRL, designing a control strategy through a deadbeat control principle, defining a state change law on a sliding-mode surface through a sign function, and achieving the design of the sliding-mode deadbeat reaching law SMDRL. It is ensured that the system state converges to the sliding mode surface at the fastest speed in a control period; an improved sliding mode deadbeat reaching law ISMDRL is designed, a traditional sign function is replaced with a hyperbolic tangent function, and parameters of the hyperbolic tangent function are adjusted according to the system state; the SMDRL and the ISMDRL are applied to a speed driving system of a permanent magnet synchronous motor (PMSM), and the speed driving system comprises a PMSM mathematical model, a sliding mode speed controller with a speed disturbance observer and model prediction current control. The SMDRL is introduced from the traditional sliding mode reaching law for the first time through theoretical derivation, the convergence time of the SMDRL is the shortest, and the SMDRL is applied to a permanent magnet synchronous motor speed driving system.

The invention discloses a high-reliability quick electric firing device, which comprises a firing unit, the firing unit comprises a pull ring, a firing bin, a gas cylinder bin, a limiting unit, a first spring, a pull rod and a firing pin, one end of the firing bin is rotationally clamped and connected with the pull ring, the other end of the firing bin is connected with the gas cylinder bin, the first spring, the pull rod and the firing pin are arranged in the firing bin, one end of the pull rod is connected with the pull ring, and the other end of the pull rod is connected with the limiting unit; the two ends of the first spring abut against the firing bin and the firing pin respectively, the firing pin conducts axial movement limiting through the pull rod, the end, away from the first spring, of the firing pin is a sharp end and faces the gas cylinder bin, a limiting groove is further formed in the firing pin, and the limiting unit comprises a motor and a limiting assembly; the launching unit is detachably connected with the gas cylinder bin and comprises a gas cylinder connecting unit, a connector and a launching head, the gas cylinder connecting unit and the launching head are both detachably connected with the connector, and the gas cylinder connecting unit is further used for mounting a gas cylinder and launching the launching head when the firing pin is used for firing and puncturing the gas cylinder. Response speed is fast, safety and reliability are high, and cost is low.