55 results about "High speed control" patented technology

The invention discloses a satellite communication multi-link intelligent switching system, which relates to the technical field of satellite communication and comprises at least two satellite communication links including a main link and a standby link. The switch is connected with a satellite communication link through a physical port of the switch; and the intelligent control unit is in communication connection with the satellite communication link and the switch, monitors and analyzes the satellite communication link, and controls the switch to be switched to the standby link when detecting that the main link fails. According to the method, the judgment standard can be dynamically adjusted according to the link historical performance, and intelligent and accurate recognition of faults is achieved; and millisecond-level non-inductive switching when a communication link fails is realized by utilizing the capability of the ASIC chip of the switch for performing high-speed control on a port state, so that extreme continuity of key services is guaranteed.

The invention relates to the technical field of design optimization, in particular to a control design optimization method and system for a permanent magnet synchronous motor. The method comprises the following steps: obtaining and measuring a stator three-phase voltage value and a current value of the PMSM and a motor rotating speed in real time; constructing a d-q axis motor equivalent circuit model, and calculating an available boundary curve of the voltage of the weakening area by combining the three-phase voltage value of the stator and the rotating speed of the motor; determining a dynamic safety margin coefficient of a weakening area voltage-current working area based on the weakening area voltage available boundary curve; judging the motor rotating speed of the permanent magnet synchronous motor; by introducing voltage-current working area modeling and a dynamic safety margin coefficient, accurate current control and adaptive inverter compensation of the PMSM in a weak magnetic area are realized, and the problems of poor stability, insufficient voltage margin and incomplete compensation in traditional high-speed control are solved.

A power tool includes a trigger module, a motor unit, and a controller electrically connected to the trigger module and the motor unit. The controller stores parameter data that define a common control curve that represents a corresponding relationship between a reference pressed depth and a reference rotation speed. The controller obtains a pressing value from the trigger module, and outputs a control signal at least based on the common control curve and the pressing value to the motor unit. The common control curve has a low-speed curve segment and a high-speed curve segment. In a low speed mode, the controller outputs the control signal based on the low-speed curve segment. In a high speed mode, the controller outputs the control signal based on a high-speed control curve composed at least of the low-speed curve segment and the high-speed curve segment.

The invention provides a manipulator AWC calibration method and system based on delay compensation, and belongs to the technical field of semiconductor manufacturing equipment automation. The method comprises the steps that when the operation speed of a manipulator is low, the position of a sensor in a robot basic coordinate system is calculated; when the operation speed of the manipulator is full speed, inversely solving the radius of the wafer according to the position of the sensor in the robot basic coordinate system and the position of the manipulator when the sensor is triggered; in the process of inversely solving the radius of the wafer, constructing a delay compensation model; and delay verification is conducted on the constructed delay compensation model, when the verification result is that calibration succeeds, the high-speed control mechanical arm stretches out of the station, and the delay compensation model is adopted for deviation correction. The problem that AWC calibration precision is reduced due to signal transmission delay under the high-speed working condition is solved, and laser sensor base coordinate calibration and wafer circle center positioning errors under high-speed movement are reduced.

The application relates to a double-cavity vacuum spray type oil degassing method, device and equipment. The method comprises the following steps: turning on an oil supply channel, supplying oil to a low-speed oil cavity until a first position is reached to obtain a first feedback signal; controlling a gas mixing channel to be turned on according to the first feedback signal, mixing oil gas in the high-speed oil cavity to obtain oil gas mixed liquid; controlling an oil discharge channel to be turned on and discharging oil from the oil cavity at high speed to obtain a negative pressure signal; controlling the oil supply channel to be turned on according to the negative pressure signal, supplying oil to the oil cavity at high speed until a second position is reached and the oil temperature reaches a temperature setting value to obtain a second feedback signal; controlling a circulating degassing channel to be turned on according to the second feedback signal, separating oil gas at high speed within a second time to obtain to-be-discharged gas and a third feedback signal; and controlling a gas collecting channel to be turned on according to the third feedback signal, discharging the to-be-discharged gas into a gas collecting tank at low speed until an oil liquid surface reaches a first position of the oil liquid surface, so that oil degassing of the oil cavity is completed.

The invention discloses an LED wall washing lamp installation support, and relates to the field of lamp components, the LED wall washing lamp installation support comprises an installation support shell, the upper side and the lower side of the installation support shell are each provided with two light-transmitting grooves, glass lenses are installed in the light-transmitting grooves, a moving structure and a switching structure are arranged in the installation support shell, the installation support shell serves as a detachable carrier, and the glass lenses are installed in the glass lenses. Carrying an LED lamp source and various functional accessories; the moving structure is used for selecting a high speed or a low speed to control the displacement posture of the lamp source through manual or program setting, circularly or specifically switching upward, downward or up-and-down lamplight irradiation forms, and in a high-speed control state, generating airflow of which the suction direction and the discharge direction are not intersected on the two sides of the projection direction of the glass lens respectively; correspondingly collecting sediment bodies at the light-transmitting part and expelling suspended objects; the irradiation direction of the light source is switched in three directions, solid-state and dynamic light and shadow effects are freely switched, and therefore multiple possibilities are provided when a user designs a projection scheme.

The invention discloses a high-speed motor full-speed-domain high-precision speed measurement method based on a gear encoder, and belongs to the technical field of high-speed motor control. The method comprises the steps that a gear encoder is coaxially installed at the shaft end of a motor, integer position pulses are obtained through an enhanced orthogonal encoding pulse module, decimal position pulses are obtained through an enhanced capturing module, and rotor mechanical position pulses are calculated by combining the integer position pulses and the decimal position pulses. And calculating a single-interrupt period position pulse increment through a main interrupt program, performing multi-period accumulation, and calculating the rotating speed of the motor in real time based on an accumulation result. According to the method, through a continuous interruption accumulation algorithm, integer and decimal position pulse information is fully utilized, truncation errors and random errors in a traditional pulse measurement method and a time measurement method are effectively reduced, high-precision and fast-response speed measurement of the high-speed motor in the full-speed domain range is achieved, and the method is suitable for a high-speed control system with the speed of more than 60000 revolutions per minute and has a wide application prospect. The system has the advantages of simple structure, strong anti-interference capability and low software and hardware overhead.

An operating command indicating a requested vessel direction and plotting a course represented by a reference line for the requested vessel direction from an initial position is registered. It is then monitored if the vessel has deviated from the reference line and if a deviation from the reference line is detected, then a value for current vessel speed is detected. The detected vessel speed value is compared to a predetermined reference speed value to determine if the current vessel speed value is within a high speed interval or a low speed interval relative to the reference speed value. Depending on the determined speed interval the vessel is controlled according a low speed control strategy; or a high speed control strategy in order to move the vessel from a current vessel heading to the reference line and the requested vessel direction.

The application discloses a dry-type hollow shunt reactor overvoltage protection device and belongs to the technical field of overvoltage protection of power transmission and transformation equipment. When system operation overvoltage occurs, the frequency absorption unit can reduce the oscillation frequency of overvoltage, slow down the rising front of overvoltage, solve the damage of high-frequency components to the reactor winding, and inhibit the overvoltage peak value. When the frequency absorption unit cannot inhibit the overvoltage peak value, the overvoltage absorption unit plays a role in limiting the overvoltage peak value, and the insulation level of the reactor is enhanced. Through the application of the voltage monitoring and conversion unit, when the reactor is normally operated or the overvoltage is lower than the operation threshold value, the high-speed control switch is turned on, the explosion-proof separation unit is short-circuited and bypassed, and the frequency inhibition absorption unit and the overvoltage absorption unit bear the main protection task. When the monitored voltage exceeds the set threshold value or the absorption unit fails or is subjected to thermal breakdown, the high-speed control switch is turned off, the explosion-proof separation unit is connected to the circuit, the faulty unit is timely removed, and the fault expansion is prevented.

[Problem] To improve user convenience. [Solution] A configuration is adopted in which a compressed high-pressure gas is used and the use of a pump is eliminated in all of an operation of spraying a compressed high-pressure gas, an operation of spraying a gas-liquid mixture, and an operation of exhausting an excess gas component, thereby achieving small size and portability. Since all operations are performed with the high-pressure gas, it is necessary to suppress the consumption of compressed gas. Thus, a flow channel valve is controlled at high speed by a pulse width modulation (PWM) signal to suppress the consumption of compressed gas. It is also effective to maximize the cleaning effect to suppress the consumption of compressed gas. Accordingly, the nozzle structure for spraying is composed of a Laval nozzle capable not only of simply ejecting fluid at high speed but also ejecting fluid at high flow velocities from subsonic to supersonic speeds.

The invention provides a method and a system for dynamically adjusting the size of a UDP (User Datagram Protocol) packet, and relates to the technical field of data processing. The method comprises the following steps: firstly, selecting the minimum packaging time corresponding to a first controller (a high-speed controller), and limiting the target packaging time of a second controller (a low-speed controller) to be less than the minimum packaging time, namely ensuring that the packaging time of the second controller (the low-speed controller) is always shorter than the fastest packaging time of the first controller (the high-speed controller). And reversely deducing the UDP packet size of the second controller according to the target packaging time and the traffic data of the second controller, so that the packaging time of the second controller can be forced to be less than the minimum packaging time of the first controller by dynamically allocating the UDP packet size of the second controller, and the packaging efficiency of the second controller is improved. The data packet collected by the low-speed controller can be sent to the storage domain controller before or in synchronization with the data packet of the high-speed controller, so that the receiving end is ensured to store data according to the time sequence, and the disorder of the timestamp sequence is avoided.

To improve work efficiency in excavation work, and to prevent an operator from feeling discomfort in the behavior of a work machine.SOLUTION: A system according to the present disclosure includes an operation member and a controller. The operation member is operable by an operator of the work machine. The controller determines whether the work machine is performing an excavation work. When it is determined that the work machine is performing excavation work, the controller executes high rotation speed control for increasing the rotation speed of the power source. The controller determines whether the work machine has ended the excavation work. The controller cancels the high rotation speed control when it is determined that the work machine has finished the excavation work. Even when it is determined that the work machine is performing excavation work, the controller cancels the high rotation speed control when a predetermined operation is performed by the operation member.SELECTED DRAWING: Figure 4

The invention belongs to the technical field of battery management systems, and particularly relates to a multi-series-parallel battery module anomaly detection method, which is characterized in that a micro artificial intelligence coprocessor is embedded in each battery module, and is integrated with a voltage sampling unit and a temperature sampling unit; the method comprises the following steps: synchronously acquiring voltage and temperature data of each battery cell in a module according to a preset sampling period of 1 millisecond, and carrying out moving average filtering and outlier elimination preprocessing on the acquired original data; a miniature artificial intelligence coprocessor is embedded into each battery module, and a lightweight long-short-term memory network model is deployed, so that localized real-time initial judgment of abnormal signals is realized, and data processing and transmission delay is remarkably reduced; through a cascade confirmation mechanism constructed by a local area network flexible data rate bus based on a high-speed controller, a plurality of modules can rapidly and cooperatively verify abnormity, real faults and instantaneous interference are effectively distinguished, and the false alarm rate and the missed detection risk of the system are greatly reduced.

The invention belongs to the field of sensorless operation control, and particularly relates to a double three-phase permanent magnet synchronous motor sensorless operation control method, which comprises medium-low speed control and medium-high speed control, the medium-low speed control comprises a high-frequency signal injection method, and the medium-high speed control comprises a sliding mode observer method. The transition interval adopts a weighting function for calculating a weight coefficient based on a cosine function for transition; the high-frequency signal injection method comprises the steps that pulsating high-frequency sinusoidal voltage is injected into the stator, high-frequency components in induced current are modulated through rotor salient polarity, zero and low-speed control is achieved, a phase discriminator structure is reconstructed to eliminate 180-degree position deviation during inversion, and a feed-forward loop is designed to suppress direct-current offset errors of acceleration and deceleration working conditions. The sliding mode observer method comprises the steps of extracting rotor position information through back electromotive force observation, combining smooth output of a phase-locked loop PLL, fusing disturbance suppression capability of an ESO (extended state observer) and noise robustness of the phase-locked loop PLL, and reducing position tracking lag when the rotating speed suddenly changes.

The invention relates to the field of high-voltage power transmission and transformation, and discloses a high-speed control valve of a hydraulic operating mechanism, which comprises a threaded sleeve, a spring A, a sealing sleeve A, a valve core A, a valve body, a valve sleeve, a valve core B, a spring B, a sealing sleeve B, a steel ball, a spring C, a valve needle and a pressing plate, the sealing sleeve A, the valve sleeve and the sealing sleeve B are sequentially connected in series and penetrate through the interior of the valve body, the sealing sleeve B is pressed and positioned in the valve body through a pressing plate, and the sealing sleeve A is pressed and positioned in the valve body through a threaded sleeve; the valve element A is installed in the sealing sleeve A in a penetrating mode, the valve element B is installed in the sealing sleeve B in a penetrating mode, and the valve needle is installed in an inner hole of the valve element B in a penetrating mode and arranged in the sealing sleeve B. The invention has the following advantages and effects: the technical problems of shortening the opening time and realizing one-cycle breaking of the existing ultra-high voltage class circuit breaker can be solved, so as to achieve the purpose of cutting off the short-circuit fault of the power grid as soon as possible, and avoid serious personal and equipment accidents caused by overlong short-circuit fault time.

This invention discloses a switching time-modulated harmonic direction finding device and method, belonging to the field of radio frequency signal direction finding technology. It includes a radio frequency switching unit, a control unit, an ADC acquisition module, and a digital processing module. The radio frequency switching unit achieves signal time modulation through periodic switching of PIN diodes, coupled with a compensation network to optimize impedance matching and isolation performance. The control unit uses a high-speed comparator to output a stable, high-speed control signal. The ADC acquisition module performs analog-to-digital conversion. The digital processing module recovers the equivalent direction finding signal using a signal recovery algorithm based on the time-modulated sequence and estimates the direction of arrival based on a multiple signal classification algorithm (MUSIC). The method includes signal modulation, analog-to-digital conversion, equivalent signal recovery, and direction estimation steps. This invention eliminates the need for high-precision phase shifters and multi-channel parallel complete receiving links, simplifying the system structure and reducing hardware costs while retaining array direction finding capabilities. It is suitable for radar, communication, and other scenarios, balancing hardware simplification and direction finding accuracy.

The application discloses a kind of self-adapting mechanical arm grabbing method based on visual servoing, and the grabbing method includes S1, rough approach stage, obtains the point cloud and image data of work scene, carries out preliminary identification and pose estimation to target object;S2, initial trajectory planning, utilizes five Bezier curves to carry out initial trajectory planning;S3, fine servo stage, mechanical arm moves along initial trajectory planning, and adopts visual servo closed-loop control;S4, blind grabbing stage, when the end of mechanical arm approaches target object and causes partial or complete loss of visual feature, the system starts multimodal fusion control to complete grabbing.The application divides the grabbing process into four stages of rough approach, trajectory planning, fine servo and blind grabbing, and uses different control strategies for the characteristics of each stage, uses prediction filter to correct the error caused by visual delay in advance, smoothly connects low-speed vision and high-speed control, and improves dynamic grabbing precision.

The invention discloses a photovoltaic and energy storage compatible low-voltage spare power automatic switching control method and device, which is applied to a group of main and standby power supply switching systems, and comprises the following steps: utilizing an integrated hybrid inverter module at the moment of a mains supply fault, and performing dynamic buffering through an energy storage battery before an ATS physically disconnects a main power supply; compensating the difference between the power required by the load and the current photovoltaic actual output power so as to maintain the stability of the voltage and frequency of the load side; under the condition that the electric energy quality of the load side is not sensed, seamless switching from the mains supply to the photovoltaic energy storage combined power supply mode is carried out; and after the switching is completed, dynamically adjusting the discharge depth and rate of the energy storage according to the real-time illumination intensity and load change through a self-adaptive impedance matching algorithm. According to the invention, the hybrid inverter integrated with the high-speed DSP controller and the voltage source type inversion topology is arranged, so that smooth, efficient and seamless switching and cooperative power supply among the power grid, photovoltaic power, energy storage and load can be realized in the automatic switching execution process of the power grid.

The invention discloses an agricultural permanent magnet motor compound control method and system based on a phase advance observer and multi-mode switching, and the method comprises the steps: constructing a parameter adaptive quasi-resonance controller according to a mechanical motion equation and an adaptive law of a motor, taking the output of the parameter adaptive quasi-resonance controller as the q-axis reference current of the motor, and obtaining a low-speed controller; based on a mechanical motion equation of the motor and an online parameter identification method, designing an online parameter identification maximum torque current ratio controller, namely a medium-high speed controller; an undisturbed switching method is designed by a low-speed controller and a medium-high-speed controller; and the output of the phase-lead super-spiral observer is obtained based on the first-layer phase-lead super-spiral observer and the second-layer phase-lead super-spiral observer, the output is compensated to the synthesis controller to obtain a composite controller, and the composite controller acts on the permanent magnet motor by generating a reference current instruction so as to control the rotating speed of the agricultural permanent magnet motor. According to the invention, the inhibition capability of the agricultural motor on periodic and non-periodic disturbance during full-speed domain operation is obviously enhanced.

To provide a quantum operation system and an inter-device synchronization control method for supplying a synchronization signal with high accuracy for controlling quantum operation at high speed.SOLUTION: The quantum operation system is provided with a quantum device for executing a quantum operation, a plurality of instrumentation devices for transmitting a control signal for executing the quantum operation to the quantum device, and a synchronous trigger distribution device for transmitting a second trigger signal instructing transmission of the control signal to at least one of the plurality of instrumentation devices on the basis of a first trigger signal indicating timing. The synchronous trigger distribution device is provided with a control sequence table for specifying a predetermined instrumentation device to output the second trigger signal among the plurality of instrumentation devices on the basis of the first trigger signal, and a delay time table for specifying a delay time corresponding to each of the plurality of instrumentation devices, and outputs a second trigger signal to the instrumentation device specified based on the control sequence table at a timing based on the delay time specified based on the delay time table.SELECTED DRAWING: Figure 1

The invention discloses a four-rotor anti-rolling lifting hook of a marine crane and a control device and a control method of the four-rotor anti-rolling lifting hook, and belongs to the technical field of ocean engineering equipment. Aiming at the problems of insufficient multi-degree-of-freedom control capability, low thrust distribution precision, slow dynamic response and the like of the existing stabilization device, the invention provides a square lifting hook body, four independent rotor wing units are symmetrically mounted at four corners of the square lifting hook body, and the thrust directions of rotor wings are in the radial direction of a lifting hook and are opposite to the rotating directions of the rotor wings; and efficient stabilization is realized by combining multi-sensor fusion and a dynamic thrust distribution mechanism. The control device is integrated with a PLC, a servo driver, an inertial measurement unit and an encoder, and a high-speed control network is constructed through Ethernet and wireless communication; the control method is based on real-time displacement, speed and load mass of a lifting hook, target thrust is generated through a proportional-differential algorithm and converted into independent instructions of all rotors through a radial thrust distribution matrix, and torque balance is optimized in combination with a pseudo-inverse method. In addition, a mass compensation model is introduced to dynamically correct a thrust coefficient, and nonlinear errors caused by load changes are inhibited. The device has the advantages of compact structure, high response speed, strong anti-interference capability and the like, and the stability and the operation safety of the lifting hook under the complex sea condition are remarkably improved.

This invention relates to a silicon MOS quantum bit device and its fabrication method. The silicon MOS quantum bit device employs a dual-layer gate architecture combining a polysilicon global gate and a metal local gate: the first layer is a polysilicon global gate, covering most of the active region of the quantum dot, enabling potential shielding and static coarse tuning; the second layer is a localized metal fine gate, with each metal gate electrode corresponding to a single quantum dot, enabling near-field fine tuning and high-speed gating. The combination of the polysilicon global gate and the metal local gate can reduce charge noise and improve coherence time while achieving precise and high-speed control of the quantum dot. The disclosed method is based on mature CMOS process technology, suitable for reproducible manufacturing on large-size wafers, and can significantly improve the proportion of usable quantum bits and device yield.

The present application relates to the technical field of automatic control of chemical separation equipment, and particularly relates to an automatic control method for a high-cycle batch four-bromine bisphenol A centrifugal separation process. Data in a feed pipe is collected, corresponding control signals are output until filter cake load feedback data reaches a set threshold value; feed parameters are collected, a dynamic dewatering control algorithm is used to control mother liquor turbidity to be lower than a set threshold value; material liquid temperature and mother liquor turbidity data are collected, two control signals are formed by an intelligent spraying control algorithm, and are output to two gradient spraying pumps; a constant maximum speed control signal is output to a centrifuge main motor driver, filter cake humidity feedback is collected, and when humidity feedback data reaches a set drying target value, a discharge instruction is output and the control process is completed. The present application collects multi-dimensional data of material state and separation effect in real time through an online sensor network, and achieves the technical effect that even if feed conditions fluctuate, the excellent stability of batch product quality can be ensured.

The application provides a fan speed regulation system and an uninterruptible power supply. The system comprises a power supply transformer, a fan, an auxiliary power supply, a speed regulation switching circuit, a controller and a speed regulation driving circuit. The first switching path of the speed regulation switching circuit is connected to the high-voltage output end of the power supply transformer and the fan when the first control path is not turned on. The second switching path is connected to the low-voltage output end of the power supply transformer and the fan when the second control path is turned on. The speed regulation driving circuit processes the high-speed initial signal and the low-speed initial signal of the fan output by the controller and outputs the high-speed control signal and the low-speed control signal to make the first and second control paths be turned on at the same time, be turned off at the same time or make the first control path be turned on and the second control path be turned off. The auxiliary power supply is used to supply power to the controller, the first and second control paths. The above structure not only prevents the short circuit of the power supply transformer, but also enables the fan to run at full speed when the auxiliary power supply is powered off, thereby ensuring the safe and stable operation of the uninterruptible power supply.

The reusable on-orbit charging circuit for the small aircraft comprises a power supply input interface, a power conversion circuit, a control circuit and an external output power supply interface, the control circuit comprises a constant-current-to-constant-voltage double-loop control circuit, a safety protection switch and a high-speed PWM controller. According to the invention, each functional module circuit is built through hardware, so that the conversion of a power supply from high voltage to low voltage and a safety isolation function (power conversion circuit + DC / DC) are realized; a constant-current-to-constant-voltage charging function (a constant-current-to-constant-voltage double-loop control circuit) of the lithium ion storage battery pack of the small aircraft is realized; and the functions of input over-current protection, output over-voltage protection (safety protection switch + software over-voltage protection safety strategy) and output current-limiting protection (constant-current charging) are realized. The on-orbit energy supply of the small aircraft is realized, the charging safety problem of the lithium ion storage battery pack when the small aircraft is parked on a large aircraft is solved, and the device can be repeatedly used.

The utility model discloses a gas water heater controller, and relates to the technical field of control circuits. The system comprises a main control chip, a power supply circuit, an ignition feedback circuit, a valve control circuit, a data interaction circuit and a fan operation circuit, the fan operation circuit is electrically connected with the power supply circuit and the main control chip, and the fan operation circuit controls the operation power of a fan in real time according to the smoke size after receiving a driving signal of the main control chip; the fan operation circuit comprises a fan high-speed operation circuit and a fan low-speed operation circuit, the fan high-speed operation circuit is used for controlling high-speed operation of the fan, the fan low-speed operation circuit is used for controlling low-speed operation of the fan, and the fan high-speed operation circuit further comprises a fan high-speed control circuit and a fan high-speed driving circuit. By the adoption of the technical scheme, the combustion efficiency and adaptability are remarkably improved, the combustion process is optimized, energy waste is reduced, and safety is improved.

The invention relates to a broadband small-step low-stray frequency agility frequency source. The frequency source comprises a high-performance clock and local oscillation signal generation module, a phase-locked loop module, a switch frequency multiplication filtering module, a voltage presetting module and a high-speed control module, wherein the high-performance clock and local oscillation signal generation module is sequentially connected with the phase-locked loop module and the switching frequency multiplication filtering module, and the voltage presetting module is connected with the phase-locked loop module; the high-speed control module is respectively connected with the voltage presetting module, the phase-locked loop module and the switch frequency multiplication filtering module; a corresponding analog-to-digital converter is introduced into the voltage presetting module, voltage sampling, updating and correction can be carried out in time, a frequency mixer is added into the phase-locked loop module, the loop frequency dividing ratio is reduced in an in-loop frequency mixing mode, and therefore phase noise is optimized. According to the invention, no extra phase-locked loop is needed to generate the local oscillator signal, the complexity and design cost of the circuit are reduced, and miniaturization design is facilitated.

This disclosure provides a method and system for end-of-line protection control of a rear-wheel steering system for automobiles, relating to the field of rear-wheel steering technology. The method includes: acquiring the vehicle's real-time speed, the maximum high-speed rear wheel angle, and the maximum low-speed rear wheel angle; calculating the weight of the maximum low-speed angle based on the current vehicle speed and the high-speed function speed boundary; calculating the weight of the maximum high-speed angle based on the current vehicle speed and the low-speed function speed boundary; calculating the maximum rear wheel angle using the maximum high-speed angle weight, the maximum low-speed angle weight, the maximum high-speed rear wheel angle, and the maximum low-speed rear wheel angle; and limiting the output angle of the rear wheel steering angle using the maximum rear wheel angle. This disclosure only requires calibrating the lookup data for low-speed control and high-speed control to calculate the end-of-line protection angle at the transition speed, simplifying the calibration and calculation steps.

The utility model relates to the field of contactor control, in particular to a contactor control system for energy storage. Comprising a flyback power supply which supplies power to a chip through a power supply circuit, the flyback power supply is connected with a coil driving circuit through a rectification filter circuit, the chip controls the output of the coil driving circuit through a PWM pulse signal, and the chip acts on a contactor through output control; according to the utility model, based on the PWM Drive driving signal of the high-speed controller and the Boost circuit, the PWM duty ratio of closing and holding is intelligently adjusted in the closing process and the holding process, so that the voltages at the two ends of the electromagnetic coil are adjusted to realize the effects of suppressing closing collision in the closing process and optimally saving energy in the holding process; and meanwhile, falling and electromagnetic interference on an energy storage control power supply are inhibited.