344 results about "Low load" patented technology

The invention discloses a secondary frequency modulation optimization control method under a low-load working condition, relates to the technical field of power grid resource optimization, and is used for solving the problem that a control strategy under the low-load working condition is not fully considered in the prior art. The current load interval is recognized, and control parameter correction is conducted on the unit located in the low load interval; calculating a total output power reference value; carrying out calculation by adopting a self-adaptive optimization algorithm, and carrying out power fine distribution to obtain an optimal charging and discharging instruction of each energy storage unit; and the output power is adjusted in real time through double-closed-loop control. The invention further discloses a secondary frequency modulation optimization control device under the low-load working condition, electronic equipment and a computer storage medium. By dynamically correcting the control parameters of the low-load thermal power generating unit and cooperatively distributing the hybrid energy storage power in combination with the adaptive optimization algorithm, the safety and economical efficiency of the energy storage system are guaranteed.

The invention relates to an energy efficiency optimization method for a dynamic load of a central air conditioner, which comprises the following steps of: establishing a response relationship among a cold and heat source, a transmission and distribution system and end equipment, identifying a nonlinear decoupling characteristic of a cold and heat response behavior by monitoring operation deflection of each level of equipment under a low-load working condition, and defining and updating a cooling capacity response deviation threshold in real time; on the basis of the cooling capacity response deviation threshold, delay compression control is conducted on response actions of the refrigerant side and the air medium side, and by adjusting the air side response time sequence in advance, dynamic thermodynamic equilibrium is formed between refrigerant transfer delay and air medium response in advance; by establishing the response relationship among the cold and heat source, the transmission and distribution system and the end equipment and introducing a cold capacity response deviation threshold dynamic updating mechanism, nonlinear coupling mismatch in a cold and heat transmission chain can be accurately identified, so that the system is more flexible to operate under low-load and variable-load conditions, frequent start and stop or redundant operation of the cold and heat source is avoided, and the system reliability is improved. And therefore, the overall COP value of the system is remarkably increased, and unit cooling capacity consumption is reduced.

The invention discloses a high-precision transformer fault detection method and system, relates to the technical field of transformer detection, is used for solving the problems of insensitive fault characterization and delayed diagnosis under a light load condition, and judges whether to enter a load judgment mechanism or not by acquiring input side access voltage information and counting low-load accumulated duration. When entering a load discrimination mechanism, detecting the start-stop behavior of a load branch and the temperature rise trend of a winding, calculating a light load index, identifying a light load state, carrying out region division on an iron core, collecting magnetic flux density data, and calculating iron loss balance characteristics aiming at iron loss deviation which is easy to occur under a light load condition; the insulation degradation coefficient is calculated by fusing the oil temperature peak value and the dielectric loss factor, and the abnormal index is generated with the iron loss balance characteristic, so that the early warning of the early hidden fault of the transformer can be realized in a light load scene in which the traditional temperature rise and current indexes are insensitive, and the operation reliability and maintenance efficiency of the transformer in a power distribution system are improved.

The utility model relates to the technical field of anti-loosening bolts, in particular to an anti-loosening bolt for a wind driven generator, which comprises a bolt and a nut, the bolt comprises a head and a screw rod, the nut is in threaded connection with the surface of the screw rod, a sliding groove is arranged on the surface of the screw rod, and a circular ring base plate is sleeved on the surface of the screw rod. And a limiting block is fixedly connected to the inner arc surface of the circular ring base plate, the limiting block is clamped in the sliding groove, an inserting groove is formed in the surface of the circular ring base plate, and a locking mechanism is fixedly connected to the surface of the nut. The bolt and the nut can be fixed through matching of the circular ring base plate and the locking mechanism on the nut, so that connection between the bolt and the nut is firmer, the problem of bolt loosening caused by various complex working conditions such as vibration, high and low load changes and strong wind impact in the operation process of the wind driven generator can be effectively solved, and the service life of the wind driven generator is prolonged. The reliability of bolt connection is greatly improved, and stable connection of all parts of the wind driven generator is ensured.

The automobile part torsional fatigue test bench comprises a bench body, a driving mechanism is arranged at one end of the top surface of the bench body, a workpiece carrying structure is arranged at the other end of the top surface of the bench body, a force application structure is arranged at the position, close to the driving mechanism, of the top surface of the bench body, and the driving mechanism comprises a driving bin. The end, away from the force application structure, of the driving bin is fixedly connected with a servo motor, and the two sides of the middle of the interior of the driving bin are fixedly provided with a cycloidal-pin wheel speed reduction assembly and a planetary speed reduction assembly correspondingly. The driving mechanism is driven by the servo motor, a huge oil supply hydraulic system does not need to be used, the occupied area is small, the output torsion load can be switched through the cycloidal-pin wheel speed reduction assembly or the planetary speed reduction assembly, the load output through the planetary speed reduction assembly is low, constant loads can be repeatedly applied to a workpiece for a long time, and the working efficiency is improved. The output load of the cycloidal-pin wheel speed reduction assembly is high, destructive testing of the maximum load can be carried out, and two detection modes can be considered.

The utility model belongs to the technical field of automation equipment, and discloses a material conveying connection buffering device which comprises a rack, a containing piece, a connection feeding picking mechanism and a connection discharging picking mechanism, the rack is provided with a connection feeding area and a connection discharging area, and at least two conveying tables are arranged on the rack at intervals. The two opposite conveying ends of the conveying table extend to the connection feeding area and the connection discharging area correspondingly. The multiple containing pieces are arranged, and each conveying table can support the multiple containing pieces and convey the containing pieces from the connection feeding area to the connection discharging area. The connection feeding picking mechanism is movably arranged on one side of the connection feeding area and can pick up products and place the products into the containing pieces located in the connection feeding area. The connection discharging picking mechanism is movably arranged on one side of the connection discharging area and can take out products placed in the containing pieces located in the connection discharging area. According to the material conveying, connecting and buffering device, automatic operation of buffering feeding and discharging and connecting conveying can be achieved, and manpower consumption is reduced.

The invention provides a power load ordered recovery priority evaluation method and system for reducing a load rebound effect, and the method comprises the steps: carrying out the real-time monitoring of a power grid, collecting power load parameters and state parameters, and carrying out the calculation to obtain load recovery priority parameters; a dynamic punishment mechanism is introduced, power load violation behaviors are detected, and a punishment term is determined in combination with the power grid load rate and a new energy fluctuation dynamic regulation factor; dynamically distributing an optimization weight according to the current operation scene type of the power grid; constructing a power load recovery priority model according to the load recovery priority parameters in combination with the optimization weight sum and the penalty term; a power load recovery priority estimation value is obtained through the power load recovery priority model, and the priority of orderly recovery of the power load is measured; scientific and objective quantification of power load recovery priority and recovery sequence can be realized, sharp load increase can be inhibited from the source, and safe and stable recovery of a power grid can be guaranteed.

The invention discloses a sectional type variable stiffness mattress spring and a preparation method thereof and a mattress, the spring is formed by winding a wire rod with an I-shaped section, the spring body is sequentially divided into a top contact area, a middle support area and a bottom transition area along the axial direction, and the pitches and the sectional dimensions of the three areas are sequentially increased, so that the spring presents a low elastic coefficient of 0.15-0.25 N / mm under a low load of 50-200N, and the spring body has a high elasticity coefficient of 0.15-0.25 N / mm under the low load of 50-200N. And under the high load of 450 to 750N, the high elastic coefficient of 0.4 to 0.5 N / mm is shown. According to the invention, through unique material cross section, segmented variable parameter structural design and composite heat treatment and surface coating processes, excellent fitting flexibility of the mattress under low load and strong supporting performance under high load are synergistically realized, and the problem that the traditional mattress collapses when being soft and is rigid when being supported is effectively solved; and meanwhile, the advantages of high bending resistance, good durability, silence and the like are achieved.

The invention discloses an abnormality monitoring method and system for a fuel cell stack. The operation process of the fuel cell stack is divided into an open circuit stage without load access, an activation polarization stage started by a low load and a normal operation stage started by a high load in advance; the abnormity monitoring method comprises the following steps: in an open-circuit stage, collecting open-circuit voltage of a battery in real time, if the open-circuit voltage is higher than a first set value under continuous preset times, judging that the open-circuit stage is abnormal, and triggering an early warning prompt; and in the activation polarization stage, calculating the output power slope of the galvanic pile, if the power slope is smaller than a second set value within the specified time, judging that the activation polarization stage is abnormal, and processing based on a preset action. According to the technical scheme, different stages of the fuel cell stack can be monitored in a targeted manner, the fault handling efficiency is improved, and the safety and stability of stack operation are improved.

The invention provides a supercritical unit low-load deep peak regulation system and method, and relates to the field of thermal generator sets, and the supercritical unit low-load deep peak regulation system comprises an instruction analysis and pre-control module, an energy redistribution module, a combustion steady-state module, a parameter cooperation module and a state backtracking and self-gain module. According to the application, through the arranged instruction parsing and pre-control module, the power grid load instruction is parsed and converted into a set of accurate equipment action time sequence list, the instruction feature recognition unit in the instruction parsing and pre-control module performs mode recognition on the load instruction, and the strategy generation unit calls the preset strategy template according to the mode, so that the power grid load instruction is analyzed and converted into the accurate equipment action time sequence list. Action instructions which face all execution units of the whole system and are arranged in a wrong sequence on a time axis are generated, and conversion from passive response to active pre-control is achieved.

The invention provides an intelligent scheduling method, system and device based on a shunt electric power cold station and a medium, and belongs to the technical field of electric power cold stations. The cloud platform constructs a hierarchical reinforcement learning scheduling framework and generates a global scheduling target; according to the global scheduling target, a combined operation strategy of the water chilling unit frequency conversion rate, the cooling tower fan rotating speed and the valve opening degree is determined, and branch cooling capacity distribution control is achieved; establishing a mapping matrix of the power load and the cooling capacity demand, and keeping the temperature fluctuation of the low-load loop not to exceed a preset temperature threshold value; and embedding the requirements that start and stop do not exceed two times per day and the equipment load rate is maintained in a preset interval into the current scheduling strategy. According to the method, intelligent and efficient dispatching of the shunt electric power cold stations is achieved, the energy consumption cost and carbon emission are reduced while the cooling capacity distribution accuracy is improved, and the cooling capacity distribution accuracy, the operation stability and the economical efficiency are improved, and the service life of equipment is prolonged.

This invention belongs to the field of mechanical dynamics technology, and discloses an improved method, medium, and electronic device for load-bearing contact analysis of spiral bevel gears. Based on the tooth contact analysis method, the geometric parameters of the tooth surfaces of the large and small gears are obtained, a load-bearing contact analysis model of the spiral bevel gear pair is constructed, and the overall compliance matrix, overall contact compliance matrix, and local contact compliance matrix of the tooth surface are calculated. A deformation compatibility iterative equation is established, its ill-conditioned nature is analyzed, and a preprocessing matrix is ​​established to improve the deformation compatibility iterative equation. After improvement, the time-varying meshing stiffness and tooth surface load are solved. Based on the tooth surface load, the principal curvature of the tooth surface of the large and small gears is calculated using the Euler analytical method and the principal direction is determined. The contact stress is then solved using Hertz contact theory. This method improves upon the problems of traditional tooth load-bearing contact analysis methods, which suffer from low accuracy and efficiency due to the ill-conditioned nature of the contact compliance matrix under low load conditions and the reliance on numerical differences for curvature calculation.

This invention discloses a novel, low-load, high-efficiency thermoelectric decoupling heating system. The system is characterized by replacing the high-pressure bypass section with an extraction section. This extraction section extracts steam from the middle of the superheater and uses this steam to heat the secondary air or drive the induced draft fan. Compared to existing technologies, this invention, after heating the secondary air or driving the induced draft fan, returns the steam to the cold section, thus overcoming the problem of limited extraction capacity in conventional systems. It also allows for changes in the coal-to-water ratio within the boiler under low load conditions, increasing the outlet steam temperature of the superheater and reheater under low load conditions, and avoiding the widespread problem of underheating of main steam and hot reheat steam under low load conditions.

The invention discloses a 5GMEC task unloading method, system and device based on optimal time delay in the Internet of Vehicles, and relates to the technical field of 5G communication. The method comprises the following steps: firstly, calculating a local time delay required by a vehicle operation task in local operation so as to determine whether a current vehicle-mounted task can be unloaded or not; screening out an effective roadside unit set according to the load of each roadside unit; for all tasks currently processed by the effective roadside unit set, calculating corresponding MEC processing time delays; and in combination with high and low load parameters of the roadside units, differential strategy processing is implemented when the tasks are unloaded to different roadside units, the total time delay of unloading the tasks to the roadside units is calculated, and the roadside unit with the minimum total time delay is selected for unloading. According to the method, the stability of unloading link quality can be guaranteed to the maximum extent, the success probability of task unloading is improved, heavy traffic burden caused by big data in a 5G Internet of Vehicles system is relieved, and calculation delay and energy consumption of task unloading are remarkably reduced.

This invention discloses a method for testing the anti-coking performance of diesel engine oil in turbochargers. The main design concept of this invention lies in designing a full-process test based on engine operation, including high smoke conditions, low temperature and low load conditions, high temperature and high load conditions, and multiple rounds of cyclic testing to simulate the high and low temperature fluctuations of engine oil. This achieves a comprehensive assessment of the impact of engine oil performance changes on turbocharger coking. Furthermore, engine oil sampling is performed at predetermined stages to monitor relevant physicochemical properties. Further, the turbocharger is disassembled and evaluated after the test procedure, enabling an accurate evaluation of the engine oil's anti-coking performance. This facilitates the matching development of engine oils during engine development and avoids problems such as turbocharger damage and reduced power caused by using unsuitable engine oil. This invention comprehensively covers soot dispersion, high-temperature shear resistance, and temperature oscillation, providing significant guidance for the comprehensive evaluation of engine oil's anti-coking performance.

The present application relates to hydrogen production control technology field, especially in a kind of based on wind power climbing layered hydrogen production unit cut load method, comprising: by continuous descending interval, slope turning position and back up alternative position cut climbing segment, and according to descending form division climbing level, make wind power downlink process by single point power judgment into segment identification;By with the same climbing level under historical termination segment form matching, determine remaining life label, obtain the determination basis of subsequent downlink period after climbing;Again in combination with hydrogen production unit load shedding lag state and stable load boundary screening candidate cut load unit group and distribution cut load advance, avoid load shedding lag and low load out of bounds;Finally according to load shedding feedback state and dc bus power deviation correction cut load advance, form the cut load sequence of closed-loop adjustment.Therefore, the present application improves the cut load advance of wind power hydrogen production system, power balance stability and hydrogen production unit operation safety.

The application relates to a fan control method based on a compression ratio and an air energy heat pump. The fan control method comprises the following steps: controlling a fan to operate at a basic rotating speed, and calculating a current time compression ratio; acquiring a reference compression ratio of a compressor, calculating a fan target rotating speed according to the current time compression ratio and the reference compression ratio, and controlling the fan to operate according to the target rotating speed. The control method can control the fan rotating speed through a PID adjustment mode based on the change rate of the compression ratio and the reference compression ratio when the heat pump is in a partial load or low load working condition, can more accurately match the refrigeration or heating demand of the heat pump, can match the rotating speed of the fan with the actual required evaporation capacity, can control the energy consumption of the fan on the basis of improving the evaporation capacity of the evaporator, and can make the energy efficiency ratio of the system reach better optimization.

The plunger pump comprises a pump body, a high-pressure cavity, a low-pressure cavity and a pressure regulating valve, the high-pressure cavity, the low-pressure cavity and the pressure regulating valve are arranged in the pump body, a mounting part is arranged on one side of the pump body, a mounting groove is formed in the mounting part, a first flow channel and a second flow channel are formed in the side wall of the mounting groove, the first flow channel is communicated with the low-pressure cavity, and the second flow channel is communicated with the low-pressure cavity. The runner II is communicated with the high-pressure cavity; a choke plug is inserted in the mounting groove, and a first circulation groove and a second circulation groove are formed in the choke plug. A steel ball is arranged in the first circulation groove, a supporting ring is arranged in the mounting groove, a placing ring groove is formed in the position, corresponding to an inlet of the first flow channel, of the bottom of the mounting groove, a spring is placed in the placing ring groove, the spring penetrates through an inner hole of the supporting ring and extends into the first circulation groove, and the top end of the spring abuts against the steel ball. The low-load soft start circuit can realize low-load soft start.

The invention belongs to the technical field of motor equipment, particularly relates to a motor provided with a silicon nitride heat dissipation structure and a meat grinder, and aims to solve the problem that the heat dissipation capability of the current motor cannot be adaptively adjusted according to a real-time thermal load state, the following scheme is provided: the motor comprises a shell, and one side of the shell is fixedly connected with a sealing block; a tail shell is fixedly connected to the other side of the machine shell, an inner machine is arranged in the machine shell and fixedly connected with the inner ring of the sealing block, and a partition plate is fixedly connected to the side, close to the tail shell, of the inner machine. According to the motor with the silicon nitride heat dissipation structure and the meat grinder, the opening and closing degree of the heat dissipation air channel is automatically adjusted according to the actual working temperature of the motor, the defect that a traditional motor heat dissipation system cannot be adjusted in real time along with load changes is overcome, cold air entering is reduced during low load, the motor is prevented from being too cold, and the service life of the motor is prolonged. And the heat dissipation airflow is enhanced during high load, and the temperature rise is effectively controlled, so that the heat dissipation efficiency and the operation stability of the motor under different working conditions are improved.

The utility model provides a curtain wall unit transportation fixing frame, relates to the technical field of material transportation, and solves the problems of low load factor and higher transportation cost in the transportation process of large plate-shaped materials of curtain wall units. The curtain wall unit body transportation fixing frame comprises a stand column; a plurality of clamping grooves are formed in the first surface of the stand column. The bracket is clamped in the clamping groove and is used for bearing the curtain wall unit body; and the base is fixedly connected with the bottom of the stand column. According to the scheme, the load factor of large plate-shaped materials in the transportation process is increased, and the transportation cost is reduced.

The present application belongs to the technical field of fluid machinery electronic control, and relates to a pilot type electronic unloading valve, which adopts a layout form of non-contact high-pressure gas for main electronic components, effectively improves the working reliability of the electronic unloading valve, adopts an external quick plug assembly overall design type, effectively achieves quick and flexible installation, and reduces the production cost and the later operation and maintenance cost, adopts an advanced pilot type unloading mode, and realizes the high working reliability and long service life of the electronic unloading valve in principle. Only a weak current or even no current is needed, and only a weak elastic return spring is needed, so that the main unloading pipeline can be long-term normally closed, that is, the unloading valve is weak current normally closed, thereby, the low load design principle can be used to handle mechanical parts and electronic components, so that the working reliability of the unloading valve can be improved. The present application also installs the electronic unloading valve on the compressor system, effectively guarantees the working reliability of the compressor system, and can reduce the production cost.

The invention relates to the field of construction materials, in particular to a backfill material composed of mixed industrial waste applied to a low load level, the backfill material composed of the mixed industrial waste applied to the low load level comprises broken tempered glass, old plastic and waste tire rubber particles according to the volume ratio of 6: (1-1.5): (2.5-3), the water content of the backfill material is 0.7-1.2%, and the water content of the backfill material is 0.5-1.5%. And when the backfill material is dumped to the backfill area, the ground clearance of the backfill material is 1.5-2m. The backfill material composed of the mixed industrial waste materials applied to the low load level is composed of pure waste materials, the waste materials meet environmental safety, the backfill material only needs to be directly poured into a backfill area at a certain height during use, the compaction degree can be larger than 90% without being compacted, the vertical strain of a formed backfill body under the load of 6 kPa is smaller than 0.42%, and the vertical strain of the backfill body under the load of 6 kPa is smaller than 0.42%. And the method can be applied to low-load-level engineering parts such as municipal pipe gallery backfilling and park greenway lower cushion layers.

In an internal combustion engine equipped with a variable compression ratio mechanism, abnormal noises caused by combustion pressure in a specific low-load operating range are appropriately suppressed by controlling the advance angle limit of the ignition timing. [Solution] The noise suppression advance ignition limit value calculation unit 101 includes a map search unit 102, an advance ignition limit value selection unit 103, a change rate limit unit 104, a change rate limit determination unit 105, and a dummy value output unit 106. When the region determination unit 107 determines that the operating point is within the noise region, it outputs the noise suppression advance ignition limit value OPDADV via the select-low unit 110. The final ignition timing is limited to the retarded side of the MBT point by this advance ignition limit value. The map search unit 102 includes an advance ignition limit value map for each engine state label ETDST corresponding to the compression ratio. When the compression ratio is high, the ignition timing is limited to the retarded side even more.

The application discloses a layered collaborative control method for auxiliary deaerator pressure stabilization of a molten salt steam generator, builds an auxiliary optimization control layer on the original coordination control system of the unit, and forms a layered collaborative architecture of "MPC optimization decision-CCS execution tracking". The upper layer calculates and rolls over the optimal set values of the molten salt steam pressure, the deaerator pressure and the feedwater temperature in real time based on model predictive control (MPC); the lower layer realizes fast and stable tracking of the set values through three control loops of cascade-ratio control, three-impulse collaborative control and PID control embedded in CCS, and is seamlessly coordinated with the original feedwater and combustion control logic of the unit. The application effectively solves the problems of multivariable strong coupling, large response inertia and strong mode switching impact of the coal-molten salt coupling system in deep load regulation, significantly improves the load response speed, operation safety and low-load economy of the unit, and enhances the accommodation capacity of the power system to new energy.

The application relates to the technical field of power systems, and discloses an industrial park load balancing method and system for promoting new energy consumption, wherein the method comprises the following steps: inputting new energy power generation data and industrial park load data into a time sequence prediction model to obtain power consumption balance state prediction results of each subregion; calculating the load utilization rate of each subregion based on new energy power generation resource quantization data and industrial park load resource quantization data, and determining a high load subregion and a low load subregion in the subregion according to the load utilization rate; obtaining a to-be-migrated task list of the high load subregion and an idle resource list of the low load subregion, and performing optimization matching processing on to-be-migrated tasks in the to-be-migrated task list and idle resources in the idle resource list to obtain a resource allocation optimization result; and executing a cross-region task migration instruction generated from the resource allocation optimization result. The method improves the new energy consumption efficiency.

This application discloses a task allocation method, apparatus, and related products. The task allocation method is applied to task allocation nodes. Based on the load of a first service node and the load of a second service node, the first and second service nodes are sorted according to the lowest load, resulting in a node sorting queue. If the node position of the first service node in the node sorting queue is before the node position of the second service node, the task to be allocated is assigned to the first service node; conversely, if the node position of the second service node in the node sorting queue is before the node position of the first service node, the task to be allocated is assigned to the second service node. Thus, this application can determine the service node to which a task will be assigned based on the calculated load of the service nodes, thereby avoiding the problem of uneven task distribution in related technical solutions to a certain extent and improving task allocation performance.

The invention discloses a backrest assembly and a seat, and the backrest assembly comprises a seat frame provided with a guide groove; the waist frame is movably connected to the chair frame; the driving unit comprises an electric push rod and a transmission assembly, a driving shaft of the electric push rod and the guide groove are obliquely arranged and form an included angle smaller than 90 degrees, one end of the transmission assembly abuts against the groove wall of the guide groove, and the other end of the transmission assembly is connected with the waist frame and can drive the waist frame to move; the electric push rod can drive one end of the transmission assembly to slide in the guide groove so as to drive the waist frame to move to a preset position, and then the electric push rod drives the waist frame to reciprocate. The supporting and massaging integrated function is integrated, the lever transmission mechanism is utilized, the waist frame is accurately pushed to the supporting position with low load, then the mechanism is reused to drive the waist frame to press the waist in a reciprocating mode, accurate and powerful massaging is achieved, efficient supporting and active relieving are deeply fused, and the health function of the seat and the user experience are remarkably improved.

An air conditioning device is provided in which, within a comparatively compact unit where a condenser is arranged below an evaporator, the energy used is controlled within a current limit for the power supply, thus enabling efficient use of air conditioning capacity (cooling capacity). The air conditioning device 100 comprises a housing 60 containing a refrigerant circuit R with a compressor 10, a condenser 20, an evaporator 30, and an expansion device 40, and a control device 50. The control device 50 includes a unit 502 for determining the upper operating limit, a unit 503 for determining the speed command value, and a compressor speed control unit 506. The unit 502 for determining the upper operating limit performs a control operation.to determine an upper operating limit Rrmax of the compressor 10 according to a load of the compressor 10, wherein the unit 503 performs a control for determining the speed command value, whereby, in the case of a relatively low load, it determines a speed command value Rc according to a setpoint discharge temperature Ttgt and a current speed Rnow of the compressor 10, and in the case of a relatively high load, it determines the current speed Rnow or the upper operating limit Rrmax as the speed command value Rc, wherein the compressor speed control unit 506 controls the drive of the compressor 10 on the basis of the speed command value Rc.