74 results about "Magnetic chain" patented technology

The invention provides a servo motor real-time adaptive control method and system based on artificial intelligence, and the method comprises the steps: injecting a tiny excitation signal into a servo motor, collecting temperature and electromagnetic response data under different working conditions, and constructing a multi-dimensional information data set; performing real-time reasoning on the relationship between the temperature gradient and the magnetic path characteristics by using deep transfer learning to obtain multi-dimensional parameter deviation vectors such as stator flux linkage unbalance degree, permanent magnet flux weakening degree and torque coefficient change; generating a multi-scale compensation strategy through a physical enhancement reinforcement learning method and the multi-dimensional parameter deviation vector; and carrying out Lie group transformation processing on the control law under a differential geometric framework, and realizing accurate compensation on the temperature gradient effect through a dual-channel-dual-time scale framework. According to the method, heterogeneous sensing and multi-dimensional compensation strategies are adopted, the problem that the control precision of a traditional method is insufficient under the complex temperature gradient condition is solved, and the high-precision motion control performance is maintained under the dynamic working condition that the temperature distribution of the motor is rapidly changed.

The invention relates to the technical field of servo control, in particular to a high-precision current closed-loop control system and method for a servo driver, and the method comprises the steps: collecting three-phase current, rotor position, winding temperature and bus voltage, and constructing a state data set; constructing a parameter identification model fusing physical prior and an attention mechanism, deducing inductance and flux linkage parameters influenced by temperature, saturation and cross coupling, and correcting a motor model in real time; the correction parameters are injected into an FOC decoupling and feedforward link, and a self-adaptive PI regulator is linked to set the gain of a current loop on line; calculating a d-q axis voltage command according to the update model to respectively control excitation and torque components; an extended state observer is introduced to estimate load abrupt change and parameter disturbance, feed-forward compensation is carried out, and three-phase PWM is generated through anti-Parker and SVPWM; and an inverter nonlinear compensation model of a dead zone and switch delay is constructed, PWM is pre-distorted and output to a power device, and robust and low-ripple current closed-loop control of the servo motor is realized.

The present invention belongs to the technical field of parameter identification for permanent-magnet synchronous motors. Disclosed are a parameter identification method and apparatus for a permanent-magnet synchronous motor, and a storage medium and a device. The method comprises: using a variable step-size feedback neural network algorithm to solve a voltage equation and a d-q axis current discrete state equation, which take cross-coupled inductance into consideration, of a permanent-magnet synchronous motor in a dq coordinate system, so as to obtain intermediate parameters generated in the process of constructing the d-q axis current discrete state equation; and performing calculation on the basis of the intermediate parameters, so as to obtain the stator resistance, the d-axis inductance, the q-axis inductance, the cross-coupled inductance and the permanent-magnet flux linkage of the permanent-magnet synchronous motor, and thereby completing parameter identification. The present invention takes cross-coupled inductance into consideration and uses the variable step-size feedback neural network algorithm, such that the computational load is extremely small, the degree of complexity is reduced, rapid and effective identification can be realized, and errors can be reduced; in different convergence time periods, the algorithm adjusts the step size on the basis of the magnitude of steady-state errors, such that identification results approach stable values more quickly, thereby improving the speed and stability of convergence.

The invention discloses a composite magnetic field pressure-resistant enhanced magnetic liquid sealing device, and belongs to the technical field of mechanical sealing. Main components comprise a left end cover, a sealing seat, a left bearing, a left shaft sleeve, a left pole shoe, a permanent magnet, a right pole shoe, a right shaft sleeve, a right bearing, a right end cover, a rotating shaft, a left magnet array, a left magnetism isolating ring, a right magnetism isolating ring, a right magnet array, an O-shaped sealing ring and magnetic liquid. A composite magnetic field is formed by the permanent magnet (6) and the magnet array, under the dynamic sealing working condition, the magnetic field force generated by the magnet array is used for resisting the stretching effect of rotating shaft shearing on the magnetic linkage, the mechanical strength of the magnetic linkage is improved, the pressure resistance of the sealing structure is integrally enhanced, and the application range of the magnetic liquid sealing device is widened.

The invention relates to an electromagnetic transient modeling and simulation method of a permanent magnet synchronous generator, which can reflect various types of internal faults, and the method comprises the following steps: 1, according to different fault types, establishing mathematical models of the permanent magnet synchronous generator in different fault states, and according to the different fault types, establishing a mathematical model of the permanent magnet synchronous generator in the different fault states, according to the different fault types, establishing a mathematical model of the permanent magnet synchronous generator in the different fault states, and according to the mathematical model, establishing a mathematical model of the permanent magnet synchronous generator in the different fault states, and according to the mathematical model, establishing a mathematical model of the permanent magnet synchronous generator in the different fault states, and establishing a mathematical model of the permanent magnet synchronous generator in the different fault states; 2, focusing matrix elements required to be updated according to fault characteristics, and selecting current or flux linkage as a state variable; 3, performing discretization equivalence on the mathematical equation of the permanent magnet synchronous generator by using a backward Euler integral method, integrating two state variables, unifying the model to obtain an equivalent circuit equation, and constructing an equivalent circuit of the permanent magnet synchronous generator; 4, the equivalent circuit of the permanent magnet synchronous generator is connected with an external electrical network, and the equivalent model carries out node admittance matrix iteration solution on the whole circuit based on an EMTDC solver; and updating other concerned electrical information such as the stator current, the rotor current, the electromagnetic torque, the rotating speed, the rotor angle and the like until the simulation is finished.

The invention provides an oblique coil electromagnetic classificator for separating weak magnetic impurities from strong magnetic concentrate, which comprises a separation cylinder, an ore feeding device and a flushing device, an ore feeding pipe of the ore feeding device extends into the separation cylinder from the top end of the separation cylinder, the flushing device is arranged below the ore feeding pipe, and an oblique coil is arranged on the outer side of the separation cylinder, so that the weak magnetic impurities can be separated from the strong magnetic concentrate. Magnetic lines of force are obliquely distributed, magnetic linkages formed by magnetic particles are oblique, the whole magnetic linkages can be efficiently impacted in cooperation with vertical component force Fz of water flow of the flushing device, and scattering of magnetic aggregates is facilitated; the tail control flat coil and the concentrate gathering flat coil at the upper end and the lower end effectively control tailings and concentrates respectively, so that the separation efficiency of strong magnetic concentrates and weak magnetic impurities is improved, for example, in the iron-titanium separation operation of vanadium titano-magnetite ore dressing, ilmenite mixed into iron ore concentrates can be reduced, the grade of the iron ore concentrates can be improved, and titanium metal resources can be fully recycled.

The invention discloses a method for constructing a flux linkage controller of a permanent magnet synchronous motor based on sensorless control, which is composed of a first PI module, a stator flux linkage vector calculation module, a gating circulation unit, an inverter, a signal conversion module, a sensorless predictive control module and a speed conversion module, and constructs a novel second-order generalized integral system. Electric signals can be estimated only by measuring current and voltage signals of the B phase and the C phase, and the number of sensors is reduced; a stator flux linkage vector calculation module and a gating circulation unit are constructed, optimization iteration of a cost function in conventional model prediction control is replaced, then an inverter is directly controlled to drive a motor, redundant calculation links are reduced, and the calculation amount is reduced; information in the control process is fully utilized, accurate acquisition of angular velocity, flux linkage and torque information is achieved, the information is combined with model prediction control to form an angular velocity-torque-flux linkage closed-loop control structure, and the method has excellent static and dynamic characteristics and strong robustness.

The invention discloses an electro-magnetic doubly salient motor instantaneous stator iron loss calculation method, which comprises the following steps of: replacing a flux linkage generated by exciting current with a flux linkage generated by each phase current according to an equivalent current principle, obtaining data of a phase equivalent flux linkage, a rotor angle and a phase equivalent current by utilizing finite element simulation, and combining magnetic circuit analysis to calculate the instantaneous stator iron loss of an electro-magnetic doubly salient motor. A flux density solving module of each region of the stator yoke is built by using a phase flux linkage look-up table model, and the data dimension is reduced. The method comprises the following steps: dividing stator pole regions according to the magnitude of the flux density of a stator pole, directly solving the data of the flux density, the rotor angle and the phase current of each region by finite element simulation, and constructing an instantaneous iron loss calculation model of the doubly salient electro-magnetic motor stator in combination with a time domain iron loss calculation formula. According to the modeling method, the used data amount is small, the time consumed in the modeling process is short, model calculation is accurate, the modeling method can operate along with a motor control model, the required operation time is greatly shortened compared with finite element joint simulation, and research on motor stator iron loss and control strategy optimization can be rapidly carried out.

The invention discloses a flux linkage interpolation model adaptive gradient scheme-based switched reluctance motor sensorless control method, which comprises the following steps of S1, designing a flux linkage interpolation model FLIM by representing flux linkage characteristics of rotor misalignment and alignment positions of a switched reluctance motor SRM; s2, designing an adaptive gradient optimization algorithm, and estimating the optimal position of the rotor by updating an interpolation function in real time; and S3, aiming at the phase fault problem, providing a fault-tolerant strategy, namely fault phase flux linkage reconstruction FPFR, and reconstructing the flux linkage at the fault phase. According to the method, FLIM magnetic flux link modeling, adaptive gradient optimization and FPFR fault-tolerant control are combined, and the FLIM model not only significantly reduces the modeling complexity, but also lays a foundation for high-precision observation. According to the adaptive gradient method, real-time dynamic optimization is realized through a magnetic flux link error, and the inherent problems of calculation complexity and response lag of a traditional observer are effectively solved. The FPFR strategy reconstructs the fault phase magnetic flux characteristics, and a feasible solution is provided for high-reliability application.

The invention discloses a permanent magnet synchronous motor inductance matrix automatic calibration method and system, and the method comprises the steps: carrying out the system initialization, permanent magnet flux linkage reference calibration, weak magnetic region progressive current scanning, inductance parameter differential calculation and parameter integration, employing a positive and negative q-axis current symmetric excitation and differential operation mechanism as the core, and automatically counteracting the influence of a resistance item. Meanwhile, the weak magnetic working range of the d-axis current from-100A to-1000A is completely covered, and a full-working-condition inductance parameter two-dimensional mapping table is generated. The system does not need extra precision equipment, is small in algorithm calculation amount, is high in calibration efficiency, can adapt to batch application of a production line, can directly integrate a mapping table into a motor controller, achieves the real-time high-precision parameter calling through an interface function and two-dimensional linear interpolation, remarkably improves the torque precision and operation stability of field-weakening control of the permanent magnet synchronous motor, and is suitable for popularization and application. The method is suitable for motor parameter calibration in the fields of electric automobiles, industrial servo and the like.

The invention relates to the technical field of converters, in particular to a power dispatching system based on a multi-level direct current chopping technology, which comprises a flux linkage trend analysis module, a duty ratio constraint module, a standby unit evaluation module and a path synchronization coordination module. According to the method, the power integral curve is constructed in real time, the flux linkage increment trend is analyzed, the relevance between the flux linkage direction and the current change is dynamically judged, the duty ratio amplitude limiting range is adjusted in combination with the exponential smoothing prediction model, and phase compensation correction is executed, so that the dynamic response capability of the system is remarkably improved; a sliding standard deviation algorithm is adopted to screen a standby unit group and analyze a current fluctuation coefficient, linear regression is combined to process a temperature change trend, the anti-interference capability of the system is enhanced, a dynamic time warping algorithm is adopted to calculate a phase offset and construct a voltage difference vector, accurate synchronous control of a multi-level architecture is realized, and the stability of the system is improved. Harmonic content and energy loss are effectively reduced, electric energy conversion efficiency and equipment operation stability are improved, and the service life of a power device is prolonged.

The application discloses a kind of magnetic seed induced mineral separation methods of iron ore, comprising the following steps: (1) processing mixed iron ore obtains dry magnetic separation concentrate and dry magnetic separation tailings;(2) dry magnetic separation tailings magnetization roasting obtains artificial magnetite;(3) dry magnetic separation concentrate is mixed with artificial magnetite;(4) the raw ore into mill is sent into one-stage closed-circuit grinding classification system, then enters one-stage low-intensity magnetic separation operation;(5) one-stage low-intensity magnetic rough concentrate is sent into two-stage closed-circuit grinding classification system, then enters two-stage low-intensity magnetic roughing operation;(6) two-stage low-intensity magnetic roughing concentrate is demagnetized after entering two-stage low-intensity magnetic cleaning operation by demagnetizer;(7) two-stage low-intensity magnetic cleaning concentrate is concentrated after demagnetization by demagnetizer, and iron concentrate product is obtained by flotation.The application adds natural magnetite contained in ore into artificial magnetite, which is easy to form magnetic chain with natural magnetite as core to strengthen the magnetic separation recovery of artificial magnetite, and the separation process has high iron recovery rate and high concentrate grade.

The present invention provides a sensorless auto-disturbance rejection control method for a permanent magnet synchronous motor with nonlinear flux linkage observation, which solves the problem of poor control effect of the permanent magnet synchronous motor, including: step 1, measuring the induced current of the permanent magnet synchronous motor to obtain a rotor position estimation value and a speed estimation value; step 2, using the speed estimation value and a given speed command value, obtaining a q-axis current command value through a speed loop auto-disturbance rejection controller; step 3, transforming the induced current to obtain a d-axis current and a q-axis current, and then obtaining a d-axis voltage command value and a q-axis voltage command value; step 4, converting the d-axis voltage command value and the q-axis voltage command value into an axis voltage command value and an axis voltage command value, and inputting them into an SVPWM modulator to control the permanent magnet synchronous motor. The present invention uses a nonlinear flux linkage observer as a position observer, uses a rotor position estimation value and a speed estimation value to calculate the rotor position and speed estimation, and realizes sensorless control of the permanent magnet synchronous motor.

This application discloses a magnetorheological extrusion mode suspension and its control method, an on-board terminal, and a vehicle. The magnetorheological extrusion mode suspension includes: a sleeve; a bracket located inside the sleeve; a hollow support member located between the sleeve and the bracket; a magnetorheological fluid located within the cavity of the hollow support member; and a coil disposed on the bracket at a position corresponding to the cavity. The normal direction of the coil extends radially along the sleeve and passes through the magnetorheological fluid. Different current intensities result in different magnetic field intensities and different yield strengths of the magnetorheological fluid; different current directions result in different magnetic field directions, different magnetic flux directions, and different damping forces of the magnetorheological fluid. Therefore, the intensity and direction of the current can be adjusted according to the excitation conditions to form magnetorheological fluids with different yield strengths and different damping forces to adapt to vibrations in a wide frequency range and achieve better vibration isolation effects across the entire frequency range.

The invention provides a motor angle and rotating speed determination method and system, electronic equipment and a storage medium. The method for determining the angle and the rotating speed of the motor comprises the following steps: detecting first voltage and first current of the motor; obtaining a first flux linkage according to the first voltage, the first current and a voltage model in a flux linkage observer; obtaining a second flux linkage according to the first current and a current model in the flux linkage observer; determining a third flux linkage according to the first flux linkage, the second flux linkage and a switching function in the flux linkage observer; and inputting the third flux linkage into a phase-locked loop module to determine the angle and the rotating speed of the motor. According to the method, the first flux linkage is determined by inputting the voltage and the current of the motor into the voltage model, the second flux linkage is determined by inputting the current into the current model, and then the final third flux linkage is obtained according to the first flux linkage, the second flux linkage and the switching function, so that the anti-interference capability of estimating the flux linkage position is improved; and the problems of direct current bias and integral saturation are avoided.

The invention discloses a coordinate transformation and surface-mounted permanent magnet synchronous motor analysis and control method based on a vector magnetic circuit, and the method comprises the steps: firstly, building a vector magnetic circuit model of a surface-mounted permanent magnet synchronous motor, taking an arc tangent value of a ratio of equivalent magnetic inductive reactance to magnetic resistance as an iron loss angle, the method comprises the following steps: considering the influence of eddy current and hysteresis effect which cause iron loss on motor performance and control thereof by using an iron loss angle, and proposing # imgabs0 # coordinate transformation and a # imgabs1 # coordinate system based on a vector magnetic circuit; and then, establishing a surface-mounted permanent magnet synchronous motor analysis model based on a vector magnetic circuit and a # imgabs2 coordinate system, including a flux linkage equation and a voltage equation based on the vector magnetic circuit and a # imgabs3 coordinate system, and establishing a sensorless control method based on the analysis model. The method provided by the invention can fully consider the influence of eddy current and hysteresis effect causing iron loss on the motor performance and control thereof, is simple and convenient, has clear physical significance, and improves the rotor position identification precision without position sensor control.

The invention discloses a flux linkage observation value calculation method, system and device and a computer readable storage medium, and relates to the field of motor control, and the method specifically comprises the steps: determining the back electromotive force of a rotor based on a preset voltage equation; performing low-pass filtering processing on the rotor back electromotive force to obtain an initial rotor flux linkage observation value; and determining a target rotor flux linkage observation value based on a preset flux linkage value, a preset low-pass filtering transfer function and the initial rotor flux linkage observation value. The problems of integral initial value and direct current bias can be avoided, and the accuracy of the flux linkage observation value is improved.

The invention discloses a surface-mounted permanent magnet synchronous motor all-parameter online identification and efficiency optimization control method considering iron loss influence, and relates to the technical field of motor control, the method comprises the following steps: based on a mathematical model of an SPMSM considering motor iron loss, obtaining an expression of a d-axis current reference value of loss minimum control; an SPMSM parameter identification model of the lumped parameters is established, and on-line identification of stator resistance, inductance, permanent magnet flux linkage and iron consumption resistance is achieved based on identification of the lumped parameters; based on online identification of stator resistance, inductance, permanent magnet flux linkage and iron consumption resistance, through an expression of a d-axis current reference value of loss minimum control, setting of a current reference value under SPMSM loss minimum control is realized. The invention provides an effective method for all-parameter online identification and efficiency optimization control of the surface-mounted permanent magnet synchronous motor considering the iron loss influence, and the motor efficiency and robustness of the SPMSM are effectively improved.

The invention discloses a surface-mounted permanent magnet synchronous motor multi-parameter identification method based on a parameter self-adjusting PID search algorithm, and the method comprises the steps: comparing an actual model of a permanent magnet synchronous motor with a parameter identification model, and constructing a fitness function to measure the difference between the actual model and the parameter identification model; a fitness value corresponding to a to-be-identified parameter is calculated by using a parameter self-adjustment-based PID search algorithm fitness function so as to perform iterative optimization, chaotic mapping is introduced in population initialization update, population diversity is increased, convergence speed is accelerated, and the robustness of the algorithm is improved according to changes of population search behaviors. A self-tuning PID parameter based on an exponential function is provided, rapid response to error changes is improved, and rapid convergence of searching early population is promoted. The PID search algorithm based on parameter self-adjustment can quickly and accurately identify the stator resistance, inductance and flux linkage parameters of the permanent magnet synchronous motor, and has obvious advantages in convergence rate and calculation amount.

The utility model relates to the technical field of magnetic powder clutches, and discloses a low-noise magnetic powder clutch which comprises a machine shell, and a first driving shaft is arranged on the right side of the machine shell. According to the low-noise magnetic powder clutch, after the magnet exciting coil is powered on, the magnetic powder braking unit starts to distribute magnetic powder through the first magnetic powder distributing pipeline and the second magnetic powder distributing pipeline, a dotted line closed loop is formed, a magnetic medium in a flowing state starts to be solidified in a magnetic field, and when the magnetic field intensity is large, the magnetic powder almost becomes a solid; meanwhile, magnetic powder particles between the electromagnet and the second driven disc form magnetic linkages, the first driving disc and the electromagnet are connected together, if the current passing through an electromagnet coil is larger, the number of the magnetic linkages is larger, the magnetic linkages are stronger, and when the magnetic linkages are larger and stronger, the torque transmission capacity of the magnetic powder clutch is larger; the vibration absorber can counteract vibration generated in the flux linkage forming process, and the first throttling valve and the second throttling valve control the laying speed of the magnetic powder so as to control noise.

The invention discloses magnetorheological fluid based on aluminum oxide coated carbonyl iron powder. The magnetorheological fluid comprises the following raw material components in percentage by volume: 35%-45% of aluminum oxide coated carbonyl iron powder, 0.001%-0.5% of nano diamond powder, 0.001%-1.5% of a dispersing agent, 0.5%-1% of a wetting agent, 0.1%-3% of a pH regulator and the balance of deionized water. The dispersing agent and the wetting agent serve as additives, the stability of the fluid can be improved within the range, the viscosity of the liquid can be improved through the excessive additive, the zero-field viscosity of the magnetorheological polishing liquid is sharply increased, the transmission difficulty is increased, and even the liquid cannot be circulated. In addition, the excessive additive can inhibit hydration of the surface of the optical glass and water and significantly reduce the strength formed by magnetic linkage so as to reduce the shear yield stress, which is not beneficial to the process of processing optical elements.

The present invention relates to the technical field of magnetorheological intelligent materials, and particularly relates to a magnetorheological elastomer with a reticular particle chain structure and a preparation method thereof. It is formed by splicing multiple magnetoelastic units with the same structure. Each of the magnetoelastic units includes an elastic matrix and multiple magnetic chains fixed in the elastic matrix in a reticular form. The cross-section of the elastic matrix of each magnetoelastic unit is square, and multiple concentric square magnetic chain loops are arranged in increasing order from the center of the square. The deflection angle between the magnetic chain loops and the elastic matrix is 15°-75°. For the magnetorheological elastomer with a reticular particle chain structure of the present invention, since the magnetic chains in the elastic matrix have a certain inclination angle, and there is a certain angle between the combined magnetic chain loops and the elastic matrix, its mechanical properties and magnetorheological effect can be further improved.

The invention belongs to the technical field of rare earth permanent magnet material preparation, and provides a neodymium-iron-boron magnet and a preparation method for improving the orientation degree of the sintered neodymium-iron-boron magnet, and the preparation method comprises the step of sintering a neodymium-iron-boron green body in a magnetic field. Preferably, the magnetic field is a direct-current magnetic field, and the magnetic induction intensity of the direct-current magnetic field is 10-13T. The high-intensity magnetic field can magnetize magnet powder particles in the sintering process, so that a magnetic chain is formed among the powder particles, the binding force among the particles is improved, and the powder particles cannot rotate due to the generation of a liquid phase. The neodymium-iron-boron powder particles are arranged according to the magnetic field direction in the sintering process, so that the high orientation degree of the magnet is ensured, and the high-performance neodymium-iron-boron magnet is obtained.

The utility model discloses a photoelectric type rotating speed measuring device, which relates to the technical field of rotating speed measurement, and comprises a sensor and a placing part, the sensor is arranged in the placing part, the back surface of the placing part is hinged with an attaching part, a plurality of rubber rods are arranged between the hinged positions of the placing part and the attaching part, and the rubber rods are arranged in the placing part. The at least two rubber rods are located on the two sides of the hinged position of the containing part and the attaching part and are buffered by the rubber rods when the containing part and the attaching part are oppositely hinged. When the photoelectric rotating speed measuring device is installed, the magnetic linkage can be used for increasing the connection strength, the rubber mat can be adhered to a non-magnetic component, and the rubber ring can realize sealing, exhaust air at the adhesion position and increase the adhesion strength, so that the effect of no falling off during high-speed rotation is realized; and the shell can be buffered by the rubber rod when subjected to accelerated motion or decelerated motion, so that collision is relieved, the service life of the hinge can be prolonged, and the sensor can be quickly taken down from the shell.

The present invention belongs to the field of river interception technology, and discloses a composite fluid interception and purification device for river ecological restoration, including a mounting frame arranged on both sides of the river, and also including: a collection component, the collection component is arranged on the mounting frame, and is used to collect river garbage and aquatic plants. The present invention is installed in the river through a support component and a connecting component, and the two connecting components form an angle for guiding the river garbage. A second transmission gear and a third transmission rod are driven to rotate by a driving motor, and the magnetic chain, the first screen and the paddle are driven to rotate by the first transmission gear. The garbage is intercepted by the first screen under the action of the water flow, and is transported to the collection component for storage through the rotation of the first screen and the paddle. At the same time, due to the mutual meshing of the two second transmission gears, the garbage in the river is transported to the collection components on both sides of the river through the reverse rotation of the two connecting components, thereby ensuring the scope of river cleaning and effectively improving the river garbage cleaning effect.

The present invention comprises an ellipsoid (100) having an elliptical orbit (110), a central rotating body (200) supported in the ellipsoid internal space (121), which is the internal space of the ellipsoid (121), so as to be able to rotate concentrically with the center of the elliptical orbit (110), and a rotating blade (300) that rotates and reciprocates, with the rear end supported in the elliptical orbit (110) and the front end supported in the central rotating body (200), and the magnetic body (400) composed of a permanent magnet or an electromagnet; wherein the magnetic body (400) composed of a permanent magnet or an electromagnet is arranged, and an electric supply means (501), an electric storage means (520), and an electric control means (530) are provided to supply, convert, and store alternating current or direct current power to the magnetic body (400), thereby selectively performing a motor mode and a generation (braking) mode. Rotational power is generated by the attractive and repulsive forces between magnetic bodies (400), or regenerative power is generated when necessary, and rotational power conversion is utilized by the attractive and repulsive forces between magnetic bodies (400), and fluid is circulated through the fluid flow path (230) formed between the internal space (121) of the ellipsoid (100) and the central rotating body (200), and through the impeller (280), piston (340), or body guide (350). The above-mentioned ellipsoidal magnetic body (410) is a multilayered ellipsoidal magnetic body (411) composed of a plurality of magnetic bodies (400) arranged in a tangential direction of the elliptical orbit (110) or the inner surface of the ellipsoid, and the above-mentioned ellipsoidal body (100) is formed as a composite ellipsoidal body (105) divided into a plurality of internal spaces (121) by a dividing wall (180), and is configured to simultaneously perform a plurality of pump and compression functions by operating different fluids or forming different pressure and flow rate conditions depending on the space, thereby forming a composite ellipsoidal driving device by a magnetic body chain structure, characterized by According to the present invention, by applying a magnetic body (300), which is a permanent magnet or an electromagnet magnetized by the supply of electricity or magnetism, to an ellipsoid (100) utilizing an elliptical orbit, a central rotating body (200), and a rotating wing (300), mechanical, electromagnetic, and fluid mechanical elements are combined simply and complexly to simplify the structure, reduce the number of parts, operate stably to increase power transmission efficiency, and reduce the required space. Furthermore, by actively controlling the magnetic body (400) (electric supply means (510) → electric control means (530) → magnetic body (400)), the present invention enables easy starting of rotation even without a starter motor, and allows the device to switch to a power generation mode when necessary during rotation to accumulate regenerative energy in an electric storage means (520). Additionally, it realizes a high-efficiency drive device that performs multi-functional functions such as pumping, compression, and propulsion within a composite ellipsoid while integrating thermal management (lubrication and cooling). In particular, the electric control means (530) combines a switch, inverter, converter, gate driver, and sensor control logic to automatically perform real-time mode switching (motor↔generation↔pump↔propulsion), and by precisely controlling the current, voltage, and phase in each mode, it has the effect of securing high energy efficiency and stability.

The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot walking system which comprises chain wheels arranged on the two sides of a wall-climbing robot body, a crawler belt and a driving device used for driving the chain wheels to drive the crawler belt, the crawler belt is formed by connecting a plurality of magnetic attraction chain links in series, and magnetic attraction modules are arranged on the magnetic attraction chain links. The magnetic attraction module comprises a strip-shaped magnet, a yoke and a protection frame, the strip-shaped magnet is contained in the protection frame, the yoke covers the side, close to the inner surface of the crawler belt, of the strip-shaped magnet, and the magnetic attraction module is arranged in the magnetic attraction chain link. According to the walking system of the wall-climbing robot, the strength and rigidity of the chain links are enhanced, and adsorbed scrap iron can be removed more easily due to fewer surface gaps.

The invention relates to the field of medical equipment, and discloses a magnetic ring array treatment device, which comprises at least two closed magnetic rings or magnetic linkages, the magnetic rings or magnetic linkages are arranged in a fan shape, a circle shape or a spherical arc shape and then are fixed on a fixed support to form a magnetic ring array, and at least one metal coil is wound on each magnetic ring or magnetic linkage. A closed loop is formed between each of the two ends of each metal coil and one alternating signal generating circuit; in the magnetic ring array, preset alternating electric fields generated in the magnetic rings or the magnetic linkages are superposed and converged at a focal point. When in use, a carrier of tumor cells which are rapidly split is directly placed on a convergent focus of a preset alternating electric field generated in each magnetic ring or magnetic chain in the magnetic ring array, so that a superposed alternating electric field can be generated in the tumor cells which are rapidly split, similar to energy concentration, and a disease part can be treated more effectively; alternating electric fields in different directions can be generated, disease parts can be treated from different angles, and the device does not need to be tightly attached to the skin.

The invention relates to the field of motor control methods, in particular to a motor torque precision control method and device, a medium and equipment, and the method comprises the steps: obtaining a first stator flux linkage estimation value of a d axis and a second stator flux linkage estimation value of a q axis of a stator when a motor operates at a low speed, the first stator flux linkage estimated value is the sum of the flux linkage of the permanent magnet and the flux linkage generated by the d-axis current through the inductor, and the second stator flux linkage estimated value is the flux linkage generated by the q-axis current of the stator through the inductor; when the motor runs at a high speed, acquiring third stator flux linkage estimated values of the d axis and the q axis of the stator, calculating a difference value between the voltage signal and the current signal of the d axis and the q axis of the stator, and performing integration to obtain the third stator flux linkage estimated value and an actual flux linkage estimated value of the motor; and calculating the ratio of the actual flux linkage estimated value to the initial permanent magnet flux linkage to obtain a torque error compensation coefficient of the permanent magnet flux linkage influenced by the temperature, and correcting a q-axis current instruction output by the MTPA lookup table based on the torque error compensation coefficient to correct a torque error. According to the invention, temperature compensation is carried out on motor torque control, so that the motor can accurately and stably output at different temperatures, and the torque output precision of the motor is improved.