5289 results about "Motor speed" patented technology

Disclosed is a motor fuzzy PID parameter tuning method based on an improved whale algorithm. The method comprises: building a brushless direct-current motor speed control system model, and using a fuzzy PID controller to perform motor speed control. A conventional whale algorithm is optimized by using a chaotic convergence factor, a fractional order, and Levy flights, so as to obtain an improved whale algorithm. Secondly, the overshoot of the system is used as a component of an ITAE performance index to obtain an improved ITAE performance index, and the improved ITAE performance index is used as a fitness function for the improved whale algorithm. Finally, the improved whale algorithm is used to optimize input and output membership functions of a fuzzy controller, so as to obtain optimal ΔKp, ΔKi, and ΔKd values, and Kp, Ki, and Kd parameters of a PID controller are tuned to implement motor speed control. The present invention addresses the difficulty of tuning parameters of conventional PID controllers and solves the problem of low precision of motor speed control, has the advantages of high anti-interference capability, little overshoot, and short adjustment time, and improves the dynamic characteristics and robustness of the controllers.

The invention provides a multi-mode control method and system for intelligent variable-frequency cooking equipment, and relates to the technical field of intelligent control, and the method comprises the steps: obtaining a food material image and weight data through an image collection device, extracting feature information through a deep learning processor based on a pre-trained food material feature recognition model, and generating a feature data packet containing food material type, weight and volume information. The controller matches initial cooking mode parameters according to the data packet, collects real-time operation data such as temperature, pressure, heating power and stirring motor rotating speed in the cavity, and calculates power-temperature and motor rotating speed-torque response curves. And the controller generates a frequency conversion control instruction according to the response curve and a preset multi-mode switching judgment rule, and controls the heating unit and the stirring motor to perform cooperative adjustment. In the cooking process, real-time operation data are continuously collected, multi-mode self-adaptive switching is carried out, and the frequency conversion control instruction is optimized until cooking is completed.

The invention discloses a motor control method and device based on an encoder, a medium and a program product, and relates to the field of motor control, and the method comprises the steps: receiving a position signal and a speed signal outputted by the encoder, and carrying out the filtering processing to obtain an operation state parameter; collecting mechanical vibration and electromagnetic noise generated in the operation process of the motor to obtain acoustic parameters of the motor, and extracting frequency characteristic parameters representing the rotating speed and motion characteristics of the motor; performing data fusion on the operation state parameters and the frequency characteristic parameters according to a preset weight to generate an operation state model; the operation state model is compared with a standard motion trail, and the position deviation value and the speed deviation value of the actual motion trail of the motor are calculated; and calculating a compensation control quantity according to the position deviation value and the speed deviation value, converting the compensation control quantity into a driving signal and outputting the driving signal to a motor driver so as to drive a motor to perform operation adjustment. According to the invention, the control precision of the motor in actual operation can be improved.

The invention provides an unmanned aerial vehicle motor rotating speed control method based on active disturbance rejection. The method comprises the following steps: 1) measuring the rotating speed of a motor by adopting a high-precision rotating speed sensor based on a quantum effect; 2) designing a tracking differentiator TD to smooth an expected rotating speed, and outputting a rotating speed tracking signal and a rotating speed tracking signal change rate; 3) introducing a dynamic weight matrix to form a dynamic weight expansion state observer DWESO, and taking an output state variable estimation value and a total disturbance estimation value as the input of the NLSEF; 4) automatically searching the optimal combination of the gain parameters of the DWESO by adopting an ALA (artificial Louver Mouse Algorithm), so that the optimal state variable estimation value and the optimal total disturbance estimation value are output to the NLSEF; compared with the prior art, the method for controlling the rotating speed of the unmanned aerial vehicle has the advantages that the dynamic response speed, the anti-jamming capability and the parameter adaptability of the system are remarkably improved, and the flight performance and the robustness of the unmanned aerial vehicle are improved.

The invention relates to a split type electro-hydraulic direct-driven non-retractable fin stabilizer hydraulic system which comprises a hydraulic unit and an actuating mechanism which are independently arranged, and the actuating mechanism comprises fin rotating oil cylinders which are symmetrically arranged; a bidirectional hydraulic pump driven by a servo motor forms a closed fin rotating loop; the bidirectional hydraulic pump driven by the servo motor, the hydraulic unit and the actuating mechanism form an electro-hydraulic direct-drive fin stabilizer device; the control loop is composed of a gyroscope, a controller and an executing mechanism, and the gyroscope detects the rolling angular velocity of the ship and generates a fin rotating instruction signal; the controller compares the instruction signal with the fin angle feedback signal and outputs a servo motor rotating speed instruction; the servo driver controls the servo motor to rotate forwards and backwards, the bidirectional hydraulic pump is driven to adjust the displacement of the fin rotating oil cylinder, and therefore the fin is driven to rotate. A valve control or pump control type hydraulic system adopted by a traditional fin stabilizer is replaced, integrated optimization, light weight, high efficiency, high reliability and low noise of the fin stabilizer hydraulic system are achieved, and the occupied space of equipment is reduced.

The invention relates to the technical field of PLC control, in particular to a PLC control method and system for an automatic mixing production line, and the method comprises the steps: collecting the rotating speed data and vibration data of a stirring motor of a mixing machine of the automatic mixing production line in real time; acquiring a time range for analyzing the fault condition of the speed sensor; determining a correlation degree between the rotating speed data and the vibration data in the time range; determining the fluctuation rule degree of the rotating speed data in the time range based on the time interval between the response time periods with similar response intensities and the difference of the fluctuation condition of the vibration data between the response time periods in combination with the correlation degree; the abnormal degree is determined; and detecting the fault condition of the speed sensor in the process of controlling the rotating speed of the stirring motor by the PLC of the automatic mixing production line. The invention aims to improve the accuracy of fault detection of the speed sensor in the process of controlling the rotating speed of the stirring motor by the PLC of the automatic mixing production line.

The invention relates to a wheel speed redundancy detection system and method, computer equipment, a storage medium and a vehicle. The system comprises four groups of wheel speed detection modules and a first domain controller, the wheel speed detection module comprises a transmission, a driving motor, a rotary transformer sensor and a motor controller; the transmission is connected with wheels of the vehicle; the driving motor is respectively connected with the transmission and the motor controller; the rotary transformer sensor is arranged on the driving motor and is connected with the motor controller; the motor controller is also connected with the first domain controller, and is used for collecting the resolver signal, obtaining a motor rotating speed according to the resolver signal, and obtaining a corresponding wheel rotating speed according to the gear information of the transmission and the motor rotating speed; the first domain controller is used for performing motion control on the vehicle according to the wheel rotating speed. Redundancy of the vehicle wheel speed signals can be achieved based on the rotary transformer sensor, a wheel speed sensor does not need to be used, and a corresponding sensor wire harness does not need to be added, so that the vehicle using cost can be reduced, and the vehicle development period is shortened.

The invention discloses a motor rotating speed measuring method, system and equipment based on electromagnetic induction, and belongs to the field of motors. According to the embodiment of the invention, firstly, a magnetostriction resonance signal and an electromagnetic induction signal of a motor rotating shaft are obtained; performing frequency domain conversion on the magnetostrictive resonance signal to obtain magnetostrictive resonance frequency domain characteristics; performing frequency domain conversion on the electromagnetic induction signal to obtain electromagnetic induction frequency domain characteristics; frequency domain energy spectrum fusion reconstruction is carried out on the magnetostriction frequency domain characteristics and the electromagnetic induction frequency domain characteristics based on the frequency band matching relation between the magnetostriction frequency domain characteristics and the electromagnetic induction frequency domain characteristics, and a dual-frequency coupling energy spectrum is generated; and finally, determining the rotating speed of the motor rotating shaft according to the frequency position and amplitude distribution of the energy peak in the dual-frequency coupling energy spectrum, thereby improving the measurement precision of the rotating speed of the motor in a complex environment.

The invention discloses a robot servo parameter self-adaption method and system based on gravity compensation. The method comprises the steps that before the mechanical arm is installed, instruction debugging is conducted on each joint under different loads, the rotating speed of the joints and the rotating speed of a motor are obtained, control parameters are adjusted and calibrated, and finally the calibration result is stored as joint feature information; modeling a mechanical structure, and calculating dynamic parameters of the mass, the mass center and the motor deflection angle of an arm lever; in the operation process, the load is monitored, and a gravity compensation value is calculated in combination with attitude information; uniformly distributing the compensation value to a control period through a feedforward data channel, and applying the compensation value to a motor and a load as a compensation amount of a torque ring instruction; and the servo system dynamically adjusts the control parameter according to the gravity compensation value and the setting parameter. By implementing the method provided by the embodiment of the invention, the defects in parameter setting and dynamic adaptability of the existing technical scheme can be overcome, and the robustness and performance of the servo system in a variable environment can be improved.

The invention discloses a wide-speed-domain position-sensorless control method for a permanent magnet synchronous motor, and the method comprises the steps: building an extended state observer of the permanent magnet synchronous motor, and obtaining the counter electromotive force of the motor through the extended state observer; a self-adaptive vector filter is adopted to filter out higher harmonics in the back electromotive force obtained by the extended state observer, estimated back electromotive force is obtained, the obtained estimated back electromotive force serves as input, position information contained in the estimated back electromotive force is demodulated through a phase-locked loop position observer, and the rotating speed and the position angle of the motor are obtained; and controlling the permanent magnet synchronous motor according to the obtained rotating speed and position angle. The position observer is used for extracting position information from the rotor back electromotive force, a mechanical position sensor is omitted, the system structure is simplified, cost is reduced, the self-adaptive vector filter is used for filtering harmonic waves for estimating the back electromotive force, and estimation errors of the rotating speed and the position angle of the motor are reduced. And the high efficiency and the stability of position-sensorless control of the motor in a wide speed range are improved.

The invention discloses a fault-tolerant control method for the rotating speed of a driving motor of a deep-sea robot. The fault-tolerant control method comprises the following steps: S1, establishing a discrete state space model based on electrical and mechanical equations of the motor; s2, determining a fault characteristic parameter to describe the loss probability of the control signal when the control signal is attacked and interfered; s3, calculating a feedback control matrix according to the fault characteristic parameters; s4, calculating a feedforward control matrix according to the fault characteristic parameters; s5, constructing a controller based on the feedback control matrix and the feedforward control matrix, calculating a control signal online and transmitting the control signal to an execution mechanism; and S6, the execution mechanism receives the control signal, and if the signal is lost, the stored control signal is adopted to replace the control signal, and control is executed in real time. According to the invention, fault-tolerant control of the motor rotating speed can be realized under the condition that the control signal is randomly lost, and the motor rotating speed can stably track a predetermined trajectory.

The invention relates to the technical field of variable frequency speed regulation, in particular to an automatic water pump control strategy and energy efficiency optimization method and system.The method comprises the following steps of obtaining water pump outlet flow data, calculating flow acceleration, determining the pressure gradient direction, matching the hydraulic power trend, calculating frequency instruction deviation and setting the adjustable range; lagging and current rising mark inertia disturbance, power frequency limitation is set, a compensation value is generated, the frequency rate is dynamically adjusted in combination with all factors, and the frequency conversion adjusting priority is generated. According to the method, through matching of the flow acceleration and the pressure gradient, the sensing capacity for dynamic changes of fluid is improved, frequency adjustment of a frequency converter is optimized in combination with frequency deviation calculation, energy consumption increase caused by lag is reduced, and based on correlation analysis of the motor rotating speed change rate and current fluctuation, inertia disturbance accurate recognition is achieved; the voltage compensation timeliness is improved by combining bus voltage dynamic monitoring and a reverse compression strategy, the frequency of the frequency converter is dynamically adjusted by combining multiple parameters, and the response speed and the energy efficiency are improved.

The invention provides an EMB clamping force estimation method. The method comprises the steps that an EMB clamping process mechanism model is built; the method comprises the following steps: acquiring data of EMB clamping force, a motor rotation angle and a brake disc temperature based on an EMB test bed, and building an EMB clamping force fitting model; acquiring data of motor current, motor voltage, motor rotating speed, motor rotating angle, brake disc temperature, clamping force and driving mileage based on an EMB test bench, and building an EMB clamping force data model; a first clamping force estimation value, a second clamping force estimation value and a third clamping force estimation value are calculated based on real vehicle EMB data, and a clamping force fusion estimation value is calculated in combination with a Kalman filtering algorithm; according to the clamping force estimation error, the weights of the first estimation value, the second estimation value and the third estimation value of the clamping force are adjusted in a self-adaptive mode, and the clamping force estimation precision is optimized. According to the method, the advantages of the mechanism model, the offline data and the online data can be fully combined, the fusion weight is continuously corrected according to the estimation error, and accurate estimation of the clamping force of the EMB without the clamping force sensor is realized.

The invention belongs to the technical field of control valve adjustment, and particularly relates to a military and civilian dual-purpose ship electric control valve actuator which comprises a target analysis module, a dynamic compensation module, a parameter transmission module, a closed loop calibration module and an emergency braking module. Valve displacement increments and initial motor rotating speed parameters are distributed for all the sub-windows, the comprehensive influence of gear return difference, thermal deformation, friction and vibration interference on valve displacement is effectively considered in the execution process of the sub-windows, a mechanism coupling compensation factor with a dynamic learning optimization mechanism is generated, displacement errors are combined to be superposed to the rotating speed parameters of the next window, and a dynamic learning optimization mechanism is generated. According to a double-layer correction framework of child window dynamic compensation and tail end closed-loop calibration, technical closed-loop from local interference suppression to global precision guarantee is achieved, an emergency braking module is additionally arranged to avoid the risk of out-of-control displacement caused by sudden load impact, and efficient and safe operation of a ship is effectively guaranteed.

The invention relates to a self-moving device and a motion control method and system thereof, in particular to a motion control method and system suitable for a self-moving device of a double-wheel independent driving structure, the self-moving device and a medium, and aims to solve the problem that when the self-moving device of the double-wheel independent driving structure runs in a complex environment, the motion of the self-moving device cannot be controlled. The technical problem that a finer control strategy is needed in the face of core challenges such as violent load change, strong motor protection requirement and high motion stability requirement is solved. According to the motion control method of the self-moving equipment, the current rotating speeds and current currents of motors on the two sides are monitored in real time, the rotating speeds of the motors on the two sides are dynamically adjusted, the maximum output power is limited, constant acceleration smooth processing is adopted, the expected rotating speed in unit time is calculated, and it is ensured that the speed change is stable; and dynamically coordinating the rotating speeds of the motors on the two sides by utilizing a speed ratio adjusting strategy to keep a motion posture.

The invention discloses a hybrid power AMT gear shifting control method and system, and relates to the technical field of vehicle gear shifting. The method comprises the steps that whether a transmission meets gear shifting conditions or not is judged according to driving information; determining a target gear value according to the current vehicle state; the power source output torque is gradually reduced according to the target gear value; gear picking operation is carried out through an actuator; adjusting the rotating speed of the motor according to the rotating speed difference of the actuator; controlling the transmission to engage a gear according to the target gear value; and gradually restoring the power source output torque according to the target torque value. According to the technical scheme, high-precision control over the rotating speed of the motor of the commercial vehicle can be achieved, the gear shifting success rate of the hybrid power AMT system can be effectively increased, and high application value is achieved.

The invention discloses an electric drive pump rotating speed and displacement double-variable control method and device. The method comprises the steps that whole vehicle working state information is obtained; according to the whole vehicle working state information, a double-variable control strategy under the corresponding working state is executed, and the double-variable control strategy under the corresponding working state comprises the steps that the rotating speed and the displacement value of an electric drive pump meeting the target flow request and the optimal electric drive pump system comprehensive efficiency under the current load pressure are determined; the optimal rotating speed and the optimal displacement of the electric drive pump are determined based on a displacement difference threshold value and the difference relation between the rotating speed and the displacement value of the electric drive pump meeting the target flow request and the optimal comprehensive efficiency of the electric drive pump system under the current load pressure and the current actual rotating speed and the displacement of the electric drive pump; and the electric drive pump is adjusted according to the optimal rotating speed and the optimal displacement of the electric drive pump. The system has the advantages that on the basis that the system flow requirement is met, the motor rotating speed and the pump displacement are adjusted to the optimal working state, and high system efficiency is obtained.

The present invention relates to the technical field of automobile sound simulation, and discloses a sound effect control and automobile sound simulation method based on sound simulation, including signal analysis and synthesis, sound location and distribution, audio signal output and optimization, and the automobile sound simulation method includes sound simulation based on the working mode of the vehicle hybrid system, based on the speed of the driving motor and the opening of the accelerator pedal, based on the gearshift operation of the gearbox, and based on the vehicle speed signal. The sound effect control and automobile sound simulation method based on sound simulation, the sound effect control and automobile sound simulation technology usually support personalized customization, and users can choose different sound effects or sound modes according to their preferences and needs to improve the user experience. For automobile sound simulation, the technology can achieve the change of sound effect without physical modification of the car, reducing the modification cost, and also avoiding the vehicle performance degradation or safety hazards caused by modification.

The invention discloses a motor control method and device, a vehicle, a storage medium and a product, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining the original rotating speed of a motor corresponding to the vehicle, and filtering the original rotating speed based on a filter to obtain a rotating speed compensation value, the phase delay of the filter for the original rotating speed being smaller than a preset value; compensating the original rotating speed through the rotating speed compensation value to obtain a reference rotating speed; determining the proportional compensation torque of the motor through the proportional control coefficient of the motor and the reference rotating speed; and compensating the request torque of the motor based on the proportional compensation torque to obtain a target control torque of the motor, and controlling the motor based on the target control torque. It can be understood that in the filtering process, due to the fact that the phase delay of the filter is small, the proportional compensation torque used for correction can be consistent with the phase of the real-time motor speed as much as possible, and therefore compared with a related anti-shake scheme, the low-speed vibration suppression method can achieve the better low-speed vibration suppression effect.

The invention relates to the technical field of metal wire machining, in particular to a metal wire drawing production system which is characterized in that after production order information is uploaded to a central control unit through a man-machine interaction APP, the central control unit commands an intelligent pay-off module to complete wire coil placement, and the APP can be used for personnel to check the system state and remotely access; the intelligent pay-off module ensures that the pay-off tension is stable by means of a tension sensor and a PID algorithm; the wire rod preprocessing module collects images by using a high-definition camera, and defect conditions are determined through preprocessing of the central control unit and analysis of a convolutional neural network; and the intelligent control module dynamically adjusts the rotating speed of the motor by adopting a variable-frequency speed regulation technology and combining various data according to the requirements of a wire drawing process, so that the whole production process is efficient, accurate and stable. Precise placement of the wire coil is achieved through the automatic recognition device and the automatic transmission equipment, the time needed by manual operation is greatly shortened, and the working efficiency of the whole pay-off link is improved.

The invention relates to the technical field of electric driving system energy-saving control, and discloses a multi-motor driving system torque optimal distribution method and system, and the method comprises the steps: building a single power unit power loss model of a multi-motor driving system; constructing a fitting straight line segment; constructing a torque-current mapping relation curve; a train speed prediction model, a multi-motor driving system power unit motor rotating speed prediction model, a multi-motor driving system total torque reference value prediction model and a multi-motor driving system power unit power loss prediction model are constructed; establishing a multi-motor driving system energy efficiency evaluation function, a multi-motor driving system stability evaluation function, a multi-motor driving system total torque following evaluation function and a system optimization objective function; designing a learning rate of a control vector; and updating the control vector according to the learning rate, and obtaining an optimized torque distribution coefficient and an optimized torque reference value distributed by each power unit. Therefore, the torque optimization distribution of the multi-motor driving system is realized, and the energy utilization efficiency of the system is improved.

The invention discloses a shear forklift steering control method and system based on central point dynamic differential, and the method comprises the following steps: S1, sensor module calibration: collecting the angle values of the right limit and the left limit of a shear forklift steering mechanism, calculating the difference value between the right limit and the left limit, converting the difference value into an actual degree, and carrying out the calibration of a sensor module; calibrating a scale factor and a straight-going intermediate value; s2, real-time steering angle calculation: reading a current measured value of an angle sensor, judging whether a left wheel is an inner side wheel or an outer side wheel, and calculating a current steering angle alpha in combination with a scale factor; s3, dynamic differential ratio calculation: based on the steering angle alpha in the step S2, calculating a central point turning radius R through a central point steering geometric model, and deriving an inner and outer wheel differential ratio K; and S4, adjusting and outputting the target rotating speeds of the inner wheel and the outer wheel according to the differential ratio K to realize dynamic differential control. By dynamically adjusting the rotating speed of the motor, the load difference of the motor can be reduced, the service life is prolonged, and the steering stability is improved.

The invention relates to the technical field of hydraulic transmission, and provides a variable-speed variable-displacement electro-hydraulic power source control method and a hydraulic system.The method comprises the specific steps that the system pressure and the system flow at the current moment are obtained; the initial rotating speed of the servo motor at the current moment is detected, and the initial displacement of the two-way variable pump at the current moment is obtained; a genetic algorithm is used for obtaining the optimal displacement of the two-way variable pump and the optimal rotating speed of the servo motor; the servo motor is adjusted according to the optimal rotating speed of the servo motor, so that the two-way variable pump works at the combination point of the optimal displacement and the optimal rotating speed; and during the working period of the two-way variable pump, the steps are cyclically executed to realize real-time regulation and control of the electro-hydraulic power source. According to the method, the efficiency model and the dynamic response model of the electro-hydraulic power source are established, the intelligent optimization algorithm is used for conducting multi-target dynamic optimization on the efficiency and the response time of the electro-hydraulic power source, the rotating speed of the servo motor and the displacement of the two-way variable pump are controlled in a coordinated mode, and the electro-hydraulic power source works in a high-efficiency and high-response area.

The invention discloses a high-speed turntable variable load adaptive control method, which is based on a closed-loop control mode, realizes adaptive regulation and control of a microprocessor on the rotating speed and the position of a servo motor by combining a fuzzy PID (Proportion Integration Differentiation) control algorithm, reduces the regulation response time and errors of a high-speed turntable, and improves the operation stability of a turntable system. The rotation angle of the high-speed rotary table is fed back to a microprocessor by a displacement sensor to form a closed-loop control system, and an improved gravity center Lagrange interpolation-Fourier harmonic synthesis displacement sensor error compensation model is established, so that the high-speed rotary table can still obtain a high-precision displacement measurement result in a variable-load processing working environment; a software operating system is designed to control and realize multi-task operation such as start-stop, initialization, instruction import and the like of the turntable, and the real-time performance and the detectability of the high-speed turntable system are improved. The method can be used for self-adaptive control under the condition of a variable-load high-speed turntable, and has the characteristics of high precision, fast response and good robustness.

The invention provides a method and a system for testing noise of a hybrid electric drive assembly of a hybrid vehicle with a small-capacity battery. The method comprises the following steps: arranging a microphone at a noise testing point; arranging a vibration acceleration sensor at the vibration measuring point; under the pure electric working condition, the vehicle speed starts from 0 km / h, the motor torque is controlled through an accelerator pedal, slow acceleration is conducted at the motor torque of 30 Nm, 50 Nm and 70 Nm respectively till the electric quantity of a battery is consumed to the lower limit, and the hybrid working condition is started; synchronously recording vibration noise of each measuring point and motor rotating speed and torque data; working condition testing is carried out, and acceleration signals of all the vibration measuring points and sound pressure signals of all the noise measuring points under different working conditions are obtained; and analyzing and processing the test data, and confirming the noise source distribution and the noise source resonance frequency. According to the method, the electric drive howling can be effectively tested, analyzed and evaluated through specially set vibration noise test working conditions and data processing parameters of the electric drive assembly in the whole vehicle state of the hybrid power vehicle with the small-capacity battery.

The invention provides an energy-saving optimization control method and system for an air compressor and a readable storage medium. The method comprises the steps that operation parameters of the air compressor and the current air use requirement of an air use end are obtained in real time; the current compression capacity of the air compressor is obtained through analysis according to the operation parameters; key operation parameters of the air compressor are dynamically adjusted according to the current air consumption demand and the current compression capacity so that the current compression capacity can be matched with the current air consumption demand, and the key operation parameters comprise the motor rotating speed, the air compressor load rate and the motor starting and stopping time. According to the energy-saving optimization control method for the air compressor, on the basis of real-time monitoring and analysis of the operation parameters of the air compressor and the current air consumption demand of the air consumption end, the key operation parameters of the air compressor are dynamically adjusted, so that the air production capacity of the air compressor is accurately matched with the actual air consumption demand, energy waste is avoided, and the energy conservation and emission reduction effects are achieved. Meanwhile, the stable operation and the service life of the equipment are considered, and the overall energy-saving optimization target is achieved.

The invention provides an intelligent control gas generator set and a control system, and relates to the technical field of gas power generation. The gas generator set comprises a compression ignition type internal combustion engine, a synchronous generator, an intelligent control box and a plurality of sensors. The intelligent control box comprises a display screen, a data memory, a central processing unit and a unit regulator; the central processing unit is used for receiving collected data of the sensors and processing the collected data to obtain adjustment parameters of the compression ignition type internal combustion engine; the unit regulator regulates the input air flow of the engine, the piston motion state and the rotating speeds of the engine and the synchronous generator according to the regulation parameters; the synchronous generator converts mechanical energy obtained by the engine into electric energy to be output, the operation efficiency and economical efficiency of the gas generator set are improved, emission is reduced, and environment-friendly power generation is achieved.

Disclosed in the present application are a vehicle torque control method and apparatus, and a hybrid vehicle. The method is applied to a hybrid vehicle. The method comprises: acquiring a vehicle speed, a rotational speed of a first driving electric motor, a rotational speed of a second driving electric motor, a tire radius, a circumferential coefficient and a vehicle traveling condition; on the basis of the rotational speed of the first driving electric motor, the rotational speed of the second driving electric motor, the tire radius, the vehicle speed and the circumferential coefficient, determining a slip rate corresponding to the vehicle traveling condition; on the basis of the rotational speed of the first driving electric motor, the rotational speed of the second driving electric motor, the tire radius and the circumferential coefficient, determining a front and rear axle wheel speed difference corresponding to the vehicle traveling condition; and if the slip rate corresponding to the vehicle traveling condition meets a preset slip rate condition or the front and rear axle wheel speed difference corresponding to the vehicle traveling condition meets a preset wheel speed difference condition, controlling the driving electric motors to perform torque compensation according to a preset compensation torque limiting condition. The probability of wheels slipping relative to the ground is reduced, thereby improving the stability of a vehicle.

The invention discloses a motor using a single sensor, an application and a high-precision rotating speed calculation method, the motor is provided with the single sensor, the rotating speed and the rotating direction of the motor are detected through the single sensor, and the sensor is a Hall sensor or an encoder; the motor is applied to a driving mechanism with a self-locking structure. The high-precision rotating speed calculation method comprises the following steps: step 1, obtaining the rotating direction of the motor according to the input voltage direction or the current direction of the motor, step 2, measuring to obtain the pulse number Np of a sensor, step 3, obtaining the estimated speed of the motor through the input voltage, the duty ratio, the current and the total resistance, and step 4, calculating the rotating speed of the motor according to the estimated speed. 4, obtaining an estimated pulse number according to the estimated speed, and 5, calculating the rotating speed of the motor according to the measured pulse number Np and the estimated pulse number. The method has the advantages that the motor cost can be reduced, the pin consumption of the single-chip microcomputer is reduced, and the measurement precision is high.

The invention relates to the technical field of motor control, in particular to a speed sensorless control method of a long-stator linear motor for a maglev train in a full-speed domain range. According to the method, when the train runs at a low speed, the mechanical position sensor is adopted for control, and control precision is high; when the train runs at a high speed, speed sensorless control based on extended back electromotive force is adopted, so that control errors caused by data transmission delay can be avoided; and a weighted average switching algorithm is provided when switching is controlled by adopting a mechanical sensor at a low speed and adopting a speed-free sensor at a high speed, and the weighted average switching algorithm comprises motor rotating speed switching and motor angle switching, so that stable transition of the rotating speed and the angle of the motor during high and low speed switching is realized, and overcurrent of the motor is avoided. By adopting the method, stable operation of the long-stator linear motor in a full-speed domain range can be realized, and safe operation of a train is ensured.