2093 results about "Motor speed" patented technology

The invention discloses a force-position hybrid control method and device for a rope traction parallel robot and a medium, and belongs to the field of rope traction parallel robot control, and the method comprises the steps: 1, building a kinematics and dynamics model of the robot; step 2, dividing hierarchical priorities of contact force tracking, trajectory tracking and rope tension distribution subtasks according to operation task constraints of rich contact; 3, in the contact force tracking subtask, constructing an admittance controller based on a disturbance observer according to the deformation model, and tracking the contact force; 4, in the trajectory tracking subtask, according to a control target in a sliding mode surface form, constructing a sliding mode controller based on a disturbance observer and tracking a trajectory; step 5, constructing a motor speed controller according to the controller output quantity in the step 3 and the step 4 in combination with an artificial potential field-based rope tension distribution algorithm of the rope tension distribution subtask; and step 6, performing robot force-position hybrid control by using a motor speed controller to complete an operation task of rich contact.

The invention provides a sueding machine control method and system based on tension self-adaptive adjustment, and relates to the technical field of sueding machine control, and the method comprises the steps: obtaining an actual tension value of a fabric in real time, comparing the actual tension value with a target tension value, obtaining a real-time tension deviation and a tension deviation change rate, and according to the real-time tension deviation and the tension deviation change rate, obtaining a real-time tension value of the fabric; generating a first control signal, collecting real-time rolling diameter signals of an unwinding roller and a winding roller of the sueding machine, generating a second control signal through a feedforward calculation model according to the rolling diameter signals and the current fabric linear speed, synthesizing the first control signal and the second control signal to obtain a total control signal, outputting the total control signal to a driving device, and adjusting the rotating speed of a motor. The technical problems that in the prior art, control over the sueding machine is limited in response speed, a control strategy is difficult to adjust in time, and normal operation and fabric quality of the sueding machine are affected are solved. The technical effects that the tension of the sueding machine is adjusted in a self-adaptive mode, and the operation stability of the sueding machine and the fabric quality are improved are achieved.

The invention provides a vehicle slope sliding dynamic control method and system based on multiple modes. The method comprises the steps that running state parameters of a vehicle are obtained in real time, wherein the running state parameters comprise the actual rotating speed of a motor, the actual torque of the motor, gear information, the opening degree of an accelerator pedal, the opening degree of a brake pedal and vehicle fault information; on the basis of the running state parameters, the ramp sliding state of the vehicle is determined; according to the ramp sliding state, a parking control mode of the vehicle is dynamically selected, and the instantaneous motor actual torque of the vehicle at the corresponding moment is obtained and stored when the parking control mode is switched; and on the basis of the parking control mode, the actual torque of the motor, the vehicle load and operation of a driver, a motor control instruction used for adjusting the target torque of the motor or used for controlling and releasing the parking action is generated, so that anti-slip control in the vehicle starting process is achieved.

The invention discloses an AGV portal motion speed control method and an AGV, and the method comprises the steps: receiving a portal motion speed instruction, and obtaining a needed portal motion speed in the portal motion speed instruction; based on the action speed of the portal frame, a speed-rotating speed formula is used for calculating the required rotating speed of the pump; if the required rotating speed is larger than or equal to the minimum rotating speed of the pump motor, the rotating speed of the pump motor is adjusted to the pump required rotating speed, the current corresponding to the opening degree of a multi-way valve port enabling the output flow allowed by the multi-way valve to be larger than the real-time output flow of the pump is calculated, and the opening degree of the multi-way valve port is controlled based on the current; otherwise, the rotating speed of the pump motor is adjusted to the minimum rotating speed, the current corresponding to the opening degree of the valve port of the multi-way valve enabling the output flow allowed by the multi-way valve to be smaller than the real-time output flow of the pump is calculated, and the opening degree of the valve port of the multi-way valve is controlled based on the current. According to the method, different flow control modes are selected based on the required rotating speed of the pump, the low-speed lifting micro-motion performance is optimized, the pressure loss generated by rapid lifting is reduced, and the energy consumption is reduced.

The invention relates to the technical field of coal washing equipment, in particular to a lifting type peripheral transmission rake thickener operation system for coal washing, which comprises a working condition sensing module used for collecting slime water concentration, rake frame torque, slag layer thickness and equipment operation temperature data; the intelligent decision-making module is used for constructing a slime water sedimentation prediction model through an LSTM-GRU hybrid algorithm according to the data, and generating an equipment operation regulation and control instruction; the lifting transmission regulation and control module is used for adjusting the vertical height of a rake frame according to a regulation and control instruction to adapt to different slag layer thickness treatment requirements, and meanwhile, combining real-time feedback of the torque of the rake frame, dynamically adjusting the rotating speed of a peripheral transmission motor and optimizing coal slime and water separation conditions; and the safety early warning module is used for monitoring parameter mutation through a sliding window algorithm, and triggering corresponding strategies of different levels when the harrow torque and the slime water concentration exceed multiple groups of adaptability thresholds. Therefore, the problems that in the prior art, the height of the rake frame is fixed, regulation and control depend on manpower, and an early warning mechanism is extensive are solved.

The invention relates to the field of co-extrusion production control, and particularly discloses an efficient film bag feeding control system, which is applied to a multi-raw-material synchronous conveying device of a co-extrusion process, and comprises a full-link data acquisition module, a full-link data processing module and a full-link data processing module, the raw material characteristic parameters comprise a melting point T, a stacking density rho and a magnetic sensitive particle loading amount M; the instantaneous load pressure P of each raw material conveying channel, the temperature Tm of a co-extrusion die head melting area, the real-time thickness H of a co-extrusion film layer, stock bin liquid level data and motor rotating speed data are collected and integrated to obtain a full-link original data set; the single-drive linkage conveying mechanism comprises a main servo motor, a plurality of sets of electromagnetic clutches and a plurality of sets of spiral conveying assemblies, and the main servo motor drives a transmission shaft through a synchronous belt. According to the technical scheme, for the co-extrusion process, the multi-raw-material synchronous conveying precision can be matched, and the problems that parameter adjustment lags behind, adaptability is poor and a downstream process feedback closed loop is lacked are solved.

The invention relates to the technical field of unmanned aerial vehicle control, and discloses a fire-fighting unmanned aerial vehicle flight attitude instability control device and a control method thereof. The device at least comprises a control module which is configured to estimate an equivalent disturbance torque vector generated by throwing a fire extinguishing bomb in real time by utilizing an expansion state observer according to an attitude state quantity, a load state parameter and a current motor control instruction, a self-adaptive sliding mode controller fuses the equivalent disturbance torque vector and a feedback control quantity obtained through sliding mode control based on the current attitude error, a total compensation torque instruction needed by the fire-fighting unmanned aerial vehicle to recover stability is generated, and the total compensation torque instruction is decomposed into a target displacement instruction and a differential speed adjusting instruction; and the execution module is configured to execute the target displacement instruction by using the movable counterweight mechanism to drive the counterweight block to move, and execute the differential speed adjustment instruction through the power fine adjustment mechanism to adjust the rotating speed of the motor. The problem of attitude instability after bomb dropping of the fire-fighting unmanned aerial vehicle is effectively solved.

A sensorless method for machine tool chatter detection. A motor torque signal is analyzed in the time domain to determine whether a bit is currently cutting workpiece material. When not cutting material, an air-cut reference signal is stored for later use. When cutting material, the motor torque signal is converted to the frequency domain and filtered in a multi-step process. After removal of the air-cut reference signal via spectral subtraction, and removal of spindle harmonic components, additional filtering is performed to address aliasing and encoder error effects. The aliasing filtering removes artificial peaks in the frequency response spectrum resulting from interaction between sampling frequency and cutting frequency. The encoder error filtering removes frequency response peaks related to encoder design and interaction with motor speed. After filtering, indicator criteria are evaluated to detect chatter, and corrective action is taken when chatter is detected.

The invention provides a multi-pump zero-displacement hydraulic agile control system and a control method thereof. The system is composed of a hydraulic system, a mechanical system and an electric control system. According to the control method, a multi-pump zero-displacement switching mechanism and a deep reinforcement learning strategy based on an Actor-Critic architecture are fused, the effective oil supply amount is adjusted by dynamically starting and stopping part of hydraulic pumps, a servo motor rotating speed instruction is output in real time in combination with a neural network, and the strong coupling dynamic relation between sliding block displacement and the angle of a swing rod is coordinated. The system switches part of the pumps to a bypass state when approaching balance so as to reduce energy consumption, and starts all the pumps to guarantee recovery capacity when greatly deviating. According to the technical scheme, on the premise of not depending on an accurate mathematical model, agile, stable and energy-saving control over the inverted pendulum type under-actuated system can be achieved.

The invention relates to the technical field of open-milling granulation production control, and provides an open-milling granulation production process control method and system, and the method comprises the steps: monitoring and recording the flow state parameters of a melt strand at the outlet of a granulator die head in real time; monitoring and recording the driving motor torque and the driving motor rotating speed of an extrusion screw of the granulator in real time, and judging the fluctuation trend of the melt viscosity according to the driving motor torque and the driving motor rotating speed to obtain melt viscosity fluctuation trend information; based on the melt strand flow state parameters and the melt viscosity fluctuation trend information, executing a judgment process of a starting strategy of a feed-forward compensation mechanism to obtain a feed-forward compensation judgment result; according to the feedforward compensation judgment result, the rotating speed of a rotating cutter head of the granulator or the heating power of a die head is adjusted, so that the open milling granulation production process is controlled. The method has the effect of improving the stability of the open milling granulation production process.

The invention discloses a low-harmonic high-voltage speed regulation system based on a multi-pulse phase-shifting transformer, and particularly relates to the field of power electronic technology and motor speed regulation, which is characterized in that the primary side of the multi-pulse phase-shifting transformer is in star connection, and N groups of windings on the secondary side are in extended delta connection, so that phase difference is realized; the multi-path low-voltage alternating current is converted into multi-path low-voltage alternating current and low-order harmonics are High voltage is output through cascade H-bridge topology series connection, and reliable conversion is guaranteed through rectification filtering inversion and device redundancy design; the motor control module collects signals through multiple sensors, and PWM drive signals are generated through a vector control algorithm and coordinate transformation. The harmonic detection and compensation module detects harmonic waves based on an FFT algorithm, and injects a reverse compensation component through a modulation strategy to offset the harmonic waves; and the auxiliary protection module integrally realizes low-harmonic and high-precision high-voltage motor speed regulation through multi-dimensional monitoring and hardware protection.

The invention discloses a current ripple suppression method for an underwater propulsion motor, relates to the technical field of motor control, and reduces overshoot and adjustment time when the rotating speed of the motor changes suddenly by improving a traditional field-oriented control framework and adopting a differential tracker to smooth an input reference rotating speed. Dead-beat model-free predictive control and an ESO observer are introduced into a current loop, and current ripples caused by parameter mismatch and external interference are effectively restrained. Model-free predictive control is adopted, the number of mathematical model parameters is reduced, the model accuracy is improved, and the control precision is improved. The current ripple is further reduced by identifying the inductance parameter and adjusting the PWM frequency according to the actual inductance value. According to the invention, the overshoot phenomenon in the rotating speed adjusting process is obviously reduced, the stability and efficiency of motor operation are effectively improved, and the service life of the motor is prolonged. The invention provides a new solution for improving the performance of the underwater robot propulsion system.

The invention relates to the technical field, in particular to an automatic sand-stone separation control method and system.According to the automatic sand-stone separation control method and system, the difference value between tension and the flow speed of a screen surface is collected, scoring is executed by combining the area change and the screening rate result of particles, screening and optimal sorting are executed in multiple combinations through a particle swarm optimization algorithm, and the parameter combination adaptability under particle size control is improved; particle size sorting accuracy of multi-parameter linkage matching is achieved, particle concentration, valve opening feedback delay, pressure difference before and after screening and impact frequency change are extracted, normalization processing is executed, a non-dominated sorting genetic algorithm is used for matching an optimal instruction sequence under multiple control targets, the application range of instruction decision to complex state combination is widened, and the optimal instruction sequence is obtained. Based on the real-time data of the motor rotating speed and the belt tensioning force, the response amplitude and the channel frequency are subjected to difference comparison and staged recording, a response track data sequence is constructed, the sensing level of the real-time behavior state of an executing mechanism is improved, and the continuous monitoring capacity of a control feedback chain is achieved.

The invention discloses a double-fan air conditioner and a single-inverter and double-motor control method thereof. The control method comprises the steps that three-phase currents of a master motor and a slave motor which are the same in type and connected to the same inverter are collected, Park conversion is conducted to obtain d-axis components and q-axis components, and the observation angular frequency of the master motor is obtained through a position observer; calculating error angles of the master motor and the slave motor, controlling errors of the error angles through feedback, outputting a product of a motor speed difference reference value and the error angles, and obtaining a d-axis component compensation value idcomp through PI control; inputting a main motor angular frequency reference value in a speed control loop, outputting d-axis and q-axis component reference values of the current of the main motor, and compensating the d-axis component reference value of the current of the main motor with idcomp to obtain a final d-axis component reference value of the current of the main motor; and inputting the q-axis component reference value and the q-axis component reference value into a current control loop, generating a duty ratio signal of pulse width modulation, and controlling a master motor and a slave motor to rotate a voltage vector. According to the invention, through d-axis current injection compensation, system stability is realized.

The invention relates to the technical field of industrial automation, and discloses a multi-mode switching control method for a variable displacement piston pump driven by a servo motor, which comprises the following steps of: acquiring multi-dimensional operation state parameters and load power of a variable displacement piston pump system; performing dynamic mode decomposition on the load power signal, and executing preset state switching compensation mapping to complete mode switching on the basis of the extracted mode characteristics and the current state parameter under the condition of judging that the switching condition is satisfied; executing a corresponding control strategy in the new mode, and dynamically adjusting the pump displacement and the rotating speed of the servo motor through feedback control; and detecting the response and energy efficiency performance of the regulation and control system according to the performance index in the system operation process. By adopting a dynamic mode intelligent switching mechanism, the system can automatically match the optimal operation mode in different working environments, the energy utilization efficiency is greatly improved, and the effects of effectively reducing energy waste and reducing the total energy consumption of the system during stable load or low load operation are achieved.

The invention relates to a direct-drive permanent magnet motor speed optimization control method based on multi-strategy self-evolution perception fusion and toughness control, and solves the problems of poor model adaptability, sensitive sensor fault, weak disturbance suppression and the like in the prior art. The adopted technical scheme is that the method comprises the following steps: establishing a self-evolution motor modeling system; on the basis of a motor modeling system, credibility evaluation is carried out on collected multi-source motor operation data, and a fusion state estimation result is generated in combination with a multi-scale residual weighting mechanism; constructing a cognitive main controller, and outputting a motor speed optimization control signal; and setting a light fault threshold value and a heavy fault threshold value, constructing a three-level toughness control mechanism, and performing graded response on faults to realize fault recovery. The method has the advantages that the motor speed control precision, the system stability and the self-adaptive capacity are remarkably improved.

The invention relates to the technical field of forklift control, in particular to an efficient and energy-saving off-road forklift electric drive system and a control method. Multi-source data is collected through a multi-source sensor, and data preprocessing is carried out; outputting a control decision instruction according to a priority decision rule based on the preprocessed data in combination with a fuzzy logic algorithm; in combination with the working condition characteristics and the real-time data, dynamic parameter adjustment is performed on the rotating speed, the torque and the current parameters of the motor by utilizing a reinforcement learning framework, and a PWM duty ratio control instruction is generated; on the basis of a PWM duty ratio control instruction and a hydraulic pressure signal fed back by a hydraulic system, the same-frequency anti-phase compensation torque is calculated, a signal is injected to suppress fluctuation, and torque distribution and hydraulic flow are adjusted through a ramp function; and establishing a hierarchical health early warning mechanism according to the historical data, judging the current early warning level, and outputting a maintenance strategy instruction according to the early warning level. According to the scheme, equipment health management and stability are enhanced through reinforcement learning dynamic optimization and graded early warning.

The invention provides an anti-surge and anti-backflow control method for a magnetic suspension air blower, and belongs to the technical field of air blowers. The anti-surge and anti-backflow control method for the magnetic suspension air blower comprises the steps that an electric check valve is arranged in an air supply pipeline outside fan equipment, and the electric check valve is electrically connected with a system corresponding to the magnetic suspension air blower; a plurality of rotating speed gears are divided in a low-speed operation interval of the fan, different rotating speed gears correspond to different opening degrees of the electric check valve, and the larger the rotating speed is, the larger the opening degree of the corresponding electric check valve is; the fan enters a low-speed operation interval after being started, the rotating speed gear of the motor is adjusted step by step from small to large, and the system correspondingly adjusts the opening degree of the electric check valve according to the rotating speed gear where the motor is located; and after the fan enters the high-speed operation interval, the electric check valve is fully opened, and the speed is directly increased to the target set rotating speed. According to the anti-surge and anti-backflow control method for the magnetic suspension air blower, the surge inducement of sudden pressure rise caused by closing of the electric check valve is avoided.

The invention provides a control system and method for power distribution and power generation control of an extended-range agricultural machine based on intelligent identification of a working road surface and a hybrid tractor. The control system comprises the following steps: identifying a field type by collecting image information of a driving road, calculating required power of a vehicle range extender in a corresponding working scene based on the field type, and controlling a range extender assembly; and adjusting the torque of the driving motor and the driving motor based on the field type, the rotating speed of the driving motor and the vehicle speed. Based on field type recognition and historical working data, accurate distribution of driving force and efficient and stable power generation of the range extender can be achieved, the safety and the service life of a power battery are guaranteed, and the farmland operation efficiency of the tractor is improved.

The invention discloses a hybrid vehicle control method and device and a vehicle. The method comprises the steps that the motor rotating speed difference, the current vehicle speed, the motor rotating speed and the current required torque of a motor of the hybrid vehicle are obtained, and the motor rotating speed difference is obtained through calculation based on the motor rotating speed and the current vehicle speed; when the enabling condition is met, the compensation torque of the motor is determined according to the motor rotating speed difference; the demand torque is compensated based on the compensation torque, and the compensated demand torque is obtained; and controlling the hybrid vehicle to output the compensated demand torque. While the power request of a driver is met, the torque and rotating speed vibration phenomenon in a transmission system is effectively restrained, the driving smoothness and the control stability of the whole vehicle are improved, and then the driving experience is improved.

A utility vehicle including a housing configured for storing goods therein during transport. A handlebar extends into a chassis sleeve defined by a chassis. The handlebar is slidably moveable forward and backward within the chassis sleeve. A sensor includes a flexible member having a first end mounted to the chassis sleeve and a second end mounted to the handlebar. The sensor is configured to sense a magnitude and a direction of a force exerted on the handlebar by an operator. A control module is in communication with the sensor and a motor. The control module is configured to control motor speed and motor direction of the motor based on the magnitude and the direction of the force exerted on the handlebar by the operator as sensed by the sensor.

The invention discloses an integrated motor and an assembling method thereof, and belongs to the technical field of motors, the integrated motor specifically comprises a disc type motor assembly, a fan and an adjusting assembly, the disc type motor assembly comprises a base, a stator assembly, a rotor assembly, a rotating shaft and a bearing, and the base is provided with a plurality of air channels in the circumferential direction; an air guide chamber is formed in the fan and is communicated with the air duct; the adjusting assembly is arranged on the air duct and used for adjusting the opening area of the air duct according to temperature changes. By arranging the adjusting assembly, when the rotating speed of the motor is high and the temperature is high, the opening area of the air duct driven by the adjusting assembly is enlarged, the heat dissipation airflow resistance is effectively reduced, and the kinetic energy loss of the air volume is reduced; when the rotating speed is low and the motor temperature is low, the adjusting assembly drives the opening area of the air duct to be reduced, the airflow is guided to be intensively discharged from the air duct, and the guidance quality and the utilization efficiency of the heat dissipation airflow are improved.

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

The invention discloses a motor speed regulation method and device, a rotating speed regulator, a storage medium and a program product, and relates to the technical field of motor control, and the method comprises the steps: obtaining an actual rotating speed, a rotational inertia parameter and a target rotating speed change rate of a vehicle motor under a working condition of a vehicle, and a current target rotating speed of a current rotating speed sampling period; determining control parameters for adjusting the rotating speed of the vehicle motor according to the rotational inertia parameters; determining a correction amount corresponding to the target rotating speed change rate, and correcting the current target rotating speed according to the correction amount to obtain the latest target rotating speed of the current rotating speed sampling period; and determining a target torque value of the vehicle motor based on the actual rotating speed, the latest target rotating speed and the control parameters. The technical problems that an existing motor speed regulation method is poor in speed regulation effect and cannot meet speed regulation indexes under different working conditions, and consequently the whole vehicle performance is low can be solved.

The invention belongs to the field of motor control, and relates to a permanent magnet synchronous motor MTPA control method based on end-to-end reinforcement learning, in a motor control system, motor current and rotating speed collected in real time are constructed into a state vector, a trained intelligent agent is input for reasoning, and control voltage is output as an action vector. Finally, a voltage instruction is correspondingly generated to drive a motor; the network structure of the intelligent agent is constructed based on a TD3 algorithm, training data of the intelligent agent comprises random motor physical parameters and dynamic motor working condition rotating speed, iterative training of the intelligent agent is based on a dynamic reward function, and the intelligent agent is guided to converge automatically through the dynamic reward function. According to the method, a control strategy of directly mapping the rotating speed and the current state of the motor to the optimal voltage instruction can be obtained, so that rotating speed tracking is met, the maximum torque-current ratio working point is spontaneously converged, and the method has adaptive compensation capability for parameter nonlinear drift in motor operation.

The invention discloses an intelligent control system for rearview mirror adjustment. The intelligent control system comprises a vehicle-road collaborative sensing data acquisition module, a multi-mode road condition feature fusion module, a space-time fusion segmentation processing module, a scene parameter analysis module, a reinforcement learning decision calculation module and a rearview mirror driving control module. The vehicle-road collaborative sensing data acquisition module captures roadside radar signals, camera images and vehicle-end bus data, the multi-mode road condition feature fusion module and the space-time fusion segmentation processing module cooperatively complete data space-time alignment and semantic segmentation, and the scene parameter analysis module extracts parameters such as obstacle distance and lane line curvature from the data. The reinforcement learning decision calculation module constructs a scene self-adaptive decision system based on parameters, and the rearview mirror driving control module receives an instruction to regulate and control the rotating speed and the steering angle of a motor. All the modules form a'sensing-fusion-decision-execution 'closed loop, accurate adaptation of the view of the rearview mirror under different road conditions is achieved, and driving safety and adjustment timeliness are improved.

The invention discloses a permanent magnet synchronous motor model prediction control method based on multi-target Pareto optimum, which comprises the following steps: measuring two-phase current, motor rotating speed and rotor position of a permanent magnet synchronous motor, converting the two-phase current into d-axis current and q-axis current according to the rotor position, and converting an alternative voltage vector of an inverter into d-axis voltage and q-axis voltage at the same time; inputting the d-axis current, the q-axis current, the d-axis voltage, the q-axis voltage and the rotating speed of the motor into a current prediction model of the permanent magnet synchronous motor, and predicting a future current state value; establishing a multi-target optimization model including torque ripple, current total harmonic distortion, switching frequency and power loss, calculating by using a multi-target particle swarm algorithm in combination with non-dominated sorting and congestion distance to obtain a Pareto optimal solution set, obtaining an optimal weight factor, and automatically adjusting target weights according to motor operation states under different operation conditions; and constructing a cost function based on the optimal weight factor, and selecting a voltage vector enabling the cost function to be minimum as optimal control output.

This invention discloses a hybrid power allocation method for range-extended electric vehicles (REEVs), relating to the field of intelligent power distribution technology. The method includes: determining the current external power demand status of the REEV; determining the current driving status of the REEV based on the engine operating status and real-time motor speed; acquiring the current state of charge of the battery and the fuel tank status of the range extender; determining the power supply mode of the REEV based on the external power demand status, driving status, battery state of charge, and fuel tank status; predicting the short-term power demand of the REEV based on its real-time speed and external power load, inputting the short-term power demand into a preset reinforcement learning model, and determining a hybrid power allocation ratio based on the power supply mode with the goal of minimizing energy consumption; and adjusting the range extender's power generation and the battery's output power through a hierarchical state machine based on the hybrid power allocation ratio.

The utility model discloses a motor rotating speed adjusting structure of an ice cream machine, which belongs to the technical field of ice cream machines and comprises a compressor, an evaporator, a stirrer, a motor, a control panel and a display panel. The control panel is in electric control connection with the compressor, the motor and the display panel, an adjustable direct-current voltage circuit is arranged on the control panel, different voltage signals are output through the adjustable direct-current voltage circuit, and the motor is controlled to output different rotating speeds through the different voltage signals. According to the structure, the motor can at least rotate at a high speed and a low speed, so that the stirrer can stir ice cream at least at a high rotating speed and a low rotating speed, the stirring speed of the ice cream can be increased by the stirrer rotating at a high speed, the discharging speed of the ice cream can be reduced by the stirrer rotating at a low speed, and the use experience of a user is greatly improved.

The invention provides a pea gravel self-adaptive injection method, an injection system, rear corollary equipment and a tunnel boring machine, and belongs to the technical field of tunnel boring. The injection state of the injection port pipeline is judged by detecting the vibration condition of the injection port pipeline at the tail end of the injection pipeline, and the blanking adjusting valve of the feeding device is controlled to adjust the opening degree of the blanking port in a self-adaptive mode according to the injection state, so that the blanking speed is matched with the current injection state in a self-adaptive mode. Meanwhile, the rotating speed of a motor of the pea gravel pump is adjusted in a self-adaptive mode according to the opening degree of a discharging opening, self-adaptive matching of the discharging speed and the pea gravel spraying amount is achieved, the system can achieve self-adaptive control over the discharging speed, the rotating speed of the motor and the air inflow according to a control program of a PLC, fault signals and accessory replacement reminding are provided, manual operation is not needed, and the working efficiency is improved. The problems that at the present stage, the blanking speed, the motor rotating speed and the air inflow are adjusted completely depending on manual experience, the whole system is unstable, pipe blockage and pipe explosion frequently occur on site, and quick-wear parts are abraded rapidly are solved.