16 results about "Pendulum system" patented technology

This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.

The application relates to a distributed elastic fusion filtering method based on a generalized inverted pendulum system and relates to the technical field of information fusion filtering. A dynamic model of a generalized inverted pendulum system under a multi-sensor network with colored measurement noise is constructed, the dynamic model is converted into a dynamic model of a non-generalized inverted pendulum system, a local elastic filter is designed according to the measurement information of each node to filter the state of the system, a correction parameter matrix is calculated and substituted into the local elastic filter, the local state filtering of the generalized inverted pendulum system and the upper bound of the filtering covariance are obtained, and finally, an inverse covariance cross fusion method is used to obtain the best fusion filtering process. The application can effectively solve the fusion filtering problem of the generalized inverted pendulum system under the multi-sensor network affected by the colored measurement noise and the change of the filter parameters, can objectively fit the real engineering scene, is easy to realize online iterative calculation, and can improve the state estimation precision and the filtering algorithm performance.

The utility model relates to a desk type multi-simple-pendulum physical cycle demonstration instrument, belonging to the teaching demonstration equipment technical field, the desk type multi-simple-pendulum physical cycle demonstration instrument comprises a main body frame, a push plate, adjusting devices and pendulum balls, the push plate is arranged at the bottom of the main body frame, the plurality of adjusting devices are uniformly arranged at the top of the main body frame along the transverse direction at intervals, and the pendulum balls are arranged on the push plate. By adopting the structure, the pendulum length of each pendulum ball is accurately adjusted through the adjusting devices, and then the push plate is used for driving all the pendulum balls to synchronously start simple pendulum motion, so that the relationship between the simple pendulum period and the pendulum length can be intuitively understood; and the interaction and periodic change of the multi-simple-pendulum system in the swinging process provide powerful support for physics teaching, and the teaching quality and the learning effect of students are improved.

This invention provides a temperature control device for laser ablation-driven micro-impulse measurement experiments, based on a torsion pendulum micro-impulse measurement system. The torsion pendulum micro-impulse measurement system includes a laser, a focusing lens, a displacement stage, a torsion pendulum, a displacement sensor, and a data processing system arranged sequentially. The temperature control device is located in front of the torsion pendulum and fixedly connected to the displacement stage. The temperature control device includes a low-temperature heat sink, an electric heating element, and a temperature control chip, wherein the low-temperature heat sink is shaped to not obstruct the optical path. This solution achieves temperature control of the driven sample in laser ablation-driven impulse measurement experiments without affecting the impulse measurement process of the original torsion pendulum system.

The application discloses a heterogeneous four-pendulum system fixed-time synchronization method based on pulse control. The method first designs a fixed-time controller based on pulse control for a four-pendulum system with heterogeneous characteristics. Then, a novel Lyapunov functional is designed, the pulse interval is partitioned, and a convex combination technique is used to establish a fixed-time synchronization sufficient condition expressed by a matrix inequality, thereby realizing the synchronization of the four-pendulum system. A comparison system is constructed to estimate the stable time under the conditions of a synchronization pulse, an inactive pulse and non-synchronization. When the method is applied to the heterogeneous four-pendulum system, the stable time for realizing synchronization of the system is reduced, and the actual efficiency is improved.

This invention proposes a pointer-type pendulum tunnel lining grid-based precision inspection trolley, comprising a frame assembly; a support mechanism mounted on the frame assembly, on which a detection mechanism is mounted for detecting defects in the tunnel lining; and an electronic control system mounted on the frame assembly, which controls the mechanical movement, inspection operations, and data transmission of the entire trolley. The support mechanism is equipped with an arc-shaped circumferential guide rail coaxial with the tunnel lining. The detection mechanism is driven by a crawling drive system for slow movement and a pointer-type pendulum system for fast movement. This invention can carry different types of inspection equipment to perform circumferential, longitudinal, or combined scanning grid-based precision inspection of the entire tunnel lining space, achieving continuous full-coverage inspection of the lining while ensuring rapid inspection efficiency.

This invention proposes an integrated pointer-type pendulum tunnel lining maintenance and inspection trolley, comprising a frame assembly; a load-bearing mechanism mounted on the frame assembly, on which a detection mechanism is installed for detecting defects in the tunnel lining; a maintenance mechanism also mounted on the load-bearing mechanism, configured to perform maintenance operations on the tunnel lining; and an electronic control system mounted on the frame assembly, controlling the mechanical movement, inspection, maintenance operations, and data transmission of the entire trolley; the load-bearing mechanism is equipped with an arc-shaped circumferential guide rail coaxial with the tunnel lining, on which a circumferential guide rail crawling system and a pointer-type pendulum system are installed. This invention enables automated control of maintenance and inspection, allowing rapid switching between inspection and maintenance modes, facilitating simultaneous self-inspection by construction units during the maintenance process.

The application discloses an interval type-2 fuzzy sliding mode control method based on a parameter uncertain inverted pendulum system and belongs to the technical field of nonlinear system control, and comprises the following steps: establishing an interval type-2 T-S fuzzy model of the parameter uncertain inverted pendulum system; constructing a sliding mode controller of the parameter uncertain inverted pendulum system based on the interval type-2 T-S fuzzy model; the sliding mode controller comprises a sliding surface, an equivalent controller, a switching controller and a comprehensive controller; the sliding surface is used as the only input variable of the fuzzy controller, the switching gain is dynamically controlled by using a fuzzy logic rule, and the sliding mode controller is optimized into an interval type-2 fuzzy sliding mode controller. The application solves the problem that the prior art cannot ensure that the parameter uncertain inverted pendulum system is stably operated on a sliding surface and is prone to chattering when parameters change and external disturbances occur.

The present application relates to a kind of grooved drum loose winding machine, relate to the technical field of winding machine, including winding system, pendulum system, tension control system, rack, feeding system and microseismic system, the winding system is installed on rack, the pendulum system is rotatably installed on rack, the tension control system is installed at the end of feeding system close to pendulum system, the winding system is located at the side of pendulum system away from tension control system, the microseismic system includes microseismic support, microseismic gas supply pipe, microseismic ring and microseismic ball, the microseismic ring is installed on microseismic support by microseismic gas supply pipe, the microseismic ring is hollowly arranged, the microseismic ball slides in microseismic ring, the upper end of the microseismic ring is communicated with microseismic gas supply pipe, the microseismic ring is hung at the lower end of microseismic gas supply pipe, the microseismic ring is equipped with gas outlet at the side close to microseismic gas supply pipe, the gas outlet points to oblique upper direction, the microseismic ring is attached to pendulum system, guarantee subsequent dyeing uniform.

The utility model relates to a novel satellite inertia characteristic test platform, it includes: base, fixed mounting on the upper surface of base air float base, float setting air float rotor above air float base, fixed mounting above air float rotor adapter flange, the torsion bar of connecting air float rotor and base, fixed in air float base side surface photoelectric sensor and install in air float rotor side surface with photoelectric sensor corresponding trigger, air float base is equipped with the conical air float surface and the ring air float surface of intercommunication, and air float rotor is correspondingly equipped with matched rotor conical surface and rotor ring surface, the utility model discloses scientific and reasonable structure design has solved the problem of traditional torsional pendulum type test equipment manufacturing cost, interference torque is big, test efficiency is low, torsional pendulum system is complex, and the maintenance is inconvenient, and the deficiency of processing efficiency is solved, realizes effectively reducing interference torque, has the advantages that the sensitivity is high, stability is good, reduces the processing and application cost.

The invention discloses a deepwater explosion test method based on an underwater double-pendulum motion theory, and relates to the technical field of ocean engineering.According to the method, a structure that a second mass-free rope is additionally used for hanging a balance weight below a cartridge bag is adopted, then the cartridge bag and the balance weight are regarded as a double-pendulum system, a target is regarded as a system foundation of the double-pendulum system for stress analysis, and a deep-water explosion test result is obtained; the length of the second mass-free rope enabling the swing angle of the cartridge bag to be minimum and the mass of the balance weight are determined, so that the deepwater explosion test method is carried out under the structure, the swing angle of the cartridge bag in the deepwater explosion test process can be effectively reduced, it is guaranteed that the swing angle of the cartridge bag is within an acceptable range, and then effective test data are obtained. And a technical support is provided for improving the deep sea explosion test capability.

The application provides a multi-single pendulum system cooperative control method and system, a dynamic model of the multi-single pendulum is established, unknown nonlinear terms in the dynamic model are approximated by using a fuzzy logic system; a uniform tracking error containing a dynamic boundary function is constructed by considering a communication topological relationship of the multi-single pendulum, not only the singularity problem in the initial time tracking error is avoided, but also the boundary function is dynamically adjusted according to the initial distance of the agent, so that the adaptability of the actuator is improved; according to a virtual controller and an actual controller based on a switching dynamic event trigger, the position of the following pendulum and the expected trajectory of the leading pendulum can be kept synchronous under the condition that the communication range is limited and the communication topological relationship is abnormal.

The invention discloses a marine satellite antenna anti-swing system and a control method thereof. The marine satellite antenna anti-swing system comprises a ship body fixing base, a vibration isolation supporting structure, a vibration isolation spherical hinge structure, a servo stabilization platform and an antenna integration assembly which are sequentially arranged from bottom to top. The servo stabilized platform comprises a platform base, a three-axis servo motor, a harmonic reducer, an IMU, a GNSS positioning module and a controller, the lower surface of the platform base is rigidly connected with the vibration isolation spherical hinge structure, and a platform shell is arranged on one side of the upper surface of the platform base; the three-axis servo motor and the harmonic reducer are both installed on the other side of the upper surface of the platform base through a first support, the IMU and the GNSS positioning module are both installed on the platform base through a second support and located above the three-axis servo motor and the harmonic reducer, and the controller is installed in the platform shell. The controller is electrically connected with the three-axis servo motor, the harmonic reducer, the IMU and the GNSS positioning module.

The invention discloses an interphase energy consumption anti-galloping system based on self-adaptive double pendulums and intelligent pneumatic thrust, and belongs to the technical field of disaster prevention and reduction of power transmission lines. The system integrates four functional modules, namely an intelligent monitoring control module, a self-adaptive double-pendulum module, an intelligent pneumatic thrust module and an energy consumption module. The intelligent monitoring control system is composed of a sensing monitoring integration, a sensing energy-taking CT, a super capacitor bank, a backup battery and a connecting assembly, senses the galloping state of the wire in real time and achieves coordination control of the system. According to the self-adaptive double-pendulum system, the pendulum length is dynamically adjusted through a pendulum shaft, a micro winch, a sliding guide rail, a swing arm, a pendulum bob and other assemblies so as to be matched with the galloping frequency, and efficient energy transfer and suppression are achieved through the resonance principle; the energy consumption system fuses magneto-rheological damping and eddy current damping mechanisms, and the risks of power impact and structural damage are reduced through a parallel cooperative working mode. The system has the comprehensive anti-galloping capability of perception prediction, self-adaptive adjustment and multi-mode intervention.

This invention discloses a data-driven event-triggered control method for an inverted pendulum system. The method establishes a data-based system representation of the inverted pendulum system, then designs the solution conditions for the data-based control gain K of the inverted pendulum system, and finally constructs two data-based event triggering conditions for the inverted pendulum system and demonstrates the effectiveness of the proposed method, effectively alleviating the problem of data-driven event-triggered control for inverted pendulum systems that cannot be modeled.

The application relates to the technical field of robot devices, in particular to a spherical marine robot based on wave driving, which comprises a spherical shell, a flow guide plate is arranged on the middle surface of the spherical shell in a circumferential manner, a double-shaft steering pendulum system is arranged in the spherical shell, the double-shaft steering pendulum system comprises a main shaft, a secondary shaft, an L-shaped shaft sleeve, a pendulum bob and a steering engine driving module, the L-shaped shaft sleeve is provided with a shaft hole in a horizontal direction, the main shaft is connected through the shaft hole and the one-way bearings at both ends, the L-shaped shaft sleeve is provided with a bearing hole in a vertical direction, the first double-direction bearing is arranged in the bearing hole, the secondary shaft is arranged in a space horizontal direction with the main shaft, one end of the secondary shaft is connected with the first double-direction bearing, the other end is driven and connected by the steering engine driving module, the middle section of the secondary shaft is provided with a tail part, and the pendulum bob is connected to the tail part. The robot is driven by waves, has lower energy consumption and higher energy sustainability.