138 results about "Pendulum system" patented technology

An exercise apparatus may include a frame. A crank system may be coupled to the frame. A brake / inertia device may be coupled to the crank system. A pivotal linkage pendulum system may be coupled to the crank system. The pivotal linkage pendulum system may include one or more link members. An upper pivot point of at least one of the link members may be coupled to the crank system. In some embodiments, the upper pivot point of the at least one of the link members may be coupled to the crank system through a movable member. The upper pivot point may move in a closed path motion. A foot member may be coupled to one or more of the link members. The foot member may include a footpad. A majority of a path of motion of the footpad may be below the closed path during use.

An exercise apparatus for a user. The exercise apparatus includes a frame, a crank system coupled to the frame, a pivotal linkage pendulum system, a foot member and first and second directional resistance systems. The crank system includes one or more crank members. The pivotal linkage pendulum system comprises at least a first link member. The first link member is coupled to the crank system through at least a first pivot point. The first pivot point of the first link member is configured to move in a path during use. The foot member is coupled to the at least one first link member. The first and second directional resistance systems are each coupled to the crank system. The first direction is different from the second direction.

The universal power generator utilizing the energy of wind, water stream, or a sea waves for manufacturing clean water from humid air is shown in FIG. 1 by the side 1 and front 11 views.The above generator contains the following units: swing system which are comprised of the pendulum system (54,56) sail blade systems (2,4,66,68). The sail system is formed of a plurality of blades (a, b, c, d) installed on two frames (4,66), which swing on two horizontal axles (6,8) which are disposed according to the wind direction or the flow of water movement by weather cock system. The tips of the lower blades can be used as paddles.If the upper blades (a) of the frame (4) and the lower blades (b) of the frame (66) receive any stream of energy then the other blades (c) of the frame (66) and lower blades (d) of the frame (4) move in manner like a weather cock at the same time. At the end of each swing, the blades change their action.The design of sails blades allows for a simple regular means of cooling humid air in the special air chambers. The above generator produces electro energy for a cooling from natural, clean and renewable sources of energy, therefore water is extracted from humid air at a very low cost. A set of membranes separates a tiny bit of water from humid air in the special water headers.

The invention relates to a ship propelling unit and a coupling dynamics test stand of a ship body. The test stand mainly comprises a driving motor, a speed reducer, a test piece installation bracket, a vibration generator, a force sensor, a measurement and control system and a swing system, wherein the driving motor is decelerated by using the speed reducer; a tested piece shaft is driven to rotate by using an elastic coupling; the two ends of the tested piece shaft are provided with a fixed support point respectively; floating supports are arranged at a plurality of positions in the shaft; and a swing table is arranged below the test piece installation bracket. The test stand is developed and designed specific to a ship crankshaft, the floating supports are provided with excitation points, excitation in two directions can be generated by each excitation point, data such as applied load, bearing support force, shaft power, shaft system vibration and the like can be measured, and bases are provided for optimized designs of the structure and the installation way of the shaft by reducing the influence of a bulkhead under the action of external force during practical use of the crankshaft.

An inverted pendulum self-adaptive iterative learning inversion control method is characterized in that: aiming at an inverted pendulum system containing unknown input saturation, a self-adaptive iterative learning inversion controller is designed through utilization of a neural network and an inversion control method in combination with self-adaptive iterative learning control; the construction of an integral lyapunov function solves the control problem caused by derivation of a unknown gain function; based on the median theorem, a hyperbolic tangent function is adopted to approximate an input saturation term; then, a radial basis function neural network is adopted to approximate and compensate uncertain unknown items of a system, and two combined self-adaptive laws are adopted to updatethe weight of the neural network and the bound of estimation errors. Under the condition that the system has input saturation, the invention provides the control method which can compensate the unknown uncertainty of the system, solve the control problem caused by derivation of the unknown gain function and realize two-norm convergence of a tracking error of the system to be near zero within limited iteration times.

The invention discloses a self-balance control method of a movable type inverted pendulum system. State signals of the movable type inverted pendulum system are collected, the filter processing data method with the combination of a wavelet topology network and a regulator is adopted, a signal fusion technology is used for assistance, input data, middle data and output data of each filter node where effective values of the wavelet network enter are continuously adjusted, the controlled system control number output by the system is completed, the stability and the reliability of work of an inverted pendulum are improved, and the driving and riding stability, safety and comfort of an electric riding tool based on the inverted pendulum system are improved. The invention discloses a self-balance vehicle intelligent control system. By the adoption of a filter processing unit and a signal fusion unit, the capacity of combined control and information feedback of an electrical system and a mechanical system are improved, tiny disturbance generated in the movement process of a self-balance vehicle is reduced, the intelligent degree is improved, the self-balance vehicle intelligent control system is convenient and easy to use, comfortable, stable and capable of reducing cost and improving the cost performance.

The invention provides an optimized anti-shake control method for a double-pendulum system of a bridge crane. The method comprises the steps that the running speeds of a cart and a trolley are calculated according to the load weight and the rope length measured in real time; based on the dynamic differential equation of the crane, an analytical solution of a single-pendulum model of the bridge crane is obtained; using a quadratic objective function of an analytic solution under the action of three pulses, an optimal input shaper with a zero initial state is calculated; and then, according to acascade method for solving a dual-mode input shaper, the optimal input shaper for the double-pendulum system of the bridge crane is designed, and the swing of the load is eliminated by driving a cartrunning mechanism and a trolley running mechanism through a cart frequency converter and a trolley frequency converter respectively, so that the optimal anti-shake control of the double-pendulum of the crane is realized. The optimized anti-shake of long load horizontal lifting is realized, and the working efficiency and operation safety of the bridge crane are improved, so that the running speedsand running tracks of the cart and the trolley are more reasonable, and the engineering application is facilitated.

The invention discloses a method for measuring micro impulse by Doppler galvanometer sine-modulated multi-beam laser heterodyne second harmonic, relates to a method for measuring micro impulse and aims to solve the problems of low acquired laser difference frequency signal quality and low signal processing computing speed in the micro impulse measurement of conventional laser heterodyne methods. The method comprises the following steps of: exciting a working medium target to generate plasma jet to rotate a beam of a standard beam; starting a driving power supply of an H0 solid laser and a galvanometer, and causing the galvanometer to perform simple harmonic motion and modulate optical frequency incident to the front surface of the galvanometer at different moments under the action of the driving power supply; and continuously acquiring signals transmitted by an optoelectronic detector in the pendulum process of a torsional pendulum system, and processing all the continuously acquired signals to obtain the micro impulse to which the beam of the standard beam is subjected by using a signal processing system. The method has the prominent advantages of high acquired laser difference frequency signal quality and high signal processing computing speed.

A vibration absorber module for a vibration-absorbing device, in particular for a vibration-absorbing device realized for suspended attachment of the vibration absorber module to a structural installation, having a bearing structure, a pendulum system, having a pendulum mass, and having a suspension system for suspending the pendulum mass on the bearing structure, the suspension system having a number of pendulum spring elements and having a pendulum mass suspension, which extends between the pendulum mass and the bearing suspension, in the direction of a suspension axis, and the pendulum mass suspension being fastened, by means of its suspension head, to the bearing structure.The pendulum mass suspension is fastened to the bearing structure by means of a head joint, which has a pendulum bearing realized as a slide bearing, and at least one pendulum spring element of the number of pendulum spring elements extends in the direction of the suspension axis, between the pendulum mass and the bearing structure.

A centrifugal pendulum in a torsional vibration damper of a drive train of a motor vehicle with a pendulum flange rotating about a rotation axis and several pendulum masses distributed over the circumference, disposed on the latter in a manner capable of swinging. When the internal combustion engine of the drive train induces massive rotational irregularities resulting from high vibration angles in these arrangements, the pendulum masses can be deflected more strongly relative to the pendulum flange and strike the provided swing motion limits. To prevent hard hits of the pendulum masses on the pendulum flanges, it is proposed to dampen the impact areas by hydraulic means and hence to achieve a soft impact.

The invention discloses a magneto-rheological damper for a suspended mass pendulum, and belongs to the field of vibration control of civil engineering. The magneto-rheological damper for the suspended mass pendulum is a suspended-mass-pendulum damper capable of being controlled in a semi-active mode. The magneto-rheological damper comprises a magneto-rheological pendulum shaft system, a rigid suspender, a balancing weight and the like. A closed magneto-rheological device is designed in a rotary bearing of the suspender to close a rotary shaft in a magneto-rheological fluid environment; blades are arranged on the bearing and control the state of magneto-rheological fluid through a control power source so as to achieve the objective of adjustable blade resistance. The magneto-rheological damper is applicable to flexible structures and high-rise structures of civil engineering structures, and breaks through the limitation of uncontrollable pendulum angles and speeds of pendulum shafts of conventional mass pendulum systems. The civil engineering structures are large in size, tuned mass pendulum dampers applied to the civil engineering structures are large in mass, and thus high power is needed for realization of semi-active control of mass pendulum devices. A magneto-rheological system is low in power consumption and high in force output, so that semi-drive control on the tuned mass pendulum dampers can be realized only by a small amount of currents.

The invention relates to a device and a method for measuring a micro impulse by a torsional pendulum method for modulating multi-beam laser heterodyne by using doppler galvanometer sine, and belongs to the technical field of micro impulse measurement. By the device and the method, the problem that the measurement precision of parameter values to be measured is low because only one single parameter value to be measured can be acquired by the conventional heterodyne interference method for measuring the micro impulse of a micro thrustor is solved. The device consists of a digital signal processing system, a photoelectric detector, a pulse laser device, a torsional pendulum system, an H0 solid laser device, a polarization beam splitter (PBS), a quarter wave plate, a galvanometer, a plane standard lens and a convergent lens. The method comprises the following steps of: switching on driving power supplies of the H0 solid laser device and the galvanometer; exciting a working medium target by using pulse laser emitted by a pulse laser device, and making the working medium target produce plasma ejection to make the beam of a standard beam rotate; and acquiring signals emitted by the photoelectric detector by using the digital signal processing system, and processing the signals to acquire the micro impulse I' of the beam of the standard beam. The device and the method are suitable formeasuring the micro impulse of the micro thrustor.

An under-actuated pendulum control experimental apparatus relates to an under-actuated control experimental apparatus applying to academic researches for control theory and control engineering discipline and electron and transmission discipline, is used for solving the problems that experimental apparatus, which is used for the academic researches of non-linear control theory in higher education institutions and scientific institutions, still stays at numerical simulation level, appropriate material system is absent and the theory is disconnected with the practice. The upper I / O terminal and drive I / O terminal on a two-shaft motion control card are respectively connected with the I / O terminal of an upper computer and the I / O terminal of a DC motor driver. The control output terminal of the DC motor driver is connected with the control input terminal of a DC servo motor. The signal output terminals of the DC servo motor and an angle detector is connected with the signal input terminal of the two-shaft motion control card. The output shaft of the DC servo motor is connected with the input shaft of an under-actuated pendulum system by a shaft coupling. The input drive torque of the input shaft of the under-actuated pendulum system is delivered to a double-pendulum output shaft through a synchronous drive system.

The invention relates to a method for measuring a micro impulse, more particularly to for a second harmonic multi-beam laser heterodyne measurement method for a micro impulse based on doppler oscillating mirror sinusoidal modulation. The invention aims at solving a problem of poor qualities of collected laser difference frequency signals and slow operation speeds of signal processing during microimpulse measurement in the current laser heterodyne method. According to the method, a pulsed laser emits a pulse laser excitation working medium target that generates plasma injection, and the plasma injection enables a crossbeam of a standard beam to make rotations; driving powers of an H0 solid state laser and an oscillating mirror are started; the oscillating mirror, which is driven by the driving power, makes simple harmonic motions and carries out modulation on optical frequencies that are incident to the front surface of the oscillating mirror at different times; and a signal processing system collects continuously signals emitted by a photoelectric detector during a swing process of a torsion pendulum system and also carries out processing on all continuously obtained signals, so that a micro impulse I exerted on the crossbeam of the standard beam is obtained. According to the invention, the method has advantages of high qualities of collected laser difference frequency signals and a fast operation speed during signal processing.

A complex pendulum system biomass sensor having a plurality of pendulums. The plurality of pendulums allow the system to detect a biomass height and density. Each pendulum has an angular deflection sensor and a deflector at a unique height. The pendulums are passed through the biomass and readings from the angular deflection sensors are fed into a control system. The control system determines whether adjustment of machine settings is appropriate and either displays an output to the operator, or adjusts automatically adjusts the machine settings, such as the speed, at which the pendulums are passed through the biomass. In an alternate embodiment, an entanglement sensor is also passed through the biomass to determine the amount of biomass entanglement. This measure of entanglement is also fed into the control system.

The invention provides a micro impulse measuring apparatus using a torsion pendulum method of using Doppler vibrating mirror to carry out sine modulation on multiple-beam laser heterodyne and a method thereof, belonging to the micro impulse measuring technology field. According to the apparatus and the method in the invention, a problem that employing a method of using heterodyne interferometry to measure micro impulse of a micro thruster, only a single property value to be measured can be obtained, and measuring precision of the property value to be measured is low is solved. The apparatus in the invention comprises a digital signal processing system, a photoelectric detector, a pulse laser, a torsion pendulum system, an HO solid state laser, a polarization beam splitter (PBS), a quarter-wave plate, a vibrating mirror, a plane standard mirror and a convergent lens. The method comprises the following steps: opening the HO solid state laser and the vibrating mirror, and employing the pulse laser to send a pulse laser excitation working medium target to enable a crossbeam of a standard beam to rotate; collecting a signal sent by the photoelectric detector with the digital signal processing system, carrying out processing on all continuously obtained signals, and obtaining micro impulse received by the crossbeam of the standard beam. The apparatus and the method are applied to the measurement of the micro impulse.

The invention relates to a full-automatic fuel tank pendulum impact testing machine. The full-automatic fuel tank pendulum impact testing machine comprises a vertical lifting system, a horizontal moving system, a pendulum swinging system, a workbench system and a control and display system. The pendulum swinging system comprises a pendulum system, a pendulum supporting frame fixing the pendulum system and an automatic control device. The automatic control device controls swinging of the pendulum system. The control and display system controls the vertical lifting system, the horizontal moving system, the pendulum swinging system and the workbench system to cooperate so that a test of the impact of a pendulum body on a fuel tank can be achieved. The full-automatic fuel tank pendulum impact testing machine is suitable for impact tests of oil tanks of different structures and saves people the trouble of arduous operation; accurate swinging angle information of a pendulum can be obtained and displayed on a display screen. The full-automatic fuel tank pendulum impact testing machine simplifies the fussy working procedures, and is convenient to operate and capable of accurately collecting test data and achieving quantitative analysis.

The invention discloses a finite frequency range robust iterative learning control method for a series inverted pendulum, and relates to the field of iterative learning control. The method comprises the following steps: building a state-space equation of the series inverted pendulum; converting the state-space equation of the original series inverted pendulum; designing a robust iterative learningcontrol algorithm according to a repetitive process theory; analyzing convergence of a robust iterative learning control algorithm in a limited frequency range; and solving the control law gain of the robust iterative learning control algorithm. The algorithm provided by the invention ensures the stability of the frequency domain of the system and has robust control performance, and ensures the convergence of the output error in the time domain and frequency domain range in the presence of external interference. The system characteristics of the time and operation dimension of the single inverted pendulum subsystem are considered, the method can be directly applied to a series inverted pendulum system composed of multiple inverted pendulum subsystems, good control precision is achieved, and good application value is achieved for verification of the control theory and research of systems with similar structures.

The invention relates to an improved active-disturbance-rejection control method of an inverted pendulum system based on self fuzziness regulation in the phase plane. A hyperbolic tangent nonlinear function is used to construct an improved expansion state observer of a tracking differentiator and a third-order time varying parameter for the inverted pendulum system, and the observer is used to arrange a transition process, inhibit an initial differential peak value, and estimate the system state and internal and external total disturbance; and parameter fuzziness of a state error feedback controller is self-regulated in real time via a phase plane trajectory characteristic rule. The method has the advantages including high anti-interference capability and high control precision, and can beused for high-precision control of the interference-contained and unknown nonlinear system.

The invention discloses a precise simple-pendulum type relative gravity meter. One pendulum rod or two suspension fibers are connected with a cross beam, the lower portion of the pendulum rod or the lower portions of the suspension fibers are connected with a pendulum mass, and then a simple-pendulum system is formed. A support supports the simple-pendulum system through wear-resisting contacts on the cross beam. The stability of the environment where the simple-pendulum system is located is kept through a vacuum cavity, a temperature control system, an electrostatic shielding case and a damping base, equivalent pendulum length fluctuation is reduced, and therefore high-stability low-loss simple pendulum movement is achieved. A pair of capacitor displacement transducer polar plates are arranged over the pendulum mass and a pair of capacitor displacement transducer polar plates are arranged under the pendulum mass. The capacitor displacement transducer polar plates and the pendulum mass form a variable-area capacitor displacement transducer together, wherein the variable-area capacitor displacement transducer is used for measuring real-time displacement of the pendulum mass. A first oscillation starting and pendulum locking displacement executing machine and a second oscillation starting and pendulum locking displacement executing machine are installed on the two sides of the pendulum mass respectively, and therefore an oscillation starting and pendulum locking mechanism for simple-pendulum motion is formed. The precise simple-pendulum type relative gravity meter is simple in structure, convenient to use, beneficial to maneuvering observation and capable of achieving measurement of simple-pendulum type relative gravity on the level of the resolution of 0.1mgal.

The invention provides a controllable pendulum based biaxial horizontal stabilized platform and a control method thereof, relating to a gyroscope free horizontal stabilized platform and a control method thereof. The biaxial horizontal stabilized platform comprises a mechanical device and a controller, wherein the mechanical device comprises a controllable pendulum system A, a controllable pendulum system B, a platform body, an outer frame, a control motor A, a control motor B and a pedestal. The biaxial horizontal stabilized platform overcomes the defects that the traditional biaxial horizontal stabilized platform adopts a gyroscope which has high cost and causes principle error by gyroscopic drift, and the like. A local horizontal platform can be realized by adopting the controllable pendulum systems with sensitivity to a local vertical line instead of a gyroscope, so that the horizontal platform has the advantages of simple structure, low cost, high sensitivity and the like.

The invention discloses a vehicle steering system impact test device and a vehicle steering system impact test method. The test device comprises a torsion inertia weight, a steering column body, a steering machine body, a fixing bracket, a mounting base, a guide mechanism, a pendulum system, and a sensing display device. The test method comprises the steps of starting the pendulum system to make the pendulum system swing and apply force to the guide mechanism to enable the guide mechanism to move and drive one end of the steering machine body inside the guide mechanism to move together, and recording and storing the impact on the steering machine body through the sensing display device on the steering machine body. The test device provided by the invention has the characteristics of simple structure, low cost and obvious actual production advantage. The test method provided by the invention has the advantages of convenient and flexible operation and high efficiency.

The invention provides an optical fiber tilt angle sensor which comprises a shell, a rotating shaft, a swing arm and a pendulum bob. The rotating shaft is arranged at the upper portion inside the shell. The pendulum bob is connected to the rotating shaft through the swing arm to form a single-pendulum system which can only swing inside the unique plane. A center hole is formed in the swing arm. An optical fiber is arranged in the center hole. The two sides of the optical fiber are provided with an optical input end and an optical output end respectively. A collimator is arranged between the optical fiber and the input end, and a collimator is arranged between the optical fiber and the output end; the optical fiber and the collimators are coaxial. The optical fiber is adopted as a sensing element of the tilt angle sensor. The optical fiber tilt angle sensor is simple in sensing principle, high in measuring precision and good in long-term stability; due to adoption of the rotating shaft, the pendulum bob can only swing inside the unique plane, and deflection of the optical fiber during measurement is avoided.

The invention discloses a robust optimal control method of a trolley inverted pendulum system based on departure strategy reinforcement learning. According to the invention, an augmented system is built by means of a tracking error system and a signal generation system of the inverted pendulum. Relative to the augmented system, a corresponding time-varying HJI equation based on the trolley inverted pendulum system is obtained. Then the algorithm based on an execution-evaluation-disturbance network structure is designed, and an approximate solution of a time-varying HJI equation is obtained; wherein a neural network of an activation function with a time-varying characteristic is adopted for approximation; in order to meet the finite time terminal constraint condition of the inverted pendulum, when the neural network weight update rate is designed, an additional terminal error term is considered; finally, the angle and speed error convergence of the inverted pendulum system of the trolley and the stability of a tracking error system can be proved by means of the Lyapunov stability theory. According to the invention, finite time optimal control of the linear inverted pendulum system under the action of external disturbance is realized.