40 results about "Pendulum system" patented technology

The invention discloses a swing component sensing and autonomous anti-swing system of an automobile crane and a control method of the swing component sensing and autonomous anti-swing system, and relates to the technical field of anti-swing of lifted objects of automobile cranes. And the execution module comprises a metering pump, a proportional multi-way reversing valve, a variable-amplitude oil cylinder, a hydraulic motor, a speed reducer and a PID (Proportion Integration Differentiation) execution controller which are arranged on the automobile crane. Through decomposition and conversion of complex swing, the controller module decomposes and converts the complex swing into two-dimensional swing components on xOz and yOz planes, an anti-swing strategy is suitable for various complex swing, a control system reads swing information on the planes and autonomously executes anti-swing control of the corresponding planes, and the anti-swing control precision is improved. And the variable-amplitude oil cylinder and the hydraulic motor are controlled to execute corresponding anti-swing actions and stage speed reduction anti-swing control, so that the working speed of the variable-amplitude oil cylinder is reduced by 50% stage by stage, the deviation distance of a hoisted object can be identified through action compensation anti-swing control, and a control system performs automatic compensation without depending on experience of a driver.

The utility model relates to a wire cutting machine, which belongs to the technical field of mechanical cutting and comprises a peripheral frame, a swing system and a wire cutting system. The swinging system comprises a swinging frame, a swinging beam, a swinging motor, a swinging transmission shaft, a crank and a linear sliding rail; the swing frame is mounted in the peripheral rack through a swing seat and can swing; a swing motor outside one end of the swing frame is mounted on the peripheral rack; an output shaft of the swing motor is connected with one end of a crank through a swing transmission shaft; the swing beam is mounted at one end of the swing frame; a linear slide rail is mounted on the inner side of the swing beam; the other end of the crank is slidably connected with the linear sliding rail through a sliding block. The wire cutting system is installed on the swing frame. The swing motor drives the crank to rotate through the swing transmission shaft, the sliding block reciprocates along the linear sliding rail, and the linear cutting system swings along with the linear sliding rail through the swing frame. The device is simple in structure, high in machining efficiency and machining precision, small in occupied space and capable of solving the problem of high cutting loss.

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 invention discloses a quantitative control method and device for preset time output feedback of a double inverted pendulum system, and relates to the field of automation, and the method adopts a fuzzy logic system and a fuzzy state observer which are respectively used for processing unknown nonlinear dynamic characteristics of the system and estimating an unmeasurable state. In the design process of the controller, a second-order command filter and a backstepping technology are combined, a state quantization mechanism is introduced, and a novel self-adaptive quantization control method is provided. According to the method, the problem of discontinuity of virtual control signals can be effectively solved, and meanwhile control singularity is avoided. By introducing the preset time stability criterion, it is proved that the closed-loop system can achieve stable convergence within the preset time. A simulation result verifies the effectiveness of the control method, which indicates that the method can ensure that the output state of the double inverted pendulum system is converged to an expected precision range within a preset time, and the response speed and the control precision of the system are improved.

The invention discloses a heterogeneous four-pendulum system fixed time synchronization method based on pulse control. The method comprises the following steps: firstly, designing a fixed time controller based on pulse control for a four-pendulum system with heterogeneous characteristics; and designing a novel Lyapunov functional, partitioning pulse intervals, and establishing a fixed time synchronization sufficient condition represented by a matrix inequality by using a convex combination technology to realize synchronization of the four-pendulum system. A comparison system is constructed to estimate the stabilization time under synchronous pulse, inactive pulse and asynchronous conditions. When the method is applied to the heterogeneous four-pendulum system, the synchronization stabilization time of the system is shortened, and the actual efficiency is improved.

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 present invention discloses an inverted pendulum control system and experimental method based on network communication, and relates to a control theory experimental platform. The system includes a programming system, an experimental interaction system, and an inverted pendulum system. The experimental interaction system is equipped with a first interactive program and a second interactive program. The first interactive program realizes two-way data interaction between the experimental interaction system and the programming system based on the UDP communication protocol, and the second interactive program realizes two-way data interaction between the experimental interaction system and the inverted pendulum system based on the UDP communication protocol. The interactive program carried by the experimental interaction system of the present invention, on the one hand, directly completes the control and signal reading of the servo motor driver of the inverted pendulum system, and on the other hand, directly communicates with the Matlab and Python programs of the programming system, receives the control algorithms and instructions written directly by the user in Matlab and Python, and completes the control of the inverted pendulum system in real time, reducing the user's programming ability requirements and improving the convenience of teaching experiments.

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.

The present invention provides a testing device for a spherical rod end joint bearing, which comprises: a test main body, the test main body includes a loading system, a swinging system, a rotating system, and a connecting plate, and the ROTATION end and the TIP end of the spherical rod end joint bearing are arranged in the connecting plate. The beneficial effects are as follows: The present invention adopts a "cross-shaped" structure to conduct fatigue life tests on the axial, radial loads, torques suffered by the continuously rotating fixed rod end during the test, and the torques suffered by the spherical rod end during the swinging process.

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 invention discloses a gantry crane anti-sway control method and system based on the dynamic stability of a horizontally constrained simple pendulum system. The method comprises the following steps: Step 1: Collecting the structural parameters and dynamic parameters of the crane; Step 2: Inputting the structural parameters and dynamic parameters into a preset Lagrangian model to obtain output data; Step 3: Performing mass normalization on the output data to obtain an undamped state-space equation and a control target; Step 4: Transforming the undamped state-space equation according to a variational method to obtain transformed data; Step 5: Calculating the optimal solution of the transformed data based on the construction of a transfer function and terminal displacement requirements, and controlling the crane according to the optimal solution. The present invention achieves optimal control of the crane by setting the transfer function and terminal displacement requirements, solves the problem of load swing during crane movement, and greatly improves the work efficiency of the crane operator.

The invention discloses an inverted pendulum control method, device and system based on EKF and LPF compounding, a sensor collects swing rod angle information and trolley position information, the data are transmitted to a low-pass filter (LPF) for processing, the processed data are embedded into extended Kalman filter (EKF) for iterative optimization processing, and the data are closer to reality; the core controller calculates the state according to the feedback gain and the data processed by the composite filter, outputs the voltage of the direct current motor, and controls the inverted pendulum system. In the process, the core controller carries out iterative optimization estimation on state input variables of collected data through EKF and LPF composite filtering, interference of random noise and high-frequency vibration noise of the inverted pendulum system on the state data of the inverted pendulum system is weakened, and the control effect of the controller is guaranteed. According to the invention, the problems of instability, loud noise and the like of input data are solved, so that the advantages and disadvantages of different control strategies are researched.

The utility model provides a rotary swinging recreational vehicle, which is characterized in that a swinging system is arranged between a base and a movable base; the swinging system comprises a swinging motor, a first gear, a second gear and a rotating shaft; the rotating shaft is vertically installed on the front portion of the base, and the movable base is rotationally connected to the base through the rotating shaft. The swing motor is fixedly installed on the base and located behind the rotating shaft, and the first gear is in transmission connection with the swing motor. The second gear is fixedly installed on the movable base and engaged with the first gear. The swing drifting experience can be realized.

The invention relates to the technical field of precision measurement, and discloses an adhesive force measuring device based on a precision torsional pendulum technology, which comprises a vacuum system, and a dangling system, a capacitance displacement sensing system, a blocking system, a capturing, positioning and releasing mechanism and a displacement control system which are arranged in the vacuum system, the capacitance displacement sensing system is arranged to detect the displacement posture change of the measured object, and the adhesion force between the capturing, positioning and releasing mechanism and the measured object can be converted into the displacement posture change (x, z, theta, eta and phi) of the measured object. After the analysis of the kinetic model, the adhesion force between the measured object and the capturing, positioning and releasing mechanism can be separated from the thrust of the blocking system, and the measurement requirements of single / double-side releasing of the capturing, positioning and releasing mechanism can be met at the same time. The invention further provides a measuring method based on the measuring device.

The utility model provides a swinging recreational vehicle which is characterized in that a swinging system is arranged between a base and a movable base; the swinging system comprises a swinging motor, a first gear, a second gear and a third gear; the swing motor is fixedly installed on the base, the first gear, the second gear and the third gear are rotationally connected with the base, the first gear is located below the front portion of the movable base, the second gear is located below the middle portion of the movable base, and the third gear is located below the rear portion of the movable base; the first gear is in meshing transmission with the second gear, the second gear is in meshing transmission with the third gear, and the swing motor is in transmission connection with one gear; swing guide wheels are eccentrically mounted on the first gear and the third gear respectively; the movable base is provided with two swing guide grooves which are matched with the swing guide wheels and extend in the front-back direction, and the two swing guide wheels are embedded in the two swing guide grooves respectively. The swing drifting experience can be realized.

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 invention relates to an inverted pendulum system random communication protocol sliding mode control method based on continuous residence time, which belongs to the technical field of automatic control, and combines sliding mode control based on the inverted pendulum system based on the continuous residence time and sliding mode control based on a random communication protocol to construct a coordination controller; constructing a discrete time uncertain switching system model with a PDT switching rule, and describing a random switching behavior of a node access network through a Markov chain in combination with a random communication protocol scheduling mechanism; a token-dependent sliding mode control law is designed, control parameters are dynamically adjusted to adapt to SCP scheduling and PDT switching, a sliding mode function and a Lyapunov function are designed, and the accessibility of a sliding mode is ensured. The advantages of a networked control method based on a continuous residence time switching rule under random communication protocol scheduling are effectively utilized, the advantages of high robustness, resource optimization, stability and reliability and the like are achieved, and the operation efficiency of the inverted pendulum system is effectively improved.

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 robust PID (Proportion Integration Differentiation) control method and system suitable for a first-order control system of an inverted pendulum of a city trolley. The method comprises the following steps: establishing a first-order control system model for controlling the freedom degree of the inverted pendulum of the trolley; determining an H-infinity controller based on the first-order control system model; inputting an output signal of the H infinity controller to a PID (Proportion Integration Differentiation) controller to establish an initial H infinity-PID series control model; and performing parameter setting on the PID series control model to obtain a final H (infinity)-PID series control model, and performing PID control based on the final H (infinity)-PID series control model. According to the method, a dynamic model of the inverted pendulum of the trolley is modeled by taking the friction force as an uncertain factor, and a dynamic differential motion equation of the system under the uncertain factor is deduced. Through the feasibility of the control mode provided by simulation verification, the inverted pendulum system of the trolley under the control strategy can be kept stable, and the armature voltage of the trolley meets the stability requirement.

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 inverted pendulum control system based on network communication and an experiment method, and relates to a control theory experiment platform. The system comprises a programming system, an experiment interaction system and an inverted pendulum system. The experiment interaction system carries a first interaction program and a second interaction program, the first interaction program realizes bidirectional data interaction between the experiment interaction system and the programming system based on a UDP communication protocol, and the second interaction program realizes bidirectional data interaction between the experiment interaction system and the inverted pendulum system based on the UDP communication protocol. An interaction program carried by the experiment interaction system directly completes control and signal reading of a servo motor driver of the inverted pendulum system on one hand, directly communicates with Matlab and Python programs of the programming system on the other hand, receives a control algorithm and an instruction directly written by a user under the Matlab and Python, completes control of the inverted pendulum system in real time, and improves the control accuracy of the inverted pendulum system on the other hand. The programming capability requirement of a user is reduced, and the convenience of a teaching experiment is improved.

The invention discloses an inverted pendulum system event trigger control method based on data driving, which comprises the following steps of: establishing data-based system representation of an inverted pendulum system, and designing a solving condition of a data-based control gain K of the inverted pendulum system; and finally, two data-based event triggering conditions of the inverted pendulum system are constructed, the effectiveness of the proposed method is demonstrated, and the problem of data-driven event triggering control of the inverted pendulum system which cannot be modeled is effectively relieved.

The invention provides a multi-single torsional pendulum system cooperative control method and system, and the method comprises the steps: building a dynamic model of a multi-single torsional pendulum, and approaching an unknown nonlinear term in the dynamic model through a fuzzy logic system; a communication topological relation of multiple single torsional pendulums is considered, a consistency tracking error containing a dynamic boundary function is constructed, the singularity problem in an initial time tracking error is avoided, the boundary function is dynamically adjusted according to the initial distance of an agent, and therefore the adaptability of an execution mechanism is improved; according to the virtual controller and the actual controller triggered based on the switching dynamic event, the position of the following torsional pendulum can be controlled to be synchronous with the expected track of the leading torsional pendulum under the conditions that the communication range is limited and the communication topology is abnormal.

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.