4362 results about "Position sensor" patented technology

The invention relates to the technical field of engineering control, in particular to a hoisting control method of a safe and portable hoisting cage, which comprises a hoisting pre-stage, data pre-acquisition and analysis before hoisting, a hoisting control stage and hoisting landing control. In the prior art, position closed-loop control mainly depends on a stroke encoder and a position sensor, dynamic swing deviation caused by wind disturbance is difficult to accurately pre-judge and counteract in real time, and the defects of control lag and insufficient response exist. According to the scheme, the motion trail and posture of the cage are predicted in advance based on simple pendulum dynamic model numerical solution and the Runge-Kutta method, high-precision deviation detection is carried out in combination with a virtual-real vision calibration technology and AR enhanced display, a cage motion state control model based on feedforward prediction is established, trail prediction errors are greatly compressed, and the accuracy of the motion state of the cage is improved. The forward-looking inhibition of the movement of the cage, especially wind-induced swinging, is realized, and the accuracy and the response speed of an active swinging inhibition measure are obviously improved.

The invention relates to the technical field of intelligent control, in particular to a barrier gate remote monitoring system and method based on the Internet of Things, and the method comprises the steps: building a dual-channel communication link through a 4G module and a Bluetooth / WiFi module, achieving the synchronous collection and uploading of the current of a barrier gate motor, a position sensor and environment data, deploying an LSTM model at an edge calculation layer, and carrying out the remote monitoring of a barrier gate. Time sequence prediction and abnormal deviation quantification are carried out on the operation state, video acquisition is triggered, vehicle retention and rod body deformation are identified in combination with a lightweight YOLOv5 model, abnormal event grading judgment is realized, spare part inventory is associated according to event types, and a maintenance scheme is dynamically generated. An intelligent work order including a thermodynamic diagram, a video frame and a prediction curve is constructed by using a three-dimensional visualization template, evidence storage processing is completed through a block chain module, and finally optimal personnel scheduling and order dispatching are executed according to a maintenance scheme. According to the method, multi-source data fusion modeling, visual linkage anomaly recognition and full-link credible operation and maintenance are realized.

The invention relates to the technical field of structural damage identification, in particular to an unsupervised structural damage identification method based on CAE-LSTM. The method comprises the following steps: training a CAE-LSTM model by using a training set to obtain a trained model, and reconstructing unknown data including health data and damage data by using the trained model to obtain a reconstruction error of the health data and a reconstruction error of the damage data; determining a damage sensitivity factor of the acceleration response signal of each batch by combining a probability density function of health data, a probability density function of damage data and a reconstruction error in the acceleration response signal of each batch of the undamaged structure so as to determine a damage threshold and screen a damage position; acquiring a damage factor according to the health state data and the damage state data of the damage position sensor; and judging the damage degree based on the size of the damage factor. According to the invention, the accuracy and reliability of the structural damage identification result are improved.

The invention provides a controllable SCADA (supervisory control and data acquisition) industrial production control platform based on an industrial internet architecture. The controllable SCADA industrial production control platform comprises a field layer, an edge layer, a communication layer, a cloud / fog computing layer and a data management layer, wherein the field layer is composed of a sensor array, an execution mechanism, a PLC controller and an RTU terminal; the sensor array comprises a temperature sensor, a pressure sensor, a flow sensor and a position sensor, and adopts 4-20mA current loop signal output; the execution mechanism comprises an electric valve, a servo motor and a variable frequency driver, and communicates with the PLC through a Modbus RTU protocol; the PLC controller is provided with a dual-core processor and is provided with 16 digital quantity input / output channels and 8 analog quantity input channels; the RTU terminal is internally provided with a LoRa wireless communication module; the edge layer comprises an edge computing node and a protocol conversion gateway; the edge computing node is provided with an FPGA coprocessor and supports an edge reasoning framework; and multi-protocol conversion is realized through the protocol conversion gateway.

The invention discloses position-free control based on a set time sliding mode observer and a time-varying parameter expansion state observer, and belongs to the technical field of permanent magnet synchronous motor sensorless control. The invention provides a composite control method combining a set time sliding-mode observer and a time-varying parameter extended state observer, and aims to solve the problems that the convergence time of a traditional sliding-mode observer depends on an initial state, buffeting is serious, disturbance is sensitive and the like. The method specifically comprises the following steps: designing a sliding-mode observer with a set time convergence characteristic, and ensuring that an observation error is converged in a preset time and is irrelevant to an initial value by dynamically adjusting a sliding-mode surface index item; high-frequency buffeting is suppressed by combining an integral filtering effect; a time-varying parameter expansion state observer is further designed by utilizing the saturation characteristic of a bitangent function and the characteristics of small error, large gain, large error and small gain of a fal function, the initial differential peak value is effectively inhibited, and the total disturbance of the system is compensated in real time. And the advantages of controllable convergence time, small buffeting and high interference resistance are verified through simulation. The anti-interference capability and the dynamic response speed of the system are remarkably improved, and the method is suitable for permanent magnet synchronous motor sensorless control under medium and high speed working conditions.

The invention discloses a method and system for controlling the opening degree of a pipeline flow automatic adjusting valve, and relates to the technical field of automatic control. The method comprises the steps that real-time flow data in a pipeline and real-time pressure difference data of upstream and downstream of a valve are obtained; comparing the real-time flow data with a preset target flow to obtain a flow deviation, and generating a feedforward compensation signal by a proportional-integral-differential controller according to the flow deviation and the real-time pressure difference data; the flow deviation is input into a PID controller, and a proportional-integral-differential controller generates a feedback control signal; generating a composite control signal according to a superposition result of the feed-forward compensation signal and the feedback control signal; and the electric actuating mechanism is driven to adjust the opening degree of the valve according to the compound control signal, the actual opening degree of the valve is obtained through the position sensor, and the actual opening degree is fed back to the proportional-integral-differential controller. The invention provides a brand new solution with high robustness, high precision and low maintenance cost for industrial fluid control.

The invention belongs to the technical field of motors, and discloses a motor and a control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: obtaining the rotating speed of the motor under the condition that the motor needs to be started, and obtaining an output signal of a Hall position sensor unit; determining whether the motor is not started and is in a downwind state or not according to the rotating speed of the motor and an output signal of the Hall position sensor unit; if it is determined that the motor is not started and is in the downwind state, the output voltage of the inversion unit is controlled to be preset voltage so that the motor can rotate; and after the first set time, the output voltage of the inverter unit is adjusted, so that the motor is started downwind after speed reduction, and the motor runs after speed increase after downwind starting. According to the scheme, when the motor is started in the downwind state, the speed is reduced to the minimum value, then the motor is started in the downwind state, and the speed is increased to the target value after the motor is stabilized, so that the motor is started in a silent mode in the downwind state, rotating speed overshoot operation is avoided, and reliability and use experience are improved.

The invention provides an intelligent heavy truck end-to-end driving method based on focus attention and probabilistic game, and belongs to the technical field of intelligent driving. The method comprises the following steps: firstly, acquiring multi-source data such as a laser radar, a look-around camera, an IMU (Inertial Measurement Unit) and a load signal, and generating an anti-jitter space-time BEV feature through cross-dimensional position coding based on motion compensation, near-field non-uniform sampling, focus attention and time sequence fusion; then, vectorization decoding is carried out on the features to obtain obstacle vehicle movement and map element vector information. And finally, on the basis of the expert track prior space, probability game interaction is carried out through multi-round iterative prediction and planning, a self-vehicle track conforming to heavy truck variable load dynamics constraints is generated, and the self-vehicle track is output after safety verification. According to the method, the problems of heavy truck high-position sensor vibration distortion, hinge structure blind area and trajectory planning under the large-inertia variable-load working condition are effectively solved, and the driving safety and robustness are remarkably improved.

The invention discloses a hybrid effective flux linkage observer and a permanent magnet synchronous motor control method, device and system. The method comprises the following steps: carrying out Clarke conversion on an obtained three-phase current of the permanent magnet synchronous motor to obtain a current in a static coordinate system, and carrying out park conversion based on rotor position information to obtain a current in a synchronous rotating coordinate system; the effective flux linkage of the permanent magnet synchronous motor is obtained through the hybrid effective flux linkage observer; on the basis of the obtained effective flux linkage of the permanent magnet synchronous motor, dead-zone compensation voltage is obtained through self-adaptive gain dead-zone compensation calculation based on back electromotive force reconstruction, and the rotating speed and the rotor position of the permanent magnet synchronous motor are obtained through phase-locked loop calculation; according to the rotating speed and the rotor position of the permanent magnet synchronous motor, the current under the synchronous rotating coordinate system, the dead zone compensation voltage and the obtained reference rotating speed and reference current, the reference voltage of the motor at the k moment is obtained through a rotating speed loop and a current loop and used for achieving low-speed position-sensorless control over the permanent magnet synchronous motor.

The invention discloses a wheelchair humanoid robot controlled by humanoid mechanical arms. The wheelchair humanoid robot comprises a chassis, a robot trunk, the two mechanical arms and a control calculation unit. The chassis comprises four independent driving wheels; a wheelchair seat is arranged on the robot trunk; the mechanical arm is a seven-axis mechanical arm and comprises three tail end joints and an operation tail end. The control calculation unit is provided with an operation control moving mode; in the operation control movement mode, the control calculation unit senses the operation intention of a user on the operation tail end by collecting data of the joint position sensor and the force feedback sensor, generates a movement command of the chassis through mapping of the operation intention, and converts the movement command into a wheel speed control command of the independent driving wheels. The tail end joint of the mechanical arm serves as a sensing and input device, the independent driving wheel chassis serves as an execution device, and the whole system has the advantages of being high in freedom degree, natural in interaction, safe, smooth and high in space adaptability through cooperation of the two devices.

A mattress includes one or more sensors. The sensor(s) may be positioned on a sleep surface of the mattress; for example, at locations where an individual's thorax and / or legs would be positioned when the individual assumes a sleeping position on the sleep surface. The sensor(s) may be positioned adjacent to an edge of the mattress, on the sleep surface or on the edge. A processor may be associated with the sensor(s) of the mattress. The processor may process signals received from the sensor(s) to provide information about the mattress, an individual on the mattress, and / or an environment in which the mattress is located.

The invention relates to the technical field of data processing, and discloses a multi-modal data fusion method, device and equipment, a storage medium and a computer program product, and the method comprises the steps: after receiving a data fusion request, mapping multi-modal data collected by each sensor in a target region into a three-dimensional twin model of a power plant, and obtaining a plurality of fuzzy regions; for each fuzzy region, determining target modal data of each fuzzy region in a preset time period from the multi-modal data; projecting the target modal data to the corresponding time nodes to obtain a data sequence under a unified time scale; and selecting a target time node corresponding to the data fusion request from the data sequence according to the data fusion request, and fusing target modal data in the target time node to obtain a data fusion result. Target data of sensors at different installation positions are projected to a unified time scale, so that time alignment of multi-sampling-frequency data is realized, and the precision of equipment state evaluation in an industrial scene is improved.

The invention belongs to the technical field of magnetic levitation rulers, and relates to a magnetic levitation ruler horizontal motion control method, which comprises the following steps: establishing a mathematical model of a horizontal system; according to the constructed mathematical model, estimating the position of the rotor iron core through induced electromotive force derivation to obtain the horizontal position and the deflection angle value of the rotor iron core; rotor iron core horizontal motion control based on SYSTD is carried out; and setting the parameters of the horizontal control system of the magnetic suspension ruler system. A mathematical model is established based on a magnetic circuit and a dynamics principle, the problems of nonlinearity and strong coupling of a magnetic levitation ruler horizontal displacement system are solved by applying an improved active-disturbance-rejection control algorithm, and a system structure is simplified by utilizing a position-sensorless control technology. According to the method, unknown dynamic and external disturbance is taken as total disturbance, and real-time estimation and compensation are carried out through an extended state observer; the ADRC not only can adjust errors, but also can actively process uncertain factors of the system and improve the control efficiency, does not depend on an accurate mathematical model, and is high in adaptability and robustness in a complex system.

The utility model provides a double-magnet-ring encoder integrated robot joint and a robot. The double-magnet-ring encoder integrated robot joint comprises a speed reducer assembly, a driving assembly, a double-magnet-ring encoder assembly and an end cover assembly. Wherein the speed reducer assembly is fixedly connected with the driving assembly, and the double-magnetic-ring encoder assembly is fixedly connected with the end cover assembly through the driving assembly; the double-magnetic-ring encoder assembly comprises an outer magnetic ring rotor seat 9, an inner magnetic ring rotor seat 13, a driving plate 14, an inner magnetic ring 15, an outer magnetic ring 16 and a stator seat 17; compared with an integrated joint in the prior art, under the same size, the rotation precision is higher, position sensors are arranged at the input end and the output end, closed-loop control is achieved, and a control panel sends out instructions more accurately; the double-magnet-ring encoder is very compact in assembly, and is convenient for automatic installation after mass production; according to the utility model, the encoder part and the motor part are more modularized, the independence of the encoder part and the motor part is stronger, and higher interchangeability can be realized when customer orders are dealt with on a production line.

The invention discloses a tower crane space anti-collision method based on multi-source data fusion, and belongs to the technical field of crane safety. The method comprises the steps that tower crane group data collected by a sensor module are obtained, a tower crane group comprises a plurality of tower cranes, each tower crane comprises a lifting hook, and each lifting hook is used for lifting a lifted object; the sensor module comprises a high-precision Beidou sensor, a high-precision laser ranging sensor, a stroke limiting sensor, a weight sensor, a wind cup sensor, an IMU sensor, a laser radar sensor, a position sensor and a camera. Fusing data of the tower crane group based on a Kalman filtering algorithm and a kinematic model to obtain a dynamic boundary range of each tower crane in the tower crane group and motion trail prediction of a hoisted object; and generating a tower crane priority queue based on the dynamic boundary range, and dynamically adjusting the operation path of each tower crane in the tower crane group through a grading early warning mechanism. According to the method, the safety and reliability of operation of the tower crane are improved.

The invention involves a system and method for increasing positional accuracy of surgical systems that utilize magnetic or electromagnetic sensors to provide positional awareness to a surgeon or robot performing the surgery. The system takes advantage of electromagnetic tracking through sensors. These sensors are very accurate and repeatable, while being compact enough to not inhibit surgical procedures. The accuracy and repeatability of the sensors is <1 mm within a predetermined 6 inch×6 inch performance motion box. The system is constructed and arranged to map the distortion patterns of the sensor and, in real time, correct the distortion pattern to provide accurate location of anatomical structures for performance of a surgery.

The invention relates to the technical field of sensors, and provides a grating position sensor. A scanning assembly and a light source module are relatively fixed, and an incident diaphragm and an increment detector are arranged in the scanning assembly; the increment detector is spatially divided into at least two first detector regions for detecting a first phase increment signal component and at least two second detector regions for detecting a second phase increment signal component, and the at least two first detector regions are spatially separated from each other; performing redundant detection on the first phase increment signal component; the at least two second detector areas are separated from each other in space so as to perform redundancy detection on the second phase increment signal component; the position metering element is suitable for being fixed on a measured object or a measuring datum plane and can generate relative displacement with the scanning assembly. The invention provides a grating position sensor with strong anti-pollution capability. The grating position sensor can keep a high-reliability working state for a long time in a complex or severe industrial environment.

The invention discloses a biaxial coaxiality in-situ detection system and method based on optical dynamic reference coupling, relates to the field of real-time calibration of photoelectric tracking equipment, and solves the technical defects of reference transmission errors and dynamic response delay caused by mechanical stress deformation in traditional contact measurement. The system comprises a pitching assembly, a laser light source, a two-dimensional moving platform, a stable platform, a base, a standard clamping ring, a left shaft, a right shaft and a photosensitive position sensor. A stable platform is arranged on the base, a two-dimensional moving platform is arranged on the stable platform, a laser light source emitted by the laser device penetrates through a standard clamping ring through hole and forms light spots on the photosensitive position sensors, and the two photosensitive position sensors achieve coordinate correlation mapping through a dynamic coordinate system mapping algorithm and obtain two coordinate systems at the same time; the standard clamping rings are symmetrically installed on the end faces of the two sides of the left shaft and the right shaft, and the back photosensitive position sensors are symmetrically arranged in the gap between the left shaft and the right shaft. And data collaborative acquisition is realized through the synchronous controller.

The invention discloses a plane finishing system suitable for a large-size workpiece, and belongs to the technical field of ultra-precision plane machining equipment. The problems that in the prior art, deformation and secondary deformation exist in the machining process and the detection process of surface shape finishing machining equipment for large-size and large-weight workpieces, so that the machining efficiency is low, and the machining precision is difficult to guarantee are solved. Comprising a control center, and a first-stage platform, a second-stage platform, a first-stage leveling assembly, a second-stage leveling assembly, a processing device, a clamping assembly, a laser interferometer and two groups of laser reflection assemblies which are in signal connection with the control center, each laser reflection assembly comprises a laser, a laser reflector and a photosensitive position sensor. The method is used for plane finishing of large-size workpieces.

A method for controlling a marine drive having a throttle handle moveable to control a thrust and a detent engageable to resist moving the throttle handle. The method includes configuring a position sensor to generate position data corresponding to positions of the throttle handle and receiving the position data from the position sensor. The method further includes analyzing the position data to determine a first position of the throttle handle in which the detent disengages and generating thrust with the marine drive when the throttle handle is moved into the first position.

The invention discloses a surface-mounted permanent magnet synchronous motor sensorless high-performance sliding-mode control method, and the method comprises the steps: designing an improved self-adaptive terminal sliding-mode switching function for the problem of high-frequency buffeting of a sliding-mode observer caused by the fixed gain design of the switching function; and dynamically adjusting the gain of the switching function according to the sum of the stator current error and the integral thereof under the two-phase static coordinate system so as to suppress high-frequency buffeting and improve the estimation precision. In order to further improve the performance of the position sensorless control system, a reaching law in a sliding mode controller is optimized, a novel composite gain self-adaptive sliding mode reaching law is designed, the reaching law combines a self-adaptive gain term, a nonlinear exponential term and a linear term, the system state is accelerated to approach when being far away from a sliding mode surface, buffeting is reduced when the system state approaches, and the control precision of the position sensorless control system is improved. Therefore, the dynamic response speed and buffeting suppression capability of the control system are balanced.

The present invention discloses an electromechanical brake parking mechanism and a control method, belonging to the field of vehicle braking. It includes a reduction motor and a brake caliper. A locking disc is fixed on the motor shaft of the reduction motor. An electromagnetic locking component is arranged inside the motor housing of the reduction motor and corresponds to the position of the locking disc. The locking head of the electromagnetic locking component corresponds to the locking hole opened on the locking disc. A parking position sensor is arranged inside the motor housing, and a magnet cooperating with the parking position sensor is fixed on the end face side of the locking disc; A locking position sensor is also arranged inside the motor housing to detect the forward and backward movements of the locking head. Both the locking position sensor and the parking position sensor are electrically connected to the controller, and the controller is electrically connected to the reduction motor. By adopting the above-mentioned electromechanical brake parking mechanism and control method, it has the advantages of more reliable control, shorter parking time, short noise duration, etc., making the maintenance cost and use cost of the electromechanical brake lower and safer.

The invention discloses a laser wireless energy transfer dynamic MPPT control method based on an RL-PSO hybrid algorithm and a reconfigurable array system, and aims to solve the problems of power oscillation and mismatch loss caused by light spot offset of a photovoltaic array under laser dynamic irradiation. According to the method, reinforcement learning (RL) and particle swarm optimization (PSO) are fused, dynamic parameters such as the light spot moving speed and irradiance are sensed in real time through the RL, the inertia weight and learning factors of the PSO are adjusted in a self-adaptive mode, and collaborative optimization of global search and local tracking is achieved. According to the system level, a reconfigurable photovoltaic array is designed, and according to data of a light spot position sensor, battery series-parallel topology is dynamically adjusted through a switch matrix, and current matching is optimized. According to the method, double-loop control is adopted, wherein an outer-layer RL decision module dynamically switches PSO working modes according to the environment, and an inner-layer PSO module optimizes the working voltage. The system efficiency in a dynamic scene can be improved by 15%-30%, mismatch loss is reduced by 40% or above, and the method is suitable for unsteady-state energy supply scenes such as unmanned aerial vehicles and mobile robots.

The invention relates to the technical field of reciprocation pump control, in particular to a closed-loop control motor-driven ball screw reciprocation pump and a control method, and the closed-loop control motor-driven ball screw reciprocation pump is mainly characterized in that an outlet of a fluid end module is connected with a pressure sensor; the pressure sensor, the motor controller, the rotary transformer and the position sensor are electrically connected with the central controller, the central controller is used for outputting a control signal enabling the driving motor to rotate to the motor controller, and the motor controller is used for controlling the driving motor to operate. According to the scheme, a brake is removed, the defects caused by the brake are avoided, in the prior art, no matter whether a brake pad is abraded or the inertia problem of the brake exists, a brake system cannot be achieved in the industry of the reciprocating pump at all, and in the reciprocating pump, the brake pad is not abraded. The speed, the position and the thrust of the reciprocating pump device are accurately controlled in a full-digital manner through the central controller, so that the ball screw reciprocating pump with the structure achieves the purpose of industrial use in the industry.

The utility model discloses a rail type gravity energy storage power station, the power station is arranged on a rail, two sides of the bottom of a train are provided with driving plates, the power station comprises a supporting seat, a friction wheel, a transmission piece, a permanent magnet synchronous motor, a PLC control cabinet and a storage battery energy storage control cabinet, when the train passes through the power station, the friction wheel is in friction connection with the train driving plates, and the transmission piece is connected with the storage battery energy storage control cabinet. The permanent magnet synchronous motor is electrically connected with the storage battery energy storage control cabinet through a first on-off switch, the permanent magnet synchronous motor is connected with a power grid power source through a second on-off switch, a plurality of position sensors are arranged on the slope section of the track, and the total controller feeds back the position sensors to the storage battery energy storage control cabinet when the train is in downhill transportation according to the position sensors. Otherwise, the permanent magnet synchronous motor is controlled to operate as a motor. When the power station is applied to a slope section track, a driving mode and a power generation mode can be automatically switched according to ascending or descending of a train, so that one-station compatibility of power generation and driving is realized.

The invention discloses a force-position control bottle cap screwing device and method supporting the digital twinning technology. The force-position control bottle cap screwing device comprises a screwing clamping jaw mechanism used for screwing a bottle cap; the Z-axis executing mechanism and the X-axis executing mechanism are used for adjusting the position of the screwing clamping jaw mechanism, the screwing clamping jaw mechanism is fixed to the output end of the Z-axis executing mechanism, and the Z-axis executing mechanism is fixed to the output end of the X-axis executing mechanism; the force sensor and the position sensor are used for detecting the stress and position information of the screwing clamping jaw mechanism; and the control unit is used for receiving signals of the force sensor and the position sensor and regulating and controlling the stress and the position of the screwing clamping jaw mechanism according to the received signals. The requirement for opening and closing the cell culture fluid bottle cap to take fluid in the intelligent and automatic production process of the organoids can be met, and technical and theoretical possibilities are provided for successful research and development of the intelligent and automatic production line for culturing and observing the organoids.

A head mounted display (HMD) device is provided. The HMD includes a display, a gaze sensor configured to detect a gaze direction of a user of the HMD device, a camera, a position sensor configured to detect a position of the HMD device, communication circuitry, memory storing one or more computer programs, and one or more processors communicatively coupled to the display, the gaze sensor, the camera, the position sensor, the communication circuitry, and the memory, wherein the one or more computer programs include computer-executable instructions that, when executed by the one or more processors individually or collectively, cause the HMD device to, based on the position of the HMD device, acquire three-dimensional (3D) segmentation information for a space corresponding to the position of the HMD device, acquire gaze point-based interest information corresponding to a profile of the user, the gaze point-based interest information including interest information generated based on gaze points of a plurality of users, display, on the display, a first visual effect for a plurality of regions in the space based on the 3D segmentation information and the interest information, and display, on the display, a second visual effect for a plurality of objects in a first region among the plurality of regions based on the 3D segmentation information and the interest information when the position of the HMD device corresponds to the first region.

The invention discloses an automobile lane changing auxiliary system which comprises a steering lamp operating rod assembly, an electronic control unit, a left rearview mirror module, a right rearview mirror module, a position sensor, a rearview mirror position memory module and an automobile state detection module, and the steering lamp operating rod assembly is arranged on the left side of a steering wheel and provided with a neutral position, a first gear and a second gear; the electronic control unit receives an operating rod signal and outputs a control instruction; the left rearview mirror module comprises a left rearview mirror horizontal rotation actuator and a left rearview mirror lens; the right rearview mirror module comprises a right rearview mirror horizontal rotation actuator and a right rearview mirror lens. Therefore, 0-20-degree adjustment of the rearview mirror is related to the vehicle speed, a blind area is covered at a low speed in a large angle, interference is avoided at a high speed in a small angle, risks are reduced, multi-gear linkage simplifies operation, the rearview mirror returns after being loosened, automatic centering is achieved after lane changing, distraction is reduced, navigation and a corner sensor recognize the road condition, manual reset is not needed, and adaptability is high.

The invention discloses a permanent magnet synchronous motor full-speed-domain position-sensorless hybrid control method and a permanent magnet synchronous motor full-speed-domain position-sensorless hybrid control system, and the permanent magnet synchronous motor full-speed-domain position-sensorless hybrid control method is constructed by taking a permanent magnet synchronous motor nonlinear dynamic system model as a starting point. A hybrid control method combining high-frequency pulsating square wave signal injection under a linear dynamic system model, a rotor polarity judgment and rotor initial position estimation algorithm and an unscented Kalman filtering extension algorithm in an additive noise form under a nonlinear discrete dynamic system model is adopted; and obtaining the optimal estimation observation value of the system state variable in the static, low-speed, medium-speed and high-speed full-speed domain range under the condition that the permanent magnet synchronous motor is not provided with a mechanical position sensor. The optimal estimation observation value is used for compensating and feeding back a permanent magnet synchronous motor drive control system adjusting strategy, disturbance of load torque is improved, the noise amount and disturbance amount introduced by three-phase current measurement are eliminated, and efficient and accurate control operation of the permanent magnet synchronous motor is achieved.

The utility model discloses a motor end cover pressing machine which comprises a machine body, a workbench is fixed in the machine body, and a pressing assembly used for pressing a motor end cover to be pressed on a motor shell is arranged on the machine body. The press-fitting assembly comprises a servo electric cylinder fixed to the top of the machine body, a limiting cover connected with the output end of the servo electric cylinder, a lifting table fixed to the bottom of the limiting cover and a press-fitting barrel fixed to the bottom of the lifting table and used for press-fitting the motor end cover to a motor shell. A limiting block is integrally formed in the position, close to the lower end of the output end of the servo electric cylinder, of the outer wall of the output end of the servo electric cylinder, a limiting groove in sliding fit with the limiting block is formed in the bottom of the limiting cover, a pressure sensor located in the limiting groove is fixed to the top of the lifting table, and a position sensor used for monitoring the position of the lifting table is arranged in the machine body. And a display in communication connection with the position sensor and the pressure sensor is arranged on the machine body. The motor end cover press-fitting device is beneficial for improving the press-fitting yield of the motor end cover.