148 results about "Resultant force" patented technology

The invention relates to a damping spring device suitable for industry or life, in particular to a magnetic damping spring. The magnetic damping spring comprises a supporting cylinder, a force guiding piston, a force guiding piston blocking piece, a supporting rod and two or more magnets. The force guiding piston blocking piece is arranged on the upper portion of the supporting cylinder. The supporting cylinder is of a cylindrical structure, one end of the supporting cylinder is sealed and is a bottom surface, and the other end is of an opening structure for the supporting rod to penetrate; the lower end of the supporting rod penetrates through the force guiding piston blocking piece to be connected with the force guiding piston, and the upper end extends out of an opening in the upper end of the supporting cylinder. A groove is formed in the inner bottom surface of the supporting cylinder, and a magnet A is placed in the groove; a groove for placing the magnet B is formed in the lower bottom surface of the force guiding piston; the supporting rod can conduct resultant force of vertical vibration generated by axial vibration, horizontal vibration and vertical vibration to the force guiding piston, the force guiding piston drives the magnet B to extrude downwards to generate repulsive force which is gradually increased with the distance space of the magnet A, the repulsive force is used for buffering vertical vibration force conducted by the force guiding piston, and therefore the damping effect is achieved.

According to the vehicle transverse movement control method, the electronic device, the storage medium, the program product and the vehicle, according to the transverse movement requirement, the front wheel close to one side of the target transverse movement direction and the opposite angle wheel of the front wheel are controlled to deflect towards the target transverse movement direction and output the forward driving force; and a rear wheel close to one side of the transverse moving direction and opposite-angle wheels of the rear wheel are controlled to reversely deflect towards the target transverse moving direction and output reverse driving force, so that longitudinal advancing force of the vehicle is at least partially counteracted, transverse moving resultant force is formed, and track deviation caused by longitudinal force residues is improved or eliminated. Meanwhile, deflection of the wheels forms a front-outer-eight and rear-inner-eight form, torsional pendulum interference of the whole vehicle can be reduced, the stability of vehicle transverse movement is improved, and the control difficulty of vehicle transverse movement is reduced.

The invention relates to a wheel hub motor angle module vehicle skew stability control method and device, and relates to the technical field of vehicle control, and the method comprises the steps: determining a target longitudinal resultant force, a target rotation angle of each wheel and an expected additional yaw moment based on the speed and pose parameters of a vehicle and corresponding expected values; based on the target longitudinal resultant force, the target turning angle of each wheel and the expected additional yawing moment, obtaining a target four-wheel output moment; and controlling wheels according to the target four-wheel output torque. By controlling the target four-wheel output torque, the target longitudinal resultant force, the target rotating angle of each wheel and the expected additional yawing torque of the vehicle in the oblique running state are accurately controlled, and unnecessary yawing caused by external lateral force interference is effectively restrained. The problems that in the prior art, when external lateral force interference is generated and external yawing moment is formed, unnecessary yawing possibly occurs when a four-wheel independently-driven vehicle runs obliquely at a high speed, then the situation that the vehicle is unstable possibly occurs, and use safety is affected are solved.

This invention provides a static weight-based multi-dimensional force sensor calibration device, comprising: a worktable, a force reversing mechanism, a rotating platform, a loading disk, and a loading assembly; the rotation center of the rotating platform is perpendicular to the rotation center of the force reversing mechanism; a turntable is fixed to the rotating platform, and a multi-component force sensor to be calibrated is fixed to the turntable; the loading disk is fixed to the top of the multi-component force sensor to be calibrated, and a loading connector is provided on the loading disk; a pulley assembly is provided on the top of the worktable; when calibrating the force of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is on the central axis of the worktable; when calibrating the torque of the multi-component force sensor to be calibrated, the line connecting the pulley assembly and the loading connector is parallel to the central axis of the worktable. This device optimizes the force loading method, changing from loading each component separately to loading the resultant force through a single rope, avoiding mechanical interference during multi-dimensional loading, achieving high repeatability of force loading, and improving the accuracy and reliability of calibration results.

The invention discloses a friction-free spring type safety valve, belongs to the field of pressure vessel protection, and aims to solve the problem of large friction force of a large-diameter valve rod of a steam extraction pipeline of a steam turbine. Comprising an upper guide assembly and a lower guide assembly, the upper guide assembly comprises a second permanent magnet ring, the lower guide assembly comprises a first permanent magnet ring, the upper portion of a valve rod assembly is sleeved with an upper magnetic ring, the lower portion of the valve rod assembly is sleeved with a lower magnetic ring, and the first permanent magnet ring, the second permanent magnet ring, the lower magnetic ring and the upper magnetic ring are all axially magnetized magnetic rings. The upper magnet ring and the lower magnet ring are arranged in a homopolar opposite mode, the polarity directions of the upper magnet ring and the second permanent magnet ring are the same, the upper magnet ring and the second permanent magnet ring form a magnetic action gap, the polarity directions of the lower magnet ring and the first permanent magnet ring are the same, and the lower magnet ring and the first permanent magnet ring form a magnetic action gap. The radial magnetic effect resultant force of the second permanent magnet ring on the upper magnetic ring points to the axis of the upper guide assembly, the radial magnetic effect resultant force of the first permanent magnet ring on the lower magnetic ring points to the axis of the lower guide assembly, and the friction force of the valve rod assembly is zero.

A constant force mechanism comprises a rack, a moving part, an output part, a positive stiffness structure and a negative stiffness structure, and the moving part is movably arranged on the rack; the output part is movably arranged on the rack, and the output part is movably connected with the moving part and drives the moving part to move, so that the output part and the moving part get close to each other or get away from each other; the positive stiffness structure comprises a first curved beam and a second curved beam which are connected between the rack and the moving part, and the first curved beam and the second curved beam are arranged in a crossed mode. The negative stiffness structure comprises a first permanent magnet and a second permanent magnet, the first permanent magnet is arranged on the rack, the second permanent magnet is arranged on the side, away from the positive stiffness structure, of the moving part, and the S pole of the second permanent magnet is opposite to the N pole of the first permanent magnet, or the N pole of the second permanent magnet is opposite to the S pole of the first permanent magnet. According to the constant force output device, the elastic deformation force of the positive stiffness structure and the magnetic force of the negative stiffness structure are overlapped, so that the resultant force is kept constant within a certain displacement range, and constant force output is achieved.

The invention provides a wind turbine generator yaw control method, system and device and a medium, and the control method comprises the steps: obtaining a theoretical thrust-lateral force along a cabin coordinate system according to wind speed-wind direction data; carrying out vector fusion on the real thrust-lateral force and the theoretical thrust-lateral force to obtain a wind load resultant force direction and a yaw moment estimation value generated by the wind load resultant force direction to the center of the tower drum; when the wind load resultant force direction is consistent with the deviation direction of the current wind direction and the yaw moment estimated value exceeds a preset moment threshold value, wind direction prediction data of the wind direction in future preset time are obtained: when the wind direction prediction data meet preset conditions or not, a wind load auxiliary mode is entered, a yaw brake is controlled to release braking force, and the yaw brake is controlled to release braking force; the wind load leading is mainly utilized, and the yaw motor drives the cabin to rotate in a partial rated torque compliant following mode, so that the axis direction of the cabin is consistent with the current wind direction. The yaw control of the wind turbine generator has the advantages of low hysteresis quality, low frequency impact and low energy consumption.

The invention provides a three-dimensional slope stability analysis method based on rapid determination of an initial value of a sliding direction angle, and the method comprises the steps: projecting a plane to a three-dimensional slope model to generate a grid, extracting a column set in the three-dimensional slope model, calculating the volume, gravity center position, bottom surface area and bottom surface center normal vector of each column, and calculating the initial value of the sliding direction angle; establishing a shearing force unit direction vector on each strip column; under the assumption of a Sweden slice method, a resultant force of normal contributions of all strip columns and an external load in a horizontal plane is calculated, and an initial value alpha o of a sliding direction angle is obtained through analysis; then, by taking a safety coefficient, a proportionality coefficient and a sliding direction angle alpha as variables to be solved, constructing four normalized residual equations of an x-axis torque balance residual, a y-axis torque balance residual, an overall force balance residual along the sliding direction and a horizontal resultant force residual perpendicular to the sliding direction, forming a limited nonlinear least square problem and carrying out iterative solution; in the solving process, the sliding direction angle alpha takes the obtained initial value alpha o of the sliding direction angle as a starting point.

The present application belongs to the technical field of machine tool accessories, and in particular to a radial floating spindle support, which solves the technical problem of low tool end pose stiffness or complex structure of the existing floating spindle device when realizing radial floating. The radial floating spindle support comprises an inner ring, an outer ring and an actuating assembly. An electric spindle is arranged in the inner ring. A plurality of first parallel linear grooves are formed on the outer side wall of the inner ring in the circumferential direction. The bottom end of the outer ring extends an installation ring plate, which is provided with an installation site. The actuating assembly comprises a cam, a damper, three cable joints and a plurality of cables. The transmission shaft of the damper passes through the avoidance through hole of the installation ring plate upward and is fixedly connected with the cam. A second parallel linear groove is formed on the side wall of the cam. Two parts of the cables are arranged in a cross manner. The cables, as flexible constraint belts, constrain the inner ring and the cam to form a rolling contact pair. The resultant force of the three sets of actuating assemblies is balanced with the radial external force, so that the actual radial force borne by the tool is maintained within a preset value range, thereby realizing the radial floating function and preventing the workpiece from being damaged due to overcutting.

The application provides a rotor assembly, a compressor and an air conditioning device. The rotor assembly comprises a rotor pair, the rotor pair comprises a first rotor, the first rotor can rotate around a first axis and generate an axial force along the direction of the first axis, the direction of gravity of the first rotor is the same as the direction of the first axis or the gravity of the first rotor has a gravity component along the direction of the first axis; the axial force and a plurality of acting forces form a resultant force along a preset direction, wherein the plurality of acting forces comprise the gravity or the gravity component of at least the first rotor in the rotor pair. The application sets the rotor pair vertically or obliquely, so that the gravity or the gravity component of the rotor pair and the axial force form a resultant force along a preset direction, and then the rotor pair is only subjected to the action of the resultant force in a single direction, thereby avoiding the influence of the change of the direction of the axial force on the work of the rotor pair.

Embodiments of this application provide a foldable electronic device, including: a shaft cap, a body, a first cam component, and a second cam component. The first cam component and the second cam component come into pressure contact. The first cam component is configured to be rotatable around a central shaft of the first cam component. The second cam component is configured to be slidable along a direction of the central shaft. A contact surface of the first cam component and the second cam component includes a locking section, an angle between a normal direction of the locking section and the central shaft is less than or equal to a preset value, and a resultant force of a cam driving member in a rotation direction of the cam driving member is o, so that the body is not automatically unfolded or folded, thereby implementing the freestop characteristic.

This invention provides a dual-mechanism side-push horizontal directional drilling rig, comprising a chassis assembly, a guide rail frame, a push-pull platform, a power head, two sets of push-pull mechanisms, and a clamping assembly. The guide rail frame is mounted on the chassis assembly, and the guide rail beam includes two parallel guide rail beams. The two ends of the push-pull platform are slidably connected to the two guide rail beams respectively. The power head is located at the center of the push-pull platform, and the two sets of push-pull mechanisms are symmetrically arranged at both ends of the push-pull platform. This invention employs a dual-push-pull mechanism design, where the push-pull force axes of the two sets of push-pull mechanisms are on the same plane as the axis of the power head's rotating spindle, and the two sets of push-pull mechanisms are symmetrically arranged on both sides of the power head. This ensures that the resultant force of the push-pull forces of the two sets of push-pull mechanisms coincides with the axis of the power head's rotating spindle, forming a balanced force with the reaction force transmitted from the drill rod to the rotating spindle during construction. This avoids eccentric torque caused by the push-pull driving force and the drill rod's push-pull reaction force being off-axis.

A system and method for brake actuator control considering road geometry are described. In one implementation, the system and method constantly monitor the proper acceleration of the vehicle (i.e., without the effect of gravity), the maximum friction between all the tires and the road (road adherence), and the speeds and angles of the wheels. The proper acceleration is then used to determine the forces and moments being exerted at each wheel contact to the ground, and may use compensation from calibration memory to adapt for the unique dynamic loading characteristics of the vehicle (e.g., weight and how weight shifts in the suspension during acceleration). These resultant forces and moments are subtracted from the maximum forces and moments that can be exerted as determined by the road adherence, and converted into a measure of the maximum available braking and traction force taking into account the wheel speeds and angles.

The present application provides a blade assembly and a wind power generation device. The blade assembly comprises a mounting shaft and a blade connected to the mounting shaft. The blade has opposite first and second surfaces along the circumferential direction of the mounting shaft. The first surface is recessed toward the second surface to form a force-bearing groove configured to bear wind impact, so that the blade assembly rotates. The torque of the blade Mθ=F0 × L=cos2 θFwind × L, where F0 is an equivalent resultant force applied to the blade, L is a moment arm, θ is a rotation angle, and Fwind is an equivalent wind force when θ is 0 degrees. The power of the blade P=Mθ × w=F0 × L × w, where w is an angular velocity. A discharge hole is provided at the bottom of the force-bearing groove, and is disposed near the mounting shaft and used for discharging air, so that the position of the equivalent resultant force is away from the mounting shaft, thereby lengthening the moment arm, increasing the torque, and improving the power.

The invention discloses an automobile, a braking system, a brake and a state monitoring method of the brake. In the brake, the flange rotor is connected with the motor rotating shaft and is in rolling connection with the stator, so that the flange rotor can rotate relative to the stator along with the brake motor rotating shaft. The slot disc is arranged on the stator; the armature is connected with the flange rotor through an elastic piece so that the armature can reciprocate between the flange rotor and the groove disc in the axis direction of the flange rotor. The permanent magnet generates a first magnetic force on the armature. And under the condition that the coil loses power, the first magnetic force resists the reset pulling force, so that the armature moves towards the groove disc and is correspondingly attracted with the groove disc. After the coil is electrified, a second magnetic force is generated on the armature, the resultant force of the second magnetic force and the reset pulling force resists the first magnetic force, the armature moves towards the flange rotor and is separated from the slotted disc, locking and releasing of the brake motor are achieved, the brake is integrated on the motor, the size, noise and energy loss of a brake system are reduced, and the manufacturing difficulty and the testing difficulty are reduced.

The invention discloses an intelligent control system and method based on rotary cylinder sail electromagnetic suspension type supporting. The system comprises a distance measuring sensing module, an intelligent control cabinet and a rotary cylinder control cabinet. The distance measurement sensing module comprises a plurality of distance measurement sensors which are uniformly arranged on the outer wall of an internal steel tower of the rotary drum sail in an annular array, measure the radial distance between the internal steel tower and an external rotary drum in real time and output a detection signal; the intelligent control cabinet is arranged in the rotary drum sail base and used for collecting inertial data of a ship and providing exciting current for the inner tower excitation module, so that the inner tower excitation module and the outer drum permanent magnet module form homopolar mutual exclusion magnetic field resultant force, and the exciting current is dynamically adjusted through a self-adaptive algorithm on the basis of the inertial data and a distance detection signal. Magnetic suspension dynamic balance of the external rotary cylinder is maintained, and a suspension state signal is generated; the rotating cylinder control cabinet is arranged in the base and used for sending working state signals such as starting / stopping, receiving suspension state signals and judging whether the rotating speed of the outer cylinder needs to be adjusted or not, and if adjustment is needed, the motor transmission mechanism is driven to change the rotating speed.

The invention relates to the technical field of train measurement, and discloses a train aerodynamic force distributed measurement method, which comprises the following steps of: determining a wheel track supporting point position in a train head train model and installing a force sensor; force output signals in the X-axis direction, the Y-axis direction and the Z-axis direction are collected through a force sensor; calculating an X-axis resultant force, a Y-axis resultant force and a Z-axis resultant force based on the force output signals in the X-axis direction, the Y-axis direction and the Z-axis direction and the space coordinates of the force sensor, and calculating a resultant moment based on the space coordinates of the force sensor; constructing a multiple regression model, training the multiple regression model by taking the X-axis resultant force, the Y-axis resultant force, the Z-axis resultant force and the resultant moment as original data, and solving a regression coefficient matrix in the model to obtain a trained regression model; and inputting the X-axis resultant force, the Y-axis resultant force, the Z-axis resultant force and the resultant moment obtained in the wind tunnel test into the trained regression model to obtain the corrected X-axis resultant force, the corrected Y-axis resultant force, the corrected Z-axis resultant force and the corrected resultant moment.

This invention provides a train operation method, medium, and equipment based on dual-loop adaptive sliding mode control, relating to the field of rail transit train operation control technology. The method involves an outer-loop displacement control subsystem controlling the train to track a target displacement; and an inner-loop speed control subsystem controlling the train to follow the speed curve generated by the displacement control subsystem at the desired speed. The output of the speed control subsystem is the resultant force of traction and braking. The control law is determined based on the integral sliding surface of the speed control subsystem and the train kinematic model. The additional resistance in the train kinematic model is simulated using an RBF neural network algorithm. The basic resistance parameters, total train mass, ideal weight matrix of the RBF neural network, and approximation error in the train kinematic model are determined using the adaptive control law of the integral sliding surface of the speed control subsystem. This method can solve the control problems of divergent speed tracking control deviations and low convergence efficiency under complex operating conditions.

The invention relates to an anti-gravity technology principle and a device, which are the vector sum of the resultant force of the axial torsion borne by a conjugate main shaft or an auxiliary shaft and the counter-acting force of the resultant force required by the conjugate suspension rotor for alternately carrying out fixed-shaft eccentric rotary motion and composite planar motion, wherein the counter-acting force is the axial torsion borne by the conjugate main shaft or the auxiliary shaft. The conjugated suspension rotor obtains the pre-collision impulse and the rebound space through sinking acceleration and spin acceleration, and in the non-elastic collision process under forced constraint of each other, energy exchange occurs between mass centers of the suspension rotor. And the pre-collision vertical impulse of the full mass center of the suspension rotor pointing below the horizontal line is changed into the rebound vertical impulse pointing above the horizontal line. Conjugated suspension rotors are reversely hung on respective driving double shafts by means of centrifugal force, are surrounded by the auxiliary shafts and the driving arms of the auxiliary shafts and rotate according to conjugate dynamic laws. The antigravity acts on a conjugate origin, is output along a conjugate axis and points to a collision point, and is derived from centrifugal force generated by eccentric rotation of a fixed shaft of the suspension rotor, counter-acting force in acceleration and deceleration processes, rebound impulse obtained by collision and counter-acting force of power torque borne by a main shaft or an auxiliary shaft.

The utility model discloses a fried food oil draining device which comprises a base and a shell, supports are arranged on the two sides of the base, the two sides of the shell are installed on the supports through connecting columns, and a conical hopper is connected with a first wave-shaped cam through a plurality of supporting rods. A driven gear is arranged outside the inner cylinder, and a plurality of guide grooves are formed in the inner wall of the inner cylinder; an oil draining basket is arranged in the inner cylinder, a plurality of guide blocks in clearance fit with the guide grooves are arranged outside the oil draining basket, and a second waveform cam is arranged on the lower portion of the oil draining basket; the device further comprises a driving mechanism, the driving mechanism comprises a motor, an output shaft of the motor is connected with a rotating shaft, the lower end of the rotating shaft is provided with a driving gear, and the driving gear is meshed with the driven gear. A composite acting force field is formed by a centrifugal field generated by rotation of the inner cylinder and dynamic shock waves formed by vertical vibration of the oil draining basket, so that oil films on the surfaces of fried foods are efficiently separated in three stages of stripping, throwing off and vibrating, the oil draining effect of the fried foods is enhanced, and the oil draining efficiency is improved.

A tilting device comprises a guide bracket, a ring gear, a plurality of ratchet gears, and a rotary cam. At least one of the ratchet gears has at least one gear protrusion. The gear protrusion has at least one section forming an arc to project toward a cam face of the rotary cam. The arc has a center point located: at the intersection of a first imaginary line extending in a direction in which a resultant force, including a radially inward force, acts from the ring gear in a locked state, and a second imaginary line extending in a direction in which a force acts, entering the ratchet gear from the rotary cam through the gear protrusion; or at a position between the intersection point and the gear protrusion on the second imaginary line.

The present invention comprises: an inner ring (2); an outer ring (3); a plurality of balls (4) disposed between the inner ring (2) and the outer ring (3); circumferential grooves (5) formed on an outer diameter surface of the outer ring (3); an insulating layer (6) having insulating properties and provided on the outer diameter surface of the outer ring (3) so as to be fitted into the circumferential groove (5); and a rotating shaft body (7) fitted into an inner diameter surface side of the inner ring (2). In an operating state of the bearing, the circumferential grooves (5) are formed so as not to overlap with either an extension of a composite load (F) toward the inner diameter side nor an extension of the composite load (F) toward the outer diameter side, the composite load (F) being a resultant force of a radial load (F1) and an axial load (F2) acting on the inner and outer rings (2, 3) from the balls (4).

The invention relates to the technical field of energy exploitation, and discloses an intelligent reinforcement type fracturing truck and a control method thereof.The intelligent reinforcement type fracturing truck comprises an engine, an engine reduction gearbox, a whole truck controller, a hybrid power special reduction gearbox, a motor, a transmission shaft and a fracturing pump; the engine is connected with the transmission shaft through the engine reduction gearbox and the special hybrid power reducer in sequence, the motor is connected with the transmission shaft through the special hybrid power reducer in sequence, and the torque of the motor and the power of the engine can be superposed to the input end of the transmission shaft. The output end of the transmission shaft is connected with the fracturing pump; the vehicle control unit is in communication connection with the motor, the engine and the hybrid power special reduction gearbox and used for sending control instructions to the engine, the motor and the hybrid power special reduction gearbox. The engine and the motor are combined to exert respective characteristics and resultant force, so that the engine can always work in an optimized high-efficiency area, gear shifting jerking of the engine is made up, and noise and vibration are reduced.

This disclosure provides a control system, method, and tunnel boring machine (TBM) in the field of engineering machinery technology. The system includes: a cutterhead torque early warning subsystem configured to: acquire the first torque of the cutterhead of the TBM at the current moment; determine the first target total thrust of the TBM and the torque state of the cutterhead based on the first torque and the first preset torque of the cutterhead; a guidance and correction control subsystem configured to: determine the pressure distribution vector direction of the first group of hydraulic cylinders among multiple hydraulic cylinders of the TBM that are expected to apply a pressure greater than 0, based on a preset target deviation; and a hydraulic cylinder pressure calculation subsystem configured to: determine the magnitude of the target resultant force of the pressure of multiple hydraulic cylinders based on the torque state of the cutterhead; determine the pressure of multiple hydraulic cylinders based on the magnitude and distribution vector direction of the target resultant force of the pressure of multiple hydraulic cylinders, wherein, in the case of an abnormal torque state, the magnitude of the target resultant force of the pressure of multiple hydraulic cylinders is the first target total thrust.

The Magnus roller of known type - when used alone - is altered in its reactive resultant by redirecting a wind coming from the front, a wind current or a driving wind (when mounted on a vehicle) or the wind currents composed of both, so that a sideways shearing movement does not result as before, but a movement exactly opposite to the wind coming from the front, whereby, however, due to partial covering at the front, the yield is initially less than the force of the sideways shearing before. When mounting multiple Magnus rollers on a single drum, we must consider the additional wind generated by the rotation of the rotating drum (which is cranked by the rollers) in the half facing the oncoming wind. This results in a combined effect of both winds, which must be addressed by adjusting the covers and deflecting guide plates or by further rotating the drum. This is achieved through automatic control depending on the roller position. Since the rollers on the rear side of the rotating drum move in the opposite direction, the (rotational) wind there comes from, for example, an oblique angle above, while on the front half of the drum, with the same oncoming wind, the (rotational) wind comes from an oblique angle below. Accordingly, the feeds / deflections and opening points must be adjusted, or the rear section, in the second...Half of the roller should be adjusted to face only the oncoming wind. The onshore wind must be blocked on the rear half of the roller by a side shield on each roller. Alternatively, by opening an upper guide plate (if applicable), only a portion of the downward-approaching wind (resulting from the roller's rotation) can be utilized. By utilizing the absorption of solar heat stored in the Brownian motion of molecules, which occurs during flows on the laminar half, by means of flow-induced alignment of these molecules not irregularly in all directions, but rising in the direction of flow, a good additional suction is added, which strengthens the resultants of the rolls and thus also accelerates the rotation of the roll.

The application discloses a tension distribution calculation method of a traction rope on a curved annular rope groove wheel, belongs to the rope groove wheel field, and solves the problem that a traditional friction force distribution calculation method cannot effectively calculate the friction force distribution of a rope groove wheel. The technical scheme for solving the problem mainly comprises the following steps: a parameterized model of the curved annular rope groove wheel is established, the curved path of the curved groove is parameterized, the micro-element method is adopted to analyze the force of the traction rope, the resultant force of the traction rope in the circumferential, radial and axial directions of the curved annular rope groove wheel is analyzed, the tension attenuation formula of the micro-arc segment is deduced, the tension attenuation is iterated according to the tension attenuation of the micro-arc segment, the tension value is calculated, and the tension distribution formula can be obtained after the tension value is fitted. The application is mainly used for accurately calculating the tension distribution of the traction rope on the curved annular rope groove wheel.

The application relates to the technical field of vehicle control, in particular to a method and device for controlling a vehicle, the vehicle and a storage medium, the method comprising: in response to starting a spot turning function, obtaining a target yaw angular velocity and an initial position of the vehicle; performing a first cycle until the vehicle spot turns; the first cycle comprises: obtaining an actual yaw angular velocity and an actual position of the vehicle; based on the actual yaw angular velocity and the target yaw angular velocity, determining a target yaw moment by using a first closed-loop control algorithm; based on the initial position and the actual position, determining a target lateral resultant force and a target longitudinal resultant force of the vehicle by using a second closed-loop control algorithm; based on the target yaw moment, the target lateral resultant force and the target longitudinal resultant force, determining longitudinal forces and lateral forces of wheels of the vehicle; and based on the longitudinal forces and the lateral forces of the wheels of the vehicle, determining target rotating speeds of first, second and third motors, and driving the first, second and third motors based on the target rotating speeds.

The invention belongs to the technical field of precise rotary tables, and relates to a high-precision rotary table belt floating tensioning device and an assembling method thereof. The device comprises a precision rotary table, a driving motor, a belt and a transmission structure, wherein the precision rotary table is mounted on a marble platform; the transmission structure consists of a floating tensioning mechanism and a tensioning force balancing mechanism; the floating tensioning mechanism can automatically adjust the tensioning force according to the movement speed of the belt through two symmetrically-installed swing arms, a tension spring and a tensioning wheel, and multi-stage and dynamic tensioning is achieved. The tensile force balancing mechanism utilizes elastic idle wheels arranged on the two sides of the rotary table and the motor belt wheel to adjust the elastic resultant force through a fine adjustment screw so as to balance the radial force generated by belt tensioning and reduce the influence of the radial force on the motion precision. The self-adaptive belt tensioning mechanism solves the problems that a traditional belt tensioning mechanism cannot be dynamically adjusted and the precision is affected by radial force, has the advantages of self-adaptive tensioning, high precision, good stability, overload protection, simplicity and convenience in operation and the like, and is suitable for the field of high-precision machining and measurement.

This invention discloses a method for predicting and avoiding the phase tuning of self-excited vibrations in rotating machinery based on the principle of symmetry. The method includes: considering the rotating machinery as a rotating mechanism formed by several coaxially mounted central components and several intermediate force-transmitting components mounted circumferentially; calculating the spatiotemporal excitation phase of each intermediate component based on the spatial rotational symmetry of the topological structure and the time-translational symmetry of the time-varying excitation; providing a Fourier series characterization of the time-varying excitation at each intermediate component based on symmetry; considering the elastic out-of-plane vibration of the central component, calculating the out-of-plane component of the time-varying excitation, and calculating the resultant force and resultant moment in the six degrees of freedom directions using the superposition principle; analyzing the value characteristics of the resultant force and resultant moment using the properties of trigonometric functions, and predicting the typical self-excited vibration modes of the central component. This invention provides technical support for the cancellation of time-varying self-excited forces, prediction of vibration behavior, and parameter selection in rotating machinery. This technology has significant advantages such as accuracy, universality, and high efficiency.

This invention discloses a shearing force control method and system for a gantry shearing machine, relating to the field of metal processing equipment technology. The method includes: acquiring real-time detection signals of the spatial attitude of the moving tool holder during its downward shearing process; extracting tilt components in different directions from the signals, comparing and combining the results with preset thresholds to determine the current tilt mode; querying a preset control strategy mapping relationship based on the current tilt mode to generate corresponding drive actuator adjustment commands, thereby differentially adjusting the output force of at least two drive actuators to actively suppress the tilt of the moving tool holder. This invention, through real-time sensing and dynamic adjustment, enables the point of application of the resultant drive force to follow the change in the point of application of the shearing resistance, fundamentally eliminating harmful torques that cause tilting, and significantly improving equipment stability, shearing accuracy, and the lifespan of key components.