48 results about "Torque controller" patented technology

The invention discloses an operation control method for a wind power generation system, and relates to the technical field of operation control, and the method comprises the steps: obtaining the historical operation data of a wind power generation system in a target sea area, taking an offshore environment factor as an interference factor, and coupling the time-space parameters of ocean turbulence intensity, wave load and salt spray corrosion rate; establishing a fan-marine environment digital twinborn body; operation data is acquired in real time, synchronous mapping and dynamic updating of the digital twin are realized, and a state prediction model is established in combination with historical operation characteristics; taking the maximum power generation efficiency and the minimum mechanical load as a multi-objective optimization function, and introducing a model prediction controller to obtain an optimal control sequence of the wind power generation system in a future time domain of each control period; and selecting a first control instruction in the optimal control sequence, issuing the first control instruction to a physical fan torque controller and a variable pitch system in real time, realizing rolling optimization of the wind power generation system, and obtaining a self-adaptive operation control scheme of the wind power generation system. The power generation benefit of the whole life cycle is improved.

This invention relates to a low-current harmonic direct torque control method for a dual three-phase permanent magnet synchronous motor (PMSM), belonging to the field of PMSM control technology. The method is as follows: S1: Establish mathematical models of the fundamental and harmonic subspaces of the dual three-phase PMSM under vector space decoupling, and clarify the voltage vector distribution characteristics of the two subspaces; S2: In the fundamental subspace, design a duty cycle modulation strategy based on the principle of minimizing the error vector, and an improved deadbeat flux linkage torque controller; S3: In the harmonic subspace, design an online learning harmonic canceller, using the least mean square algorithm to update the weight coefficients in real time; S4: Select the D1 vector set as the effective vector of the harmonic subspace and perform sector division; S5: Add the effective voltage vector action time of the fundamental and harmonic subspaces to generate the final switching sequence, which is output to the dual three-phase inverter to effectively suppress torque ripple and harmonic current of the dual three-phase PMSM.

The utility model discloses screening equipment for selecting simulated bone materials and cancellous structures, which is characterized in that a torque measuring instrument is fixed below a fixing frame, and a test block fixing mechanism for fixing and positioning a to-be-tested bone planting test block is fixedly arranged on a measuring workbench of the torque measuring instrument; the screwdriver can rotate in the circumferential direction and can be installed on the fixing frame in the mode that the screwdriver can ascend and descend by a set distance in the axial direction, the lower end of the screwdriver is provided with a pattern matched with the head of a to-be-locked simulation planting nail on a bone planting test block, and the rotation driving device installed on the fixing frame can drive the screwdriver to rotate. The balance weight mechanism which can be installed on the fixing frame in a lifting mode provides axial downward pressure for the screwdriver, the torque measuring instrument can detect the torque applied to the bone planting test block by the screw, the controller controls the rotation driving device to operate, and the bone planting test block is simple in structure, convenient to operate and high in practicability. According to the utility model, the material for simulating the alveolar bone in the dental implant practical training model can be selected more objectively, and errors caused by subjective hand feeling selection are avoided.

This application provides a vehicle speed control method, device, vehicle controller, and storage medium based on the Harris Eagle algorithm, belonging to the field of automotive technology. The method includes: inputting the deviation and rate of change of the deviation between the actual vehicle speed and the target vehicle speed into the vehicle's torque controller; then initializing the integral and proportional factors using a Harris Eagle population; and iteratively updating each factor to select the best-performing factor. Based on the optimized integral and proportional factors, the deviation and rate of change of the deviation are controlled to achieve vehicle speed control. This method automatically optimizes the integral and proportional factors in the controller using the Harris Eagle algorithm, replacing the fixed or linearly changing parameter settings in traditional PID control. This allows the controller to adjust the control strategy in real time according to the deviation and rate of change between the actual vehicle speed and the target vehicle speed, thereby effectively suppressing overshoot and oscillation in vehicle speed control and improving the response accuracy of the vehicle speed control process.

The invention relates to a flow valve control system of a source furnace and a control method thereof. Comprises: a flow valve configured to control an actual flow of a source furnace by adjusting an opening degree; the flow valve is connected with the source furnace; the sensor is configured to monitor the position of a valve element of the flow valve so as to monitor the opening degree of the flow valve; the servo motor is configured to drive the valve element to move so as to adjust the opening degree of the flow valve; the torque sensor is configured to monitor the torque of the valve element during rotation; the controller is configured to obtain the preset opening degree of the flow valve, control the servo motor to drive the valve element to move and adjust the opening degree of the flow valve according to the obtained position information, fed back by the position sensor, of the valve element; the controller is further configured to determine the abrasion condition of the valve element according to torque information sent by the torque sensor in the movement process of the valve element so as to correct the movement of the valve element, and prompt information is sent out. The position sensor and the torque sensor are both in communication connection with the controller. According to the technical scheme, the situation that the needle valve control flow is unstable can be solved.

Provided are a control method and device for a wind turbine. The control method comprises: obtaining operation data of the wind turbine within a preset time length, wherein the operation data comprises at least one of the following: a rotating speed, a torque, and a pitch angle; determining, based on the operation data, a target control stage in which the wind turbine is located within the preset time length from among a plurality of preset control stages; determining, based on the operation data, whether an oscillation condition of the wind turbine reaches a preset oscillation condition corresponding to the target control stage; in response to the oscillation condition reaching the preset oscillation condition, adjusting parameters of a torque controller and / or parameters of a pitch controller of the wind turbine; and controlling operation of the wind turbine based on the adjusted parameters.

This disclosure relates to a time-sharing adaptive precision assistance method, device, electronic device, and storage medium that adapts to changing target assistance needs. The method includes: calibrating and initializing sensors in the exoskeleton wearer coupling system; identifying the wearer's gait characteristics; predicting the wearer's current target assistance needs based on gait characteristics, joint interaction force characteristics, and center of mass motion characteristics, and matching joint controller parameters accordingly; establishing an exoskeleton swing phase and support phase enhancement torque controller that adaptively adjusts with joint motion amplitude and frequency; and switching the exoskeleton swing phase and support phase enhancement torque controller based on the target assistance needs, thereby achieving time-sharing adaptive assistance of the exoskeleton to adapt to changing target assistance needs. This disclosure achieves dynamic matching of the target motion position by adjusting joint controller parameters, which helps improve the exoskeleton robot's autonomous perception and efficient assistance to the wearer's target assistance needs.

The invention provides a robot joint control system based on a position and torque sensor, and relates to the technical field of robot control, the robot joint control system is characterized in that the robot joint control system comprises a trunk and supporting legs, the trunk comprises a shell, a fixing frame and a battery pack, the battery pack is located on the inner side of the fixing frame, and through holes are symmetrically formed in the two ends of the fixing frame; the trunk connecting structure is used for fixing the trunk connecting structure, the supporting legs are located on the two sides of the trunk and rotationally connected with the trunk connecting structure through leg connecting structures, each supporting leg comprises a mounting plate and a connecting rod, and a driving assembly is arranged in each mounting plate and rotationally connected with the corresponding leg connecting structure; a connecting shaft is arranged at the upper end of the connecting rod, is rotationally connected with the mounting plate and is matched with the linkage rod to perform leg movement; a dynamic balance control algorithm can be operated in cooperation with the planning evaluation module, the control module, the whole-body controller and the low-level torque controller, and robot posture self-adaption is achieved. The method has the advantages that the operation efficiency of the robot is improved, and the corresponding operation pressure is reduced.

The application relates to a torque controller and a storage medium. The torque controller comprises a function layer configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result; and a safety layer configured to monitor an unintended acceleration risk according to the at least one intermediate result; wherein the safety layer comprises at least one torque checking unit connected in sequence, and each torque checking unit is configured to check the at least one intermediate result, and determine that the unintended acceleration risk exists when the check of any intermediate result fails. By using the torque controller provided by the application, the unintended acceleration risk can be detected in advance, and the driving safety is greatly improved.

The application relates to the technical field of vehicle braking control, and discloses a vehicle turning braking force distribution control method and system loaded with an electronic mechanical braking system. The method comprises the following steps: acquiring real-time state information of a vehicle; performing initial braking force distribution on the vehicle; calculating expected yaw angular velocity and expected mass center side slip angle of the vehicle by adopting a linear two-degree-of-freedom vehicle steady-state model; calculating torque adjustment amounts of the yaw angular velocity and the mass center side slip angle by adopting a torque adjustment controller; dynamically adjusting the torque adjustment amounts of the yaw angular velocity and the mass center side slip angle by adopting an error weight proportion distribution method, so as to obtain expected braking torques needed on the vehicle wheels; calculating slip rate compensation torques of the vehicle wheels by adopting a compensation torque controller; and performing secondary braking force distribution on the vehicle wheels according to the expected braking torques of the vehicle wheels and the slip rate compensation torques of the vehicle wheels. The application can improve the yaw stability of the vehicle in the turning braking process, inhibit side slip and optimize braking efficiency.

The utility model relates to a mobile phone torque measuring device. Comprising a base, a first clamping block arranged on the base, a second clamping block arranged on the first clamping block, a speed reducing mechanism arranged on the first clamping block and the second clamping block, a power handle connected to the detection end of the speed reducing mechanism, a magnetic brake arranged on the base and a torque controller for detecting torque. The knob is used for adjusting and controlling the resistance of the magnetic brake; the display screen is used for displaying torque; the magnetic brake is arranged on one side of the base; the first clamping block is fixed on the other side of the base; the second clamping block is detachably connected to the first clamping block; the speed reducing mechanism is fixed on the first clamping block through the second clamping block; the magnetic brake is connected with the acting end of the speed reducing mechanism; the torque controller is connected with the magnetic brake; and the knob and the display screen are arranged on the torque controller. The mobile phone torque measuring device solves the problem that before an operation mobile phone is completely used, the torque of the mobile phone needs to be measured, and therefore the mobile phone torque measuring device is needed.

A vehicle includes a controller configured to calculate initial torques for a variety of the vehicle's wheels and to receive manual input that directs one or more torque differentials to apply those initial torques. The controller adjusts the initial torques according to the one or more torque differentials to obtain output torques and drives the variety of wheels according to those output torques. Manual input can be received from steering wheel-mounted input devices, such as two input wheels. The controller can adjust the left-to-right torque distribution between the vehicle's right and left wheels according to the manual input.

The present application relates to the technical field of wind power generation control, in particular to an event-triggered wind turbine sliding mode control method and system based on data driving, which calculates the error by real-time acquisition of actual and expected aerodynamic torque of the wind turbine, quantifies the error by a quantizer and restricts it to a preset range by a prescribed performance function, constructs a sliding surface function and a torque controller based on the equivalent error to generate a control signal, screens the control signal by an event-triggered mechanism, and iteratively optimizes until the error converges or the preset time is reached to maximize the power generation efficiency. This method has strong robustness under wind speed gradual change / mutation conditions, reduces communication volume through quantization and event-triggered mechanism, and achieves the collaborative optimization of power generation efficiency and communication energy consumption.

The application provides a wind turbine control method and device. In the application, the actual air density of the area where the wind turbine is located is obtained. The target pitch angle corresponding to the maximum power generation of the wind turbine under the actual air density is obtained. The pitch angle of the blade in the wind turbine is adjusted from the current pitch angle to the target pitch angle based on the pitch drive. The target torque corresponding to the maximum power generation of the wind turbine under the actual air density is obtained. The torque of the generator in the wind turbine is adjusted from the current torque to the target torque based on the torque controller. The scheme of the application controls the pitch angle of the blade in the wind turbine and the torque of the generator in the wind turbine based on the actual air density of the area where the wind turbine is located, which can effectively consider the influence of the air density on the power generation of the wind turbine, improve the power generation of the wind turbine, and improve the power generation efficiency of the wind turbine.

The present application provides a motor control device and method, a motor module, and an electric power steering device. The motor control device has a torque controller that acts in accordance with a steering torque to provide an input to a control target that is a motor, and a model following controller that generates a correction torque in accordance with an output from the control target to correct the input to the control target by the correction torque. The model following controller includes a high-pass filter having a first cutoff frequency and a low-pass filter having a second cutoff frequency that is greater than the first cutoff frequency, and is configured to constrain a transfer function of the control target to a nominal model in a frequency band in which a gain in a gain characteristic of Q(s)·HPF(s) is 1 when a transfer function of the low-pass filter and the high-pass filter is set to Q(s) and HPF(s), respectively.

The application provides a cross-space satellite attitude control strategy autonomous switching method based on environment estimation, respectively calculates a main angular momentum increment, a coupling angular momentum increment and a reaction wheel group angular momentum increment, estimates a satellite environment disturbance torque by using the main angular momentum increment, the coupling angular momentum increment and the reaction wheel group angular momentum increment, and autonomously switches a control strategy according to the estimated value of the satellite environment disturbance torque; wherein, taking a continuous orbit time as a period, if a current orbit satellite environment disturbance torque three-axis angular momentum accumulation exceeds a current reaction wheel residual angular momentum capacity, and the satellite environment disturbance torque is greater than half of a magnetic torque controller control torque, the jet control strategy is autonomously switched to. The application can avoid early switching into the jet control, reduce fuel consumption, and on the other hand, avoid late switching out of the wheel control, so as to cause the wheel angular momentum saturation and satellite attitude divergence.

Robot control (1) which causes a first workpiece (W1) mounted at a distal end of a robot (100) to move relative to a second workpiece (W2), wherein the robot (100) has a sensor (140) to detect either the magnitude of the force acting on the first workpiece (W1) or the magnitude of the torque acting on the robot (100), wherein the robot control (1) comprises: a calculation unit (5) configured to calculate a force acting on a contact point between the first workpiece (W1) and the second workpiece (W2) and a moment acting on the first workpiece (W1) based on the magnitude of the force or the magnitude of the torque detected by the sensor (140); a control (6) configured to perform force control such that the force and moment calculated by the computation unit (5) correspond to a predetermined force and moment; and a display device (2) configured to display a speed of the first workpiece (W1) and / or an angular velocity about a reference point defined for the first workpiece (W1), wherein the speed and the angular velocity occur as a result of control by the controller (6), wherein the speed or the angular velocity is superimposed on an image of the robot (100).

A driving force control device for a vehicle is provided, which includes a motor, an engine, and a controller. The controller sets a target torque of the vehicle corresponding to accelerator operation, and distributes a target engine torque according to a distribution rule defined beforehand, based on the target torque of the vehicle, and outputs a control signal corresponding to the target engine torque to the engine. The controller estimates a future amount of intake air to a cylinder based on the target engine torque, and estimates a torque of the engine in the future based on the estimated future amount of intake air. The controller sets a target motor torque based on the estimated torque of the engine so that the target torque of the vehicle is achieved in the future, and outputs a control signal corresponding to the target motor torque to the motor.

The application discloses a tower transverse resistance control method, system, device and medium, and is applied to the technical field of wind power generation. The method provided by the application comprises the following steps: determining a transverse first-order frequency corresponding to a transverse acceleration; performing filtering processing on the transverse acceleration to obtain filtered transverse acceleration; the filtering processing frequency is determined by the transverse first-order frequency; determining a transverse resistance compensation torque according to the filtered transverse acceleration; limiting the transverse resistance compensation torque to obtain a target transverse resistance compensation torque; determining a corresponding transverse resistance torque according to the target transverse resistance compensation torque and a basic torque output by a torque controller; and adjusting the tower transverse resistance according to the transverse resistance torque. The application automatically adjusts the filtering processing frequency according to the transverse first-order frequency, achieves the best filtering effect, limits the transverse resistance compensation torque, controls the power fluctuation caused by the compensation torque within a range, avoids the unit over-power shutdown, and thus effectively controls the tower transverse resistance.

The invention discloses a robot uncalibrated visual servo control method for realizing rapid convergence, which comprises the following steps: constructing a perspective projection model containing internal and external parameters of an unknown camera, performing linear parameterization, designing an auxiliary matrix, an auxiliary vector and a sliding variable, and designing a self-adaptive law for online updating unknown parameter information. And designing a torque controller of the robot visual servo system, and feeding the calculated torque value back to the mathematical model of the degree-of-freedom robot system. Visual servo control of the robot is achieved under the condition that internal and external parameters of the camera are unknown, the robot is rapidly controlled to move to the expected position, and the safety and reliability of the robot visual servo system in the complex and changeable working environment are guaranteed.

The disclosed vehicle control device (10) is for controlling outputs of a left driving source and a right driving source, and includes a calculator (21), a storing unit (22), and a controller (23). The calculator (21) calculates an equivalent sum value corresponding to sum of a left target speed and a right target speed, and calculates an equivalent difference value corresponding to a difference between the left target speed and the right target speed. The storing unit (22) stores a sum model and a difference model. The sum model modes motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is running straight and is applied with the equivalent sum value to derive a sum instruction torque. The difference model models motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is cornering and is applied with the equivalent difference value to derive a difference instruction torque. The controller (23) controls torques of the left driving source and the right driving source, using the sum instruction torque and the difference instruction torque.

The electric vehicle (10) of the present disclosure is configured to use an electric motor (2) as a power unit for traveling. The electric vehicle (10) includes an accelerator pedal (22), a sequential shifter (26), and a controller (50). The controller (50) is configured to change a motor torque output by the electric motor (2) in response to operation of the accelerator pedal (22) and operation of the sequential shifter (26). The controller (50) is configured to change a change rate of the motor torque at least twice during a preset shift time in response to the operation of the sequential shifter (26).

This invention discloses a multi-hub motor Euler-Lagrange torque dynamic vector distribution system and its control method. The system treats the four hub motors of a distributed drive electric vehicle as a multi-hub motor electromechanical system. The torque distribution system of the multi-hub motor electromechanical system includes an integrated Euler-Lagrange torque controller and a driving assistance system. The method includes: pre-processing modeling of the four hub motors; pre-setting the Euler-Lagrange torque distribution control law; sampling the state variables of the multi-hub motor electromechanical system; determining the desired equilibrium point of the multi-hub motor electromechanical system; calculating the injection of dynamic interconnection coefficients and injection of friction damping coefficients; outputting the optimal given torque by the Euler-Lagrange torque distribution controller; and coordinating the modulation controller and the multi-half-bridge arm group driver to drive each hub motor. This invention can effectively adapt to various complex road conditions and improve the handling stability of distributed drive electric vehicles.

The application discloses a robot non-calibration visual servo control method with fast convergence, which comprises the following steps: constructing a perspective projection model containing unknown camera internal and external parameters; linear parameterization; designing an auxiliary matrix, an auxiliary vector and a sliding variable; designing an adaptive law for online updating unknown parameter information; designing a torque controller of a robot visual servo system; and feeding back the calculated torque value to the mathematical model of the degree of freedom robot system. The application realizes the visual servo control of the robot under the condition that the camera internal and external parameters are unknown, controls the robot to move to the desired position quickly, and guarantees the safety and reliability of the robot visual servo system in the complex and changeable working environment.

Disclosed in the present invention are an adaptive control system and method for a cutting transmission system of a coal cutter under complex working conditions. An extended state observer in an adaptive torque compensation controller tracks state variables of a cutting transmission system, and estimates in real time disturbances of the system such as nonlinearity and time-varying parameters, so as to compensate a real-time action amount of a total disturbance into an actual control amount for feedforward compensation on disturbance terms; a BP network adaptively adjusts parameters of a second-order active disturbance rejection torque controller; an adaptive convolutional neural network fuzzy module realizes an adaptive adjustment for an output compensation of the active disturbance rejection torque compensation controller, so as to obtain an expert control rule that meets complex impact conditions. Thus, a nonlinear state error feedback and the adjustment amount of the adaptive convolutional neural network fuzzy module are combined to calculate an initial electromagnetic torque; and after the feedforward compensation, a compensated electromagnetic torque is generated and is superimposed with a torque compensation amount generated by a PI controller, thereby achieving an adaptive compensation control for dynamic load suppression of the system and effective suppression for a dynamic load impact energy of the cutting transmission system.

The embodiment of the invention discloses a guide wire twisting controller loosening and tightening device, a using method of the guide wire twisting controller loosening and tightening device and a guide wire twisting controller. The guide wire twisting controller comprises a rotating assembly and a rotating driving assembly. The rotating assembly is used for clamping a first rotating body or a second rotating body of the guide wire twisting controller and driving the first rotating body or the second rotating body to rotate with the axis of a cavity of the guide wire twisting controller as the pivoting axis, so that the first rotating body and the second rotating body get close to each other or get away from each other. The rotating driving assembly is connected to the rotating assembly and used for driving the rotating assembly to rotate. When the rotation driving assembly rotates, the rotation driving assembly drives the rotation assembly to rotate together. And the rotating assembly can influence the rotation of the first rotating body or the second rotating body. In this way, the first rotating body and the second rotating body can move close to or away from each other through meshing of the threads, and the clamping tightness of the guide wire twisting controller to the guide wire can be adjusted through the movement.

A kind of energy storage friction welding machine workpiece fixed torque self-adapting servo structure, the present application relates to energy storage friction welding workpiece interface fixed torque control.The present application aims to solve the problem that energy storage friction welding is excessively distorted due to the excessive potential energy of energy storage mechanism, which exceeds the energy required for workpiece welding, so that the best welding part is achieved, and provides a kind of workpiece fixed torque self-adapting servo structure.The torque limit of welding process is set in the torque controller (13) before welding, and the torque sensor (14) is started in the second half of welding in the time relay (15), and the torque sensor (14) transmits signal after the workpiece welding effect reaches the best, and the signal is sent by single-chip microcomputer (12) to control valve (11), and then control full-plate brake (7) to relax, so that the moving side workpiece (6) is self-adapting servo with rotating side workpiece (5), and the excess energy is consumed by speed reducer (10) until stop, indicating that the welding is completed, and the specific structure is shown in abstract drawing 1.

The present disclosure relates to coordinating and synchronizing a vehicle motion control system of a vehicle including a wheel individual brake system comprising first actuators for applying brake torque to individual wheels of the vehicle and a driveline torque vector actuator system comprising second actuators for applying torque to individual wheels of the vehicle by a propulsion system, comprising: a central control function module comprising a plurality of yaw torque controllers each configured to receive data comprising driver input and vehicle motion state to determine a respective yaw torque based on the received data. The central control function module is configured to determine a driving situation based on the received data; arbitrate a plurality of yaw torques from the individual yaw torque controllers to determine a single yaw torque based on the driving situation; coordinate execution of the yaw torque by the wheel individual brake system and the driveline torque vector actuator system; deliver the yaw torque request to the first actuators and / or the second actuators to execute the single yaw torque.

The application discloses a kind of cabin section butt joint double-arm mechanism sub-stage coordinated trajectory tracking control methods, including solving left and right mechanical arm end motion trajectory through double-arm mechanism and cabin section coordinated kinematics model, generating left and right mechanical arm end operation space target trajectory, calculating left and right mechanical arm each joint target displacement and speed, based on double-arm mechanism joint dynamics equation, using control algorithm constructs mechanical arm joint calculation torque controller, real-time output joint control torque, realize joint trajectory accurate control, thereafter through acquisition double-arm mechanism joint actual displacement, double-arm mechanism forward kinematics model, real-time solving mechanical arm end actual pose, through deviation dynamic adjustment mechanical arm joint motion speed, to realize the coordinated operation of double-arm motion trajectory.The scheme guarantees joint level tracking accuracy and dynamic response performance, and effectively avoids the safety risk in coordinated operation through end trajectory closed loop monitoring, improves the reliability and adaptability of control from system structure level.

Devices, systems, and methods herein are generally directed to a robotic control system that comprises: a wearable robot comprising at least one actuated joint; at least one muscle-tendon interface configured to measure at least one physiological signal; a torque set point processor configured to receive the at least one physiological signal from the at least one muscle tendon interface and estimate a muscle-tendon state corresponding to a human motor intention and to compute at least one augmentation joint torque based on the muscle-tendon state; and a torque controller configured to apply the at least one augmentation joint torque to the at least one actuated joint of the wearable robot.