426 results about "Torque distribution" patented technology

The invention relates to the technical field of forklift control, and discloses a refrigeration house unmanned forklift anti-skid control method and system based on multi-sensor fusion, and the method comprises the steps: synchronously collecting wheel angular velocity, vehicle body inertia data, motor current, vibration and acoustic signals through a multi-mode sensor, and carrying out the time alignment and feature extraction; inputting a time-space diagram neural network to estimate the friction coefficient and the optimal slip rate of each wheel in real time; and in combination with model predictive control, four-wheel independent torque distribution is optimized in a rolling manner under the condition that physical constraints are met, so that high-precision tracking and dynamic stability are realized. The system comprises a data acquisition module, a data processing module, a friction estimation module, a torque distribution module and an execution module. The attachment change can be sensed in advance, and the safety, efficiency and operation precision of the unmanned forklift in the wet and slippery refrigeration house environment are improved.

The invention discloses a pivot steering control system and method based on a four-wheel steering driving automobile and the automobile, and belongs to the technical field of automobiles. The in-situ steering control system obtains the state information of a vehicle through the state observation module, and the algorithm decision-making module receives the state information sent by the state observation module and then carries out decision-making calculation output processing according to the state information. And a pivot steering control decision containing a wheel steering angle adjusting instruction and a wheel output torque adjusting instruction is obtained, so that the four wheels are controlled to deflect by specific directions and angles through the control execution module, driving is conducted according to the deflection angles of the vehicles in the specific directions, and pivot steering control over the vehicles is achieved. The in-situ steering control system can dynamically adjust steering angles and torque distribution of the four wheels according to actual driving working conditions, the accuracy and response speed of in-situ steering control are improved, and the vehicle can accurately achieve in-situ steering according to an expected posture.

The invention provides a wheel torque distribution method, device and equipment and a vehicle, and is applied to the technical field of vehicle control, and the method comprises the steps: determining the structure perception characteristics representing the torque control priority of each wheel based on the current wheel state data, and determining the torque control priority of each wheel based on the wheel state data of a first preset time period until the current moment; and predicting the state of each wheel in a second preset time period after the current moment to obtain state prediction information of each wheel, performing torque distribution on each wheel based on the structure perception characteristics and the state prediction information, and determining the target torque of each wheel. The key driving wheel, namely the wheel with the highest torque control priority, can be effectively identified, so that the wheel torque is reasonably distributed in time, the intelligent distribution of the wheel torque is realized, the vehicle escape time and energy consumption are reduced, and the control precision is improved.

The invention belongs to the technical field of heavy-load vehicle control, and particularly discloses a bottom die trolley walking control method and system, and the control method comprises the steps: starting a task and setting parameters; collecting multi-dimensional data in real time; a displacement target is judged; calculating theoretical motion parameters; target torque distribution and instruction adjustment; and finishing the task and resetting the system. According to the control method, torque control, speed control, displacement control and energy consumption optimization are fused, a closed-loop feedback strategy, a fuzzy PID self-adaptive algorithm and a multi-motor cooperative algorithm are utilized, and track pre-detection and energy recovery are combined, so that the heavy-load and high-rigidity bottom die trolley can still run stably and accurately under the non-ideal track condition, and the control method is suitable for large-scale production. The control precision and stability of trolley running are remarkably improved, running deviation caused by poor rails and structural rigidity is reduced, the linear and dimensional precision of segmental beam prefabrication is guaranteed, and meanwhile the equipment failure rate, the maintenance cost and the energy consumption are reduced.

The invention relates to the technical field of intelligent robot control and artificial intelligence, and discloses a robot dynamic trajectory control method based on reinforcement learning and multi-sensor fusion, and the method comprises the steps: firstly fusing multi-modal sensor data through extended Kalman filtering, and predicting the time sequence distribution of dynamic obstacles through a long-short-term memory network; meanwhile, the dynamic operability and singularity risk factors of the robot are calculated, on this basis, a reinforcement learning network based on an attention mechanism is constructed to generate a high-level motion strategy, the high-level motion strategy is converted into a bottom-layer execution instruction through a variable impedance controller and a convex optimization torque distribution module, and singular points are avoided by using null-space characteristics. In addition, according to the method, model parameters are finely adjusted in real time by monitoring and predicting errors and the safety intervention degree on line. According to the method, organic fusion of logic decision and physical execution is realized through a layered architecture, and the operation safety, robustness and control precision of the robot in a dynamic environment are remarkably improved.

The invention discloses a transverse movement control system and method based on rear wheel steering, a controller and a vehicle, and belongs to the technical field of vehicles. The transverse movement control system obtains state information of a vehicle through a state observation module, and after an algorithm decision module receives the state information sent by the state observation module, decision calculation output processing is conducted according to the state information, so that a transverse movement control decision containing a wheel steering angle adjusting instruction and a wheel output torque adjusting instruction is obtained. Therefore, the front wheels and the rear wheels are controlled by the control execution module to deflect by a specific angle in the transverse movement direction in the opposite directions and are driven reversely, and transverse movement control over the vehicle is achieved. The transverse movement control system can dynamically adjust steering angles and torque distribution of front and rear wheels according to actual driving working conditions, the accuracy and response speed of transverse movement control are improved, and the vehicle can accurately transversely move along an expected track.

The invention relates to the technical field of central differential adjustment, in particular to a torque distribution optimization-based central differential dynamic adjustment method, which comprises the following steps of: predicting a driving state based on a vehicle dynamics model and generating a feedforward torque distribution reference instruction; monitoring the rotating speed difference of front and rear drive axles in real time and generating a feedback torque correction instruction; the feedforward instruction and the feedback instruction are superposed to generate a total torque distribution instruction, and a central differential mechanism is controlled to execute inter-axle torque distribution; when it is detected that an individual wheel slips, the control system cooperates with an electronic stability program controller to work, and a total torque distribution instruction is dynamically adjusted by interacting a cooperation request and braking state information so as to achieve accurate distribution of driving torque to the best attached wheel; and meanwhile, the temperature of the multiple clutches is monitored in real time, predictive thermal management control or system protection strategies are executed in a graded mode according to temperature threshold values, and the reliability and durability of system work are ensured.

A brake system (10) comprising: a brake caliper (12) supporting a brake pad (14), and having a first brake piston (24) and a second brake piston (28) that are configured to move the brake pad; a first rotary to linear stage mechanism (32) connected to the first brake piston, and a second rotary to linear stage mechanism (34) connected to the second brake piston; a motor (42) configured to generate torque; a torque distributing assembly (40) configured to receive torque from the motor and then distribute the torque from the motor to the first rotary to linear stage mechanism to move the first brake piston and / or to the second rotary to linear stage mechanism to move the second brake piston; wherein the torque distributing assembly comprises: i) a first driving gear (44) connected to the first rotary to linear stage mechanism; ii) a second driving gear (46) connected to the second rotary to linear stage mechanism; iii) a first set of planet gears (72) supported on respective first axles (74); iv) a second set of planet gears (98) supported on respective second axles; and v) a first carrier plate (88) having a plurality of support features each configured to support a respective one of the first axles and a respective one of the second axles.

A torque control system for a drive system of an electric vehicle includes a controller that generates a front-wheel torque command and a rear-wheel torque command having torque values distributed from required torque for vehicle driving, a front-wheel motor, wherein operation of the front-wheel motor is controlled according to the front-wheel torque command, and a rear-wheel motor, wherein operation of the rear-wheel motor is controlled according to the rear-wheel torque command. The controller determines whether there is a change request of a direction of the required torque, and determines, in a case where there is the change request of the direction of the required torque, the front-wheel torque command and the rear-wheel torque command determined from the required torque as values for sequential zero-crossing while the required torque determined in real time changes while performing zero-crossing of passing through 0 torque for direction change.

The invention relates to an electric engine, a control method thereof, an electric propulsion system and an aircraft in the technical field of aircrafts. The electric engine comprises a first motor, a first control channel and a second control channel; the first motor comprises two windings, namely a first power winding and a second power winding; when the electric engine is in an initial working state, any control channel serves as a master control channel, the other control channel serves as a slave control channel, and the master control channel is used for executing torque distribution, coordinating the slave control channel and driving the two power windings to execute a power control instruction; any control channel is used for being switched to the main control channel to maintain power output when it is monitored that the other control channel loses the capacity of driving the first motor. According to the electric engine, the double-winding motor and the corresponding double control channels are arranged, when one control channel of the electric engine breaks down, the windings of the double-winding motor can still be driven to maintain power output, and the problem that it is difficult for the engine to guarantee that power is not interrupted is solved.

The invention provides a torque distribution method, an electric drive system, an electric vehicle, equipment and a medium. The method comprises the following steps: predicting temperature data of an inner stator of each electric drive in a future preset duration according to a current temperature parameter of each electric drive and a stator temperature prediction model corresponding to a current torque; determining a torque derating coefficient corresponding to each electric drive according to a maximum torque derating strategy corresponding to the current driving mode and the current stator temperature corresponding to each electric drive; the temperature data and the torque derating coefficient of the inner stator of each electric drive in the future preset duration are uploaded to a vehicle control unit, so that the vehicle control unit carries out torque distribution on each electric drive with the shortest duration for achieving the consistent stator temperature of the front drive and the rear drive as the target; the torque derating coefficient is used for limiting the maximum torque distributed to the corresponding electric drive by the vehicle control unit. By means of the method, the electric drive thermal state and torque distribution can be considered, single electric drive passive derating is avoided, the power potential is fully utilized, the torque sudden change pause feeling is eliminated, and the driving experience consistency is improved.

The embodiment of the invention provides a torque distribution method and device, electronic equipment and a storage medium. The method comprises the following steps: determining the driving condition of a vehicle according to the current vehicle speed and the steering wheel angle of the vehicle; according to the driving working condition, the required torque of the vehicle and a pre-obtained NVH analysis result, the front motor distribution torque and the rear motor distribution torque of the vehicle are determined, and the NVH analysis result is a corresponding torque avoiding interval when the modal resonance frequency obtained through the NVH performance test is larger than a threshold value; and torque distribution of the vehicle is controlled according to the front motor distribution torque and the rear motor distribution torque. According to the scheme, the purpose of improving the NVH performance when the vehicle recycles torque distribution is achieved.

The invention provides a vehicle cooperative control system, method, device and equipment and a computer readable medium. The vehicle cooperative control system comprises a steer-by-wire subsystem, a single pedal control subsystem, a sensing subsystem, a cooperative control decision unit and a redundant communication unit. The cooperative control decision-making unit is in data connection with the subsystems through redundant communication units and is configured to execute the following cooperative control: based on real-time steering operation parameters, an inner and outer side driving wheel torque distribution strategy and energy recovery intensity of the single pedal control subsystem are dynamically reconstructed; the inner and outer wheels output differential torques under the steering working condition; during a single-pedal strong deceleration trigger, a compensation torque is calculated according to a vehicle yaw state deviation, and the steer-by-wire subsystem is instructed to apply an additional steering angle offset to a front wheel to generate the compensation torque.

A multi-piece bolt retainer system for use with a triangular slip base system for breakaway road sign installation is disclosed. The assembly includes a plurality of independent bolt retainer members each configured to engage and retain a respective bolt positioned between a top and bottom slip base plate. The modular configuration facilitates precise installation, uniform torque distribution, and predictable slip performance during vehicle impact.

The application discloses a new energy commercial vehicle adaptive torque distribution output method and system, and belongs to the field of new energy vehicles. The method comprises the following steps: acquiring vehicle acceleration and vehicle speed data; based on the vehicle acceleration and vehicle speed data, vehicle weight is calculated by using an extended Kalman filtering algorithm and a least square method to obtain a vehicle weight estimation value; based on the vehicle weight estimation value, a target torque value is obtained by table lookup of a preset vehicle weight-torque mapping table, and the target torque value is sent to a motor control unit; the motor control unit controls the power output of the vehicle according to the received torque value; a vehicle reference vehicle weight inputted from outside is acquired; and based on the vehicle reference vehicle weight, the vehicle weight calculation process is adaptively corrected. The application realizes adaptive torque distribution output suitable for different load conditions.

The invention discloses a vehicle control method and device, a vehicle, a storage medium and a program product.The method comprises the steps that when the vehicle is in a crawling mode, the target torque of a motor, the target wheel speed difference between a first wheel and a second wheel and the actual wheel speed difference between the first wheel and the second wheel are obtained, the first wheel and the second wheel are located at the same end of the vehicle; according to the target wheel speed difference, the actual wheel speed difference and the target torque, first torque corresponding to the first wheel and second torque of the second wheel are obtained and output, so that the wheel speed difference of the first wheel and the second wheel is smaller than the target wheel speed difference. The deviation between the actual wheel speed difference and the target wheel speed difference is monitored in real time, and the torque distribution proportion of the left wheel and the right wheel is dynamically adjusted. When it is detected that wheels on one side slip (the wheel speed is higher than the target), the system can automatically reduce torque output on the side and increase torque on the other side to form a traction force transfer effect, slip is effectively restrained, and the overall driving force is improved.

The invention belongs to the technical field of vehicle braking control, and particularly relates to a commercial vehicle electromechanical integration composite anti-lock braking coordination control strategy. The strategy adopts a hierarchical control framework: in a control decision layer, a peak adhesion coefficient and an optimal slip rate of a current road surface are identified in real time through a fuzzy weight road surface identification algorithm, and a total braking torque required by anti-lock braking is calculated based on an improved sliding mode control algorithm; in the torque distribution layer, the braking torque is dynamically distributed according to the external characteristics of the motor and the state of the vehicle on the basis of the air braking torque and the compensation of the motor braking torque; and in the execution layer, through a pneumatic pre-braking clearance compensation strategy, the braking clearance is eliminated, and feedforward compensation is carried out based on system response characteristics, so that the pneumatic braking response speed is increased, and motion impact is restrained. According to the method, the problem of insufficient control precision caused by the nonlinear time-varying characteristic of pneumatic braking can be solved, an electromechanical composite braking system is effectively coordinated, and the energy recovery performance is remarkably enhanced while the braking safety is ensured.

The application provides a new energy electric drive system intelligent torque distribution method based on AI prediction control and related devices; the method acquires vehicle state and sensing data in real time, outputs future speed sequence of the vehicle in the prediction time domain through an environment sensing traffic sequence prediction network; outputs each wheel adhesion coefficient estimation value through a road adhesion coefficient online identification network; constructs a feedforward-feedback dual-channel model prediction controller, solves a feedforward torque distribution sequence based on the future speed sequence in a feedforward layer, and generates a feedback torque correction amount in a feedback layer based on a state deviation; dynamically generates a stability and economy weight vector according to an adhesion margin through a multi-objective dynamic weight distribution network; corrects a total optimization target with the dynamic weight and solves each motor torque instruction; and utilizes an online experience playback buffer to perform incremental online learning on the network during steady-state cruising. The application realizes forward-looking prediction, online identification, dynamic trade-off and continuous evolution, and improves the distribution performance.

The invention discloses a method for readjusting the torque distribution of an electric vehicle (1), wherein the electric vehicle (1) comprises at least a first electric drive (17) for a front axle (11) and a second electric drive (18) for a rear axle (14), the method comprising at least the steps of determining whether the electric vehicle (1) is in a state in which a readjustment of the torque distribution is required, and if the electric vehicle (1) is determined to be in the state in which the readjustment of the torque distribution is required, adjusting the torque initially distributed to the front axle (11) and / or to the rear axle (14) or the torque initially distributed to the respective wheels by controlling the first electric drive (17) and / or the second electric drive (18). Furthermore, a corresponding control unit (19) for an electric vehicle (1), a corresponding computer-readable program carrier and a corresponding electric vehicle (1) are disclosed. A better torque distribution can be achieved for specific driving states.

The vehicle torque control method, device, electronic equipment and hybrid vehicle provided by the present disclosure, which is applied to a hybrid vehicle including an engine and a motor, distributes a driving demand torque of the hybrid vehicle into an engine target torque and a motor target torque; when the hybrid vehicle is in a non-fault state, an actual engine torque is adjusted in a torque increasing manner according to a first step based on the engine target torque, or adjusted in a torque decreasing manner according to a second step, the first step being smaller than the second step; and the actual motor torque is adjusted based on the motor target torque corrected by using the driving demand torque and the adjusted actual engine torque, until the adjusted actual engine torque reaches the engine target torque. Through the engine torque control logic of slow torque increasing and fast torque decreasing, and in combination with the torque compensation advantage of the motor, the vehicle economy and driving dynamics of the hybrid vehicle can be balanced.

The application discloses a hybrid engine idle speed control method and device, a controller and a storage medium. The method comprises the following steps: obtaining an idle speed demand torque by using a PID adjustment method based on an idle speed target speed required by an engine and an actual engine speed obtained; processing the idle speed demand torque to obtain a dynamic part torque and a static part torque; processing the dynamic part torque and the static part torque based on a preset demand torque distribution method to obtain an engine total demand torque and a motor total demand torque; and controlling the engine and the motor to idle based on the engine total demand torque and the motor total demand torque. The application can solve the problem that the engine emission and fuel consumption are difficult to balance in the related art.

Embodiments of the present application disclose a control method, device and equipment of a hydrogen-ammonia hybrid engine and a storage medium. The method comprises: determining a current working condition of a vehicle according to an accelerator pedal opening degree and an engine speed; wherein the working condition comprises a starting working condition, an idling working condition and a driving working condition; determining a target torque and at least one corresponding fuel according to the working condition; wherein the fuel comprises one or more of hydrogen, liquid ammonia and gaseous ammonia; distributing the target torque to the at least one fuel to obtain a sub-torque corresponding to the at least one fuel; and combusting the at least one fuel based on the sub-torque to drive the engine to work. Based on the working condition, the target torque and the required fuel to be combusted are determined, and the target torque is distributed to each fuel to drive the engine to work, which can improve the working efficiency of the engine and the utilization rate of energy.

The invention discloses an auxiliary control system for a cart ramp of a large shipbuilding portal crane, and relates to the technical field of shipbuilding portal crane control, which comprises the following steps of: dividing mounting partitions according to the physical characteristics of a rail slope section, and arranging a salt-spray-corrosion-resistant film shell and a regular electrochemical self-calibration unit for the mounting partitions; a driving gear transmission torque fluctuation value and a lubricating oil temperature value are collected in real time, and a meshing clearance abnormal threshold model is established; transmitting an ultrasonic pulse at a track entrance and receiving an echo, screening out reflection interference by combining a multi-path recognition algorithm, and outputting an actual distance value weighted by confidence; generating a ramp comprehensive state value; and iteratively optimizing amplitude, frequency and torque distribution parameters of ramp driving and braking instructions by taking the ramp comprehensive state value as a fitness function. The method solves the problems that coastal salt mist easily causes corrosion drift of a sensor, multi-path interference often occurs in ultrasonic ranging in a complex steel structure environment, data credibility is reduced, and then control decision is affected.

The utility model belongs to but is not limited to the agricultural machinery technical field, especially relates to a kind of liftable device for flue-cured tobacco dry-wet alternate seedling, mainly by seedling facility unit module, lifting device module and track network system constitute.The seedling facility unit module adopts aluminium alloy perforated backing plate with quick detachable locking mechanism and integrated tooth group locking and double "X" type support of chrome plated light axle direction, and synchronous lifting (precision ±0.5mm) is realized by Φ40mm rigid synchronous shaft linkage.The lifting device module is driven worm wheel elevator by servo motor, and power is transmitted through cross torque distributor and four-bar linkage mechanism.The track network system integrates hydraulic support leg (synchronous precision ±0.2mm) and interference fit track, supports AGV automatic movement operation.The device monitors substrate water and fertilizer state by EC sensor, automatically controls seedling tray and nutrient solution contact-disengagement cycle, realizes accurate dry-wet alternate seedling, effectively improves seedling efficiency and automation level.

This invention provides a method, device, electronic equipment, and storage medium for active noise reduction in vehicles. During vehicle operation, the method searches for a target amplitude in a pre-defined mapping relationship between the current motor speed and the target amplitude. A noise reduction signal is generated based on the current motor frequency, the target amplitude, and the reverse motor phase to cancel out gear-induced noise, thus actively reducing vehicle noise. This method eliminates the need to adjust the torque distribution between the front and rear electric drive systems. Instead, it queries the corresponding noise spectrum based on the current motor speed and plays the inverse noise reduction signal for active noise reduction. This improves the suppression of whistling noise under heavy loads. Because this invention does not require adjusting the torque distribution between the front and rear electric drive systems, it does not affect driving safety.

The application discloses a coaxial collaborative speed control method and system of double synchronous motors and fan simulation application and belongs to the technical field of motor control and wind power test. By collecting speed and shaft current feedback signals, a system mechanical dynamic and motor mathematical model are constructed, a load torque estimator and a dynamic compensator are designed to suppress internal and external disturbances, total target electromagnetic torque is distributed based on a torque distribution coefficient, and an optimal control input is solved through a model predictive control to construct a cost function, so that double motor collaborative speed regulation is realized. A corresponding system comprises a signal acquisition unit, a model construction unit, a load estimation and dynamic compensation unit, a torque distribution and control unit, and can be applied to a fan main shaft simulation platform to reproduce the characteristics of large inertia and high load fluctuation. The application improves the dynamic response and coordination of double motors, simplifies the control structure, enhances the anti-disturbance ability, and is suitable for high-precision fan simulation.

The application provides a method, device and system for determining torque of a driving motor of a four-wheel independent vehicle, which comprises the following steps: determining a maximum set torque of the motor according to a current rotating speed, and determining a maximum total power of the motor according to a current state of charge; determining a maximum power of each driving motor according to all current axle loads and the maximum total power of the motor, and determining a maximum real torque of each driving motor according to all the maximum powers and all the current rotating speeds; determining a final motor torque of each driving motor according to the maximum real torque and a pedal opening degree, or determining the final motor torque of each driving motor according to the maximum set torque and the pedal opening degree. The final motor torque is higher in efficiency than that of the prior art, thereby solving the problem that the prior art causes low running efficiency of the four-wheel independent driving electric explosion-proof trackless rubber-tyred vehicle due to the torque distribution of the driving motor.

The invention belongs to the technical field of aviation power and unmanned aerial vehicle control, and discloses an engine torque control system for a parallel coaxial hybrid power unmanned aerial vehicle, and the system comprises a demand torque calculation module which distributes the demand torque of an engine and a motor according to the current flight state of the unmanned aerial vehicle, an energy management strategy and sensor information; the permanent magnet synchronous motor torque observation module is used for calculating a motor observation torque according to the current motor phase current and electrical angle information; the engine torque observation module is used for carrying out on-line observation on the engine torque by designing a torque observer to obtain an engine observation torque; and the torque feedback control module adopts a PI controller, takes the required torque of the engine and the actual torque of the engine as input, and realizes adjustment of control parameters through feedback. By the adoption of the engine torque control system, the rotating speed keeping capacity, the torque distribution efficiency and the energy utilization efficiency are improved, and collaborative optimization of the battery charge state and the propulsion performance is considered.

The present disclosure relates to a torque distributing clutch device (1) having a first torque transmission path through which torque can be transmitted in an engageable and disengageable manner from an input member (9) of the clutch device through a friction clutch (2) to a first output hub (11) of the clutch device; the utility model relates to a clutch device comprising a first output hub (12) of the clutch device and a second torque transmission path, by means of which torque from the same input part (9) can be transmitted in an inoperable manner to a second output hub (12) of the clutch device, a torsional vibration damper (19) having at least one output flange (21) being arranged in the second torque transmission path between the input part and the second output hub, the output flange and the second output hub are connected in a non-relative-rotation mode. The input part is designed as an annular clutch housing (10), and an inner edge (27) of the clutch housing (10) centralizes the torsional vibration damper (19) in the radial direction of the clutch device.

The application discloses a kind of asymmetric configuration satellite attitude maneuvering process coupling compensation method, comprising: establishing the satellite attitude dynamics model including the non-diagonal item of moment of inertia matrix;Read current attitude sensor data, and calculate deviation quaternion and deviation angular velocity;According to the attitude dynamics model and current angular velocity data, calculate coupling compensation feedforward control torque;Based on the coupling compensation feedforward control torque, deviation quaternion and deviation angular velocity, the control torque after compensation is calculated;The control torque after compensation is limited and priority torque distribution, and the final control torque is obtained;Final control torque is sent to actuator drive satellite and carries out attitude maneuvering.Solve the problem that coupling effect caused by inertia product cannot be effectively compensated when asymmetric configuration satellite is in large-angle attitude maneuvering in prior art, and then affect control precision and stability.