93 results about "Torque error" patented technology

The invention discloses a distributed driving automobile control method. The method comprises the steps that 1, dynamic parameters of an automobile are collected in real time, and the equivalent adhesion coefficient of each wheel is calculated; 2, dividing types and optimizing torque distribution according to pavement adhesion coefficients: respectively adopting priority, uniform and dynamic weight distribution strategies for low, high and asymmetric pavements; 3, establishing a multi-objective optimization model, and solving an optimal torque distribution scheme considering the tire utilization rate and the yaw stability by using a quadratic programming algorithm; 4, compensating a torque error and motor response delay by adopting sliding mode control and a feedforward-feedback mechanism; and 5, the control parameters are dynamically corrected based on errors of the longitudinal acceleration and the yaw velocity, and torque limiting or safety mode switching is triggered. Through multi-strategy collaborative optimization, the stability and driving efficiency of the vehicle under different attachment road surfaces are improved, the tire slipping risk is reduced, and driving safety under extreme working conditions is guaranteed.

According to the collision detection method for the high-reduction-ratio and large-load mechanical arm, the problems of sensitivity and reliability of collision detection of the high-reduction-ratio mechanical arm are solved by combining a two-stage detection mechanism with tail end vibration characteristics and joint torque errors; according to the first-stage detection, tail end vibration signals are captured in real time through a three-axis acceleration sensor, and rapid recognition of slight collision is achieved; in the second-stage detection, joint torque errors are calculated based on current feedback, the nonlinear effect of the speed reducer is compensated in combination with a kinetic model, and the accuracy of violent collision detection is improved. High-precision collision identification and multi-level safety control of the mechanical arm and an external object under the heavy load working condition are achieved, and meanwhile the anti-interference capacity and reliability of a detection system under the complex working condition are improved.

The invention discloses a weight coefficient-free model prediction control system and method for a permanent magnet synchronous motor, and particularly belongs to the field of permanent magnet synchronous motor control. The control system comprises a direct current voltage source, a three-phase converter, a permanent magnet synchronous motor, a rotating speed outer ring PI control module, an MTPA flux linkage calculation module and a model prediction control module. The control method comprises the following implementation steps: firstly, establishing a torque and flux linkage prediction model of the permanent magnet synchronous motor; then, a reference torque amplitude value and a reference flux linkage amplitude value are obtained through a rotating speed outer ring PI controller and a maximum torque per ampere (MTPA) calculation module respectively; secondly, constructing an independent torque cost function and a flux linkage cost function according to the torque error and the flux linkage error, and forming a cascade form; evaluating the switching states by using a cost function, selecting two vectors from the eight switching states of the converter by using the independent cost function of the torque (or flux linkage), and selecting an optimal vector from the two vectors by using the independent cost function of the flux linkage (or torque); and finally, the execution sequence of the torque and flux linkage cost function is alternated in each subsequent period. Compared with the prior art, the method avoids complex weight coefficient design through a cost function cascading mode, alternates the execution sequence of the cost functions in each period, dynamically balances the weights of the two control targets, and reduces the number of calculation times.

The invention provides a flywheel unloading method based on an electric pushing mechanical arm in a position protection period. The flywheel unloading method comprises the steps that a joint corner combination is selected when the thrust direction is in a position protection allowable range; the control torque under the joint rotation angle combination of each mechanical arm is determined, and an initial table look-up matrix is established; determining an optimal torque and a torque error allowable range; according to the control torque, the optimal torque and the torque error allowable range, grade division is conducted on the joint corner combination; constructing a cost function according to the optimal torque and the control torque; on the basis of grade division, the smaller the cost function is, the higher the priority of the joint corner combination is; selecting a joint corner combination with the highest priority from the initial look-up table matrix, performing permutation and combination of joint corners around the joint corner combination in a fine step length manner, determining a corresponding control moment, forming a second-order look-up table matrix, and selecting a joint corner combination with the highest priority; and circularly selecting the joint corner combination with the highest priority to obtain a final joint corner combination.

The invention provides an electric power steering active return control method and system, and belongs to the field of electric power steering systems.The electric power steering active return control method comprises the steps that in the rotating process of a vehicle steering wheel, zone control is conducted with the steering wheel rotating angle as the benchmark, and original request torque is obtained; estimating the inertia moment of the steering wheel in the steering wheel aligning process; and calculating the original request torque and the steering wheel inertia torque to obtain a corrected steering wheel torque, and correcting the steering wheel torque according to the corrected steering wheel torque. According to the technical scheme, the aligning torque error caused by rotating speed fluctuation of the steering wheel is eliminated, and particularly under the working condition that a driver is completely released from the hand, the stability of aligning control is remarkably improved.

The invention relates to the technical field of torque control, in particular to a motor torque control method, system, equipment and medium, and the method comprises the following steps: obtaining a winding temperature rise and rotating speed signal through a temperature and rotating speed sensor, calculating the resistance and flux linkage offset, and filtering to obtain a torque evaluation parameter; the acceleration and inertia reference are compared to obtain inertia disturbance, a least square method is combined to calculate a compensation coefficient, a current component is corrected to synthesize an expected torque, a torque error is calculated to judge whether the torque reaches the standard or not, and a torque control result is output and optimized. Load changes are quickly responded through filtering and inertia disturbance recognition, differential calculation is conducted on the relation between acceleration and a correction coefficient to act on a current component, torque output is stable, coefficient iterative optimization is promoted through error comparison, fluctuation is reduced, efficiency is improved, and reliable control over the motor under the complex working condition is kept.

The present application relates to a compressor control method, apparatus and device, and a storage medium. In the present application, a rotational speed error of a compressor during operation and a torque error corresponding to the rotational speed error are obtained, then a current compensation amount corresponding to the torque error is calculated by means of a preset current compensation model, and a current loop of the compressor is compensated on the basis of the current compensation amount and an initial current corresponding to a preset velocity loop instruction.

The invention belongs to the technical field of motor control, and provides an open-winding permanent magnet synchronous motor vector decoupling angle design method for solving the problem that current research mostly focuses on static analysis of a fixed decoupling angle, which comprises the following steps: constructing an open-winding permanent magnet synchronous motor mathematical model and a cost function; dividing a training set and a verification set by taking the torque error, the total loss of the motor and the total harmonic current distortion rate of the current as a first data set; optimizing the weight and the bias coefficient of the feedforward neural network; training the optimized feedforward neural network through the training set, and verifying through the verification set to obtain a trained neural network model; taking different working conditions and vector decoupling angles as a second data set, inputting the second data set into the trained neural network model, and outputting prediction performance index data; constructing a database; and dynamic optimization of the open-winding permanent magnet synchronous motor vector decoupling angle under different working conditions is realized through a table look-up method.

The present application belongs to the field of shift control, and specifically provides an AMT natural gas commercial vehicle shift torque control method, device, equipment and storage medium, the method comprising: calculating a predicted shift point and calculating a predicted shift time in real time according to the predicted shift point; adjusting the engine torque after reaching the predicted shift time; the predicted shift time is earlier than the actual shift time; after reaching the actual shift time, the target torque required by the current AMT is calculated, and the current engine torque is monitored at the same time; comparing the error between the target torque and the current engine torque, and adjusting the requested torque in real time by using a PID controller. After the torque reduction starts, the AMT target torque and the current natural gas engine torque during the shift process are compared in real time, the current natural gas engine requested torque is adjusted by PID control, the current natural gas engine torque and the AMT required target torque are changed synchronously, and the torque control hysteresis problem during the shift of the matched AMT natural gas commercial vehicle can be avoided.

A method for controlling a torque output of a hybrid power machine, comprising the following: during a temporary increase in torque in response to a change in the target output torque of a powertrain (200), setting a power machine output torque and a motor output torque in response to a change in the target output torque of the powertrain (200), Adjusting the motor output torque in response to a response to a speed of a drive wheel (285) of a torque converter (206), characterized by Adjusting the power machine output torque for a power machine torque error in response to the settings of a motor torque.

The application discloses a kind of inertia simulation systems of direct drive type intelligent riding platform, including simulation inertia control system, inverter and motor;Simulation inertia control system, based on the dynamic compensation torque signal generated by motor acceleration change, for compensating the torque error generated by the difference between the rotational inertia of motor output and target rotational inertia under the same driving torque, it converts the dynamic compensation torque signal into the control signal of inverter, controls the voltage signal of inverter to motor, so that the torque generated by motor and target torque error tend to 0.The application also provides a kind of inertia simulation method of direct drive type intelligent riding platform.The application replaces the mechanical flywheel and transmission structure design necessary in traditional method, so that the mechanical structure of riding platform is simplified, so as to improve the operation reliability of riding platform, save hardware cost, and reduce the overall weight of riding platform system.

The present invention discloses a force-position fusion compliant control method and system for a rope-driven space flexible manipulator, comprising the following steps: establishing a DH coordinate system, and obtaining a desired force / torque, a desired posture, and a desired arm angle according to a task plan; using a joint angle encoder to collect the current posture and the current arm angle; using a six-dimensional force sensor to collect the current force / torque; obtaining a force / torque error, a posture error, and an arm angle error by subtracting the desired force / torque, the desired posture, and the desired arm angle from the current force / torque, the current posture, and the current arm angle, respectively, and calculating a control rate through a force-position fusion controller; obtaining a desired angle of joint motion from the control rate through an extended Jacobian matrix; obtaining a joint motion instruction for the next control cycle through the joint controller according to the desired angle of joint motion, driving a motor in a drive box to complete force-position fusion compliant control, and realizing safe and compliant manipulation in a narrow and multi-obstacle environment.

The application discloses a permanent magnet synchronous motor model prediction torque control method based on a hybrid mode optimization. The method first constructs a reference voltage vector through a torque error target function and a discretization prediction model of the permanent magnet synchronous motor, and then designs a hybrid mode optimization algorithm. The algorithm first designs a double-vector mode optimization on the sector boundary of a voltage space vector diagram, and then designs a three-vector optimization mode based on a discrete space vector modulation inside the sector. The optimal synthesized voltage vector obtained by the hybrid mode optimization algorithm is transmitted to a voltage error target function to realize the switching of the two modes, so that the control execution mode and the optimal synthesized voltage vector are determined. The control method disclosed by the application has high freedom to adjust the amplitude and position of the synthesized voltage vector, and thus has high steady-state performance of the control system and fast torque dynamic response in the full speed range.

To provide a control device of a power conversion device capable of suppressing a torque error ratio caused by temperature fluctuations to an allowable value or less.SOLUTION: A power conversion device control device that drives an electric motor is equipped with a calculation device that calculates the output of the electric motor and the amount of loss change due to temperature change of the electric motor, sets a first torque estimation value based on the output of the electric motor and the rotational speed of the electric motor as the torque estimation value of the electric motor when the ratio of the amount of loss change to the output of the electric motor is smaller than the allowable torque error ratio of the electric motor, and otherwise sets a second torque estimation value based on the current of the electric motor and the rotor phase of the electric motor as the torque estimation value of the electric motor.SELECTED DRAWING: Figure 2

The invention provides a vehicle load estimation method, device and equipment, a medium and a program product, and relates to the technical field of vehicles. According to the vehicle load estimation method, the real-time motor torque, namely the starting motor torque when the target vehicle is started is used as the direct representation of the anti-slip force to replace a dynamic gradient signal (such as a gradient angle) of a traditional gradient sensor, so that a torque error caused by a gradient sensor signal error of the target vehicle on the gradient is eliminated; and the anti-slip slope force is input into a preset load estimation model for load estimation, so that the target load of the target vehicle is obtained, and the load estimation precision and accuracy are improved.

The invention discloses a device and method for detecting the torque value of an oil casing hydraulic clamp, and relates to the field of natural gas production, and the key points of the technical scheme are as follows: when the torque value of the oil casing hydraulic clamp is detected, an oil casing is mounted on a test system; the simulation device is used for simulating the hanging load of the oil casing, the stress of a hydraulic clamp and the angle of the oil casing in the torque screwing-on process of the oil casing; the testing system comprises a first conversion connector, a torque sensor and a second conversion connector. The first adapter, the torque sensor and the second adapter are connected in sequence; and the data analysis system is connected with the torque sensor and is used for converting the electric signal generated by the torque sensor into a torque value and determining the torque error of the oil casing hydraulic clamp according to the torque value of the hydraulic clamp, the torque value detected by the torque sensor and the torque range of the hydraulic clamp.

The invention provides a calibration torque sectional type dynamic correction method and device based on an angle sensor, and relates to the field of torque measuring equipment calibration, and the method comprises the steps: constructing a plurality of sectional correction functions corresponding to a plurality of load intervals through torque load time-varying regularity analysis, so as to generate a correction function load mapping relation set; after the real-time torque measured value and the real-time inclination angle are received, the real-time torque measured value is adopted to traverse a plurality of load intervals in the correction function load mapping relation set, and a real-time correction function is positioned and called; and a real-time torque correction value is calculated and output by inputting the real-time inclination angle and the real-time torque measured value into the real-time correction function. The technical problem that torque calibration full-range systematic errors are caused by moment arm inclination nonlinear deformation in the prior art is solved. The technical effects of effectively eliminating systematic deviation caused by nonlinear change of the inclination of the force arm and realizing closed-loop correction of the torque error of the torque measurement equipment are achieved.

To reduce the torque error that occurs in a pulse-shaped torque command depending on the resolution of the control, and control a rotating electrical machine with an appropriate torque command according to the required torque.SOLUTION: A torque command generation unit of a vehicle control device executes a torque command generation process to generate a torque command Tpwm as a pulse width modulated waveform that switches between an ON state and an OFF state at a switching timing defined on the basis of the control period Pcnt, and when an error occurs between a basic duty ratio, which is the duty ratio of the ideal command Tpwm*, and an actual duty ratio, which is the duty ratio of the torque command Tpwm, further executes an error correction process to adjust the actual duty ratio in the carrier period Pca from the next period onwards in a direction to reduce the error in units of the control period Pcnt.SELECTED DRAWING: Figure 6

The present application relates to a kind of based on test bench silicon oil fan clutch simulation model correction method, belong to vehicle thermal management simulation and parameter correction technical field.The method obtains the active end speed, fan speed, transmission torque and shell temperature in silicon oil fan clutch test bench test, and calculates test slip rate;Establish simulation model and set initial viscosity-temperature function, initial heat transfer coefficient and initial flow resistance coefficient;Simulation torque, simulation shell temperature and simulation slip rate are obtained by simulation;Simulation results are compared with test results, and torque error, temperature error and slip rate error are calculated;According to error result, viscosity-temperature function, heat transfer coefficient and flow resistance coefficient are iteratively corrected until error meets preset threshold, and the corrected simulation model is output.The method can improve the comprehensive prediction accuracy of silicon oil fan clutch simulation model to torque, temperature and slip rate.

An online method of detecting and compensating for errors in flux estimation in operation of a motor system. The method includes determining a voltage compensation term by comparing an expected voltage and an actual voltage. The method also includes determining a flux compensation term by passing the voltage compensation term through a low-pass filter, and determining a corrected flux component value by comparing the flux compensation term with a flux value obtained from a look-up table, wherein the low-pass filter receives operating parameters based on data regarding an operating environment of the motor system. The method then further determines a corrected torque value based on the corrected flux component value.

A method for controlling transient operation of a rotating electric machine in an electric powertrain or other electric system includes determining an estimated output torque of the electric machine using a d-axis current command and a q-axis current command and an additional value (i.e., an actual shunt angle or machine temperature) via a torque estimation block during a shunt angle transition that occurs during a maximum torque per ampere (MTPA) control region. The method includes subtracting the estimated output torque from the commanded output torque to derive an adjusted commanded torque value or torque error; and calculating a Δd-axis current command and a Δq-axis current command from the torque error. The method includes adjusting the d-axis current command and the q-axis current command using a Δ command to produce adjusted d-axis current command and q-axis current command, which are then used by the torque estimation block as closed-loop feedback control terms.

The application discloses a kind of live-line working robot working state on-line monitoring method, system and equipment, the application includes based on target tightening torque, target axial pretightening force and target nut angle and is tightened to nut, generates actual tightening torque, actual axial pretightening force and actual nut angle;Using the target tightening torque of nut, target axial pretightening force, target nut angle, actual tightening torque, actual axial pretightening force and actual nut angle, the tightening torque error, axial pretightening force error and nut angle error of nut are calculated;Using tightening torque error, axial pretightening force error and nut angle error, the degree of rotation of nut is calculated, and according to degree of rotation, nut is rotated, target monitoring information is generated and sent to man-machine interface.Solve the technical problems that nut tightening state does not have perfect monitoring method, and there is security risk.The application acquires nut working state in real time, and then improves the reliability of live-line working robot operation.

The utility model relates to the technical field of torsion spring detection, in particular to a torsion spring tolerance performance detection device, which comprises a test board provided with a fixed column, a torsion spring main body and a test component. The torsion spring body is transversely installed on the fixing column in a penetrating mode. The testing component comprises a torque testing block, a torque sensor is arranged on the end side of the torque testing block, the defects of traditional manual detection are effectively overcome through automatic structural design, a reciprocating motor drives a rotating shaft and the torque testing block to rotate through a transmission gear and a gear block, manual torque application is replaced, and the testing efficiency is improved. An operator only needs to set parameters to start a detection process, the labor intensity is greatly reduced, meanwhile, the torque sensor monitors and feeds back torque data in real time, the torque error can be controlled within an extremely small range in combination with precise regulation and control of the reciprocating motor by the controller, and compared with a traditional manual mode, the precision and stability of torque application are remarkably improved.

The invention discloses a motor torque ripple suppression method, a controller and a vehicle, and relates to the technical field of vehicles. The motor torque ripple suppression method comprises the steps of collecting a time domain torque error of a motor in a time domain, and mapping the time domain torque error to a space domain associated with a rotor position of the motor to obtain a torque error-rotor position comparison table; iteratively updating the spatial domain torque compensation scale based on the torque error-rotor position comparison table; inquiring the updated spatial domain torque compensation scale according to the real-time rotor position to obtain a torque compensation signal; and performing torque compensation control on the motor according to the torque compensation signal. According to the method, the torque ripple suppression of the motor can be realized, so that the electromagnetic noise can be reduced, the power output stability is improved, and the driving experience of a driver and passengers is improved.

A control system for a vehicle having a vehicle drive system and a plurality of torque sources connected to the vehicle drive system, the control system instructing a first torque source of the plurality of torque sources to provide an instantaneous torque to the vehicle drive system. The data processing hardware also receives a torque output requested by a driver of the vehicle and obtains a first available torque source output of the first torque source. The data processing hardware calculates a first torque error based on the requested torque output and a first available torque source output of the first torque source. The data processing hardware determines whether the first torque error exceeds a torque error threshold and activates a first supplemental torque source of the plurality of torque sources to provide a first supplemental torque output to the vehicle drive system when the first torque error exceeds the torque error threshold.

This application relates to a synchronization control method, device, electronic device, and medium. The method includes: acquiring the current accelerator pedal displacement and current brake pedal displacement collected by a driving robot, and the current hub speed and current output torque collected by a hub-turning device, as well as the current time synchronization error between the driving robot and the hub-turning device; determining the current speed error based on the current accelerator pedal displacement, current brake pedal displacement, and current hub speed, and determining the current torque error based on the current output torque according to a preset dynamic correction model; and performing synchronization control on the driving robot and the hub-turning device based on at least one of the current time synchronization error, current speed error, and current torque error. This solves the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors under acceleration and braking conditions in related technologies, achieving synchronized control between the driving robot and the hub-turning device.

The present invention discloses a torque intelligent control method and system for an impact wrench, relating to the field of torque intelligent control technology. The method comprises: obtaining a real-time torque output data set of a target impact wrench; retrieving multiple working condition data of the target impact wrench, performing fluctuation calculations, and determining an error value interval; determining the real-time torque output data set and generating a torque error determination result; establishing a mapping network, performing control analysis on the target impact wrench, and formulating a torque control strategy; performing torque prediction on the target impact wrench and drawing a torque change trend graph; and dynamically optimizing the torque control strategy for intelligent control. The present invention solves the technical problems in the prior art of inaccurate impact wrench torque error determination and difficulty in adapting the torque control strategy to dynamic changes in working conditions, resulting in the inability to implement intelligent torque control. This achieves the technical effect of improving the intelligence, accuracy, and dynamic optimization capabilities of the torque control of the target impact wrench.

The present invention relates to a method (10) for operating a sensor system (50) of an electric bicycle (100), wherein the sensor system (50) comprises a torque sensor (55) which is designed as a magnetoelastic sensor and which is configured to determine a torque on a shaft (101) based on the detection of changes in a magnetic field, comprising the steps: detecting (1) a homogeneous magnetic flux density using the torque sensor (55), determining (2) a torque on the shaft (101) using the torque sensor (55), and detecting (3) a torque error of the determined torque when the detected homogeneous magnetic flux density is greater than or equal to a predetermined first threshold value.

The invention discloses a braking energy recovery strategy simulation method and device, electronic equipment and a storage medium, and relates to the technical field of load response simulation. Determining a recovery coefficient and a recovery mark; calculating an ideal curve distribution ratio; when the motor is driven or the recovery mark is false, the torque of the motor is calculated according to a kinetic equation, the energy recovery model is only responsible for transmitting a result, and when the recovery mark is true, recovery is carried out, and the required torque of the negative torque is output; front axle brake pressure is calculated through the vehicle rolling radius and the front axle brake coefficient; and the rear axle braking pressure is calculated through the vehicle rolling radius and the rear axle braking coefficient. According to the braking energy recovery strategy simulation method and device, the electronic equipment and the storage medium provided by the embodiment of the invention, the problem that the reaction torque error is too large due to the fact that the simulation strategy is too simple is solved, correction of the reverse dragging torque strength is completed, and the simulation load response is closer to the reverse dragging load response of a real user.