68 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.

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 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 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.

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.

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.

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.

A method and system for cold start and temperature regulation control of an excavator belongs to the technical field of excavators. The method for cold start and temperature regulation control of an excavator includes: when the warm-up conditions are met during the warm-up phase, the hot start valve is controlled to be disconnected, and the pump current is increased for pressurization processing; the hot start valve is set as a bucket confluence valve; it is determined whether the control stop condition is met, and if so, the current pump current is maintained for warm-up; otherwise, the engine speed is adjusted to the target speed point; and the pump current is adjusted according to the actual torque error. The present invention uses the bucket confluence valve as a hot start valve to reduce the use of parts and reduce costs; the engine set speed is adjusted during the warm-up process so that it tends to have a lower fuel consumption rate under the current working conditions, thereby improving economy.

The invention relates to the technical field of motor control, in particular to a low-speed large-torque control method and system for an industrial robot joint motor, and the method comprises the steps: collecting the voltage of a DC bus, each phase of current of a stator, and the position and rotating speed of a rotor, and carrying out the coordinate transformation of each phase of current of the stator according to the position of the rotor; obtaining d-axis current and q-axis current of the synchronous rotating coordinate system; solving a stator flux linkage estimation value and an electromagnetic torque estimation value according to the d-axis current, the q-axis current and preset motor parameters, and generating a torque error and a flux linkage error; the torque error passes through a torque regulator to obtain a load angle instruction, and the flux linkage error and the rotating speed pass through a flux linkage regulator to obtain a voltage vector amplitude instruction and a voltage vector angle instruction; generating a d-axis voltage instruction and a q-axis voltage instruction; constructing an inverter nonlinear voltage disturbance estimation model, defining d-axis disturbance voltage and q-axis disturbance voltage as disturbance voltage states, and merging the disturbance voltage states into an extended Kalman filtering state space model; executing extended Kalman filtering prediction and correction to obtain a d-axis disturbance voltage estimated value and a q-axis disturbance voltage estimated value; forming a voltage compensation amount and superposing the voltage compensation amount to obtain a compensation voltage instruction; driving pulses are generated through inverse coordinate transformation and space vector modulation, and low-speed large-torque online compensation is achieved. According to the invention, the problems that the output pole voltage of the joint motor of the industrial robot has unexpected distortion and further shows control nonlinearity and the distortion voltage is difficult to directly sense and measure can be solved.

The application discloses a kind of permanent magnet synchronous motor prediction control methods based on cross optimization, it is related to motor control field, specific method is, the stator flux, stator current and electromagnetic torque prediction equation of permanent magnet synchronous motor discrete model are established;In each control cycle, the torque and flux linkage corresponding to all stator voltage vectors in inverter respectively are predicted, the normalized torque error and normalized flux linkage error corresponding to all stator voltage vectors respectively are calculated, each normalized torque error, flux linkage error is arranged in ascending order respectively, and the first 50% stator voltage vector of sorting is selected as flux linkage and torque optimal set respectively;Then the cross error in each optimal set is calculated, and finally the stator voltage vector with minimum cross error is selected as the optimal voltage vector.

The invention relates to the technical field of industrial driving, and discloses a torque prediction control method and system for a switched reluctance motor, and the method comprises the following steps: S1, employing an improved torque distribution function control strategy, and dividing a commutation interval into an interval I and an interval II through compensating a torque error of an exit conduction phase during a demagnetization period; s2, an improved power converter topological structure is adopted, only one switch is used for each phase of the topological structure, and four mode working processes of a magnetization mode, a follow current mode, a demagnetization mode and parallel conduction of the next phase and demagnetization of the previous phase are realized by controlling the on and off of the switches; and S3, constructing a motor mathematical model through a table look-up method, and determining a torque value based on the flux linkage, the angle, the ampere meter, the current, the angle and the torque table. The power converter of the SRM is optimized through topology, elements are fewer, a single current sensor is used for current regulation at each phase, and the cost and complexity of the converter are further reduced.

The present invention relates to the technical field of motor control production, and discloses a method for controlling the zero-beat torque and flux linkage of a permanent magnet synchronous motor, comprising the following steps: S1, collecting three-phase stator current, three-phase stator voltage, speed and angle information; S2, obtaining speed error information and obtaining an electromagnetic torque reference value; S3, calculating the stator flux linkage and the motor electromagnetic torque to obtain a torque error; S4, obtaining a flux linkage error; S5, calculating the amplitude and angle of a reference voltage vector; S6, synthesizing the voltage vector through an SVPWM module and inputting it into the motor; the present invention can quickly and accurately calculate a voltage vector that makes the torque and flux linkage errors simultaneously zero, wherein the angle of the reference voltage vector meets the requirement that the torque error is zero, and the amplitude of the reference voltage vector meets the requirement that the flux linkage error is zero, thereby realizing control of the torque flux linkage, avoiding the torque pulsation problem caused by flux linkage coupling, and the calculation of the voltage vector is relatively simple, and no complex coordinate transformation is required in the entire technical process.

A method for operating a sensor system of an electric bicycle is disclosed. The sensor system includes a torque sensor formed as a magnetoelastic sensor and configured to ascertain a torque on a shaft based on a detection of changes of a magnetic field. The method includes (i) detecting a homogeneous magnetic flux density by way of the torque sensor, (ii) ascertaining a torque on the shaft by way of the torque sensor, and (iii) detecting a torque error of the ascertained torque when the detected homogeneous magnetic flux density is greater than or equal to a predetermined first threshold value.

The invention discloses a switched reluctance motor model prediction control method based on fuzzy weight regulation, which introduces a fuzzy logic weight regulation mechanism on the basis of traditional model prediction control, and constructs a discrete time prediction model by collecting the rotating speed, phase current, voltage and load torque information of a motor in real time, so as to predict a switched reluctance motor model. And combined prediction of the current and the torque is realized. And establishing a multi-target cost function according to a prediction result, taking a torque error and a current error as optimization targets, and adjusting a weight coefficient in the cost function on line by using a fuzzy controller according to a real-time operation state, thereby dynamically balancing the torque tracking performance and the system stability. A load estimation module based on a sliding-mode observer is designed, an accurate torque estimation value is obtained through filtering processing, and the torque estimation value is fed back to a fuzzy controller to achieve self-adaptive optimization. According to the method, quick response and stable output can be kept under various operation conditions, the torque ripple is remarkably reduced, and the dynamic and steady-state performance of the system is improved.

The invention discloses an engine fault processing method, a vehicle and a storage medium, and relates to the technical field of automobile engineering. The method comprises the following steps: acquiring a plurality of fault categories of the engine and fault codes corresponding to the plurality of fault categories; in response to occurrence of any fault type of the operation fault, the start-up dragging fault and the flameout fault, and the accumulated occurrence frequency of any fault type of the operation fault, the start-up dragging fault and the flameout fault is smaller than or equal to a preset frequency threshold value, the engine is controlled to stop for a preset duration; in response to the fact that the cumulative occurrence frequency of any fault type of the operation fault, the starting dragging fault and the flameout fault is larger than a preset frequency threshold value, or a starting response abnormal fault or an engine torque error fault occurs, the vehicle is controlled to be powered off at high voltage; and displaying a fault code corresponding to the at least one fault category at a preset position of the vehicle. The technical problem that the driving efficiency is affected due to the fact that an engine fault processing method in the prior art is not flexible enough is solved.