131 results about "Velocity controller" patented technology

The invention discloses a force-position hybrid control method and device for a rope traction parallel robot and a medium, and belongs to the field of rope traction parallel robot control, and the method comprises the steps: 1, building a kinematics and dynamics model of the robot; step 2, dividing hierarchical priorities of contact force tracking, trajectory tracking and rope tension distribution subtasks according to operation task constraints of rich contact; 3, in the contact force tracking subtask, constructing an admittance controller based on a disturbance observer according to the deformation model, and tracking the contact force; 4, in the trajectory tracking subtask, according to a control target in a sliding mode surface form, constructing a sliding mode controller based on a disturbance observer and tracking a trajectory; step 5, constructing a motor speed controller according to the controller output quantity in the step 3 and the step 4 in combination with an artificial potential field-based rope tension distribution algorithm of the rope tension distribution subtask; and step 6, performing robot force-position hybrid control by using a motor speed controller to complete an operation task of rich contact.

The invention discloses a permanent magnet synchronous motor adaptive sliding mode speed control method based on an improved reaching law, and belongs to the field of permanent magnet synchronous motor sliding mode speed control. A power item and a variable speed regulation function of the sliding mode surface are introduced into a constant-speed switching item and an exponential reaching item of a traditional exponential reaching law respectively, a hyperbolic sine function is used for replacing a switching function, and an improved reaching law with the fast reaching and buffeting suppression characteristics is obtained; designing a speed controller of the permanent magnet synchronous motor; designing a self-adaptive sliding mode disturbance observer independent of disturbance boundary information by adopting a double-layer self-adaptive structure, estimating total disturbance of a speed control loop, and taking an output value of the observer as speed controller compensation; the controller and the observer are applied to a permanent magnet synchronous motor vector control system. The method can effectively improve the speed control response speed and the steady-state performance of the permanent magnet synchronous motor.

The embodiment of the invention provides a traffic signal-based vehicle path planning method and related equipment, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring traffic light data of each intersection of a target driving path; according to the green light time interval of the traffic light data, time constraint calculation of multi-intersection continuous passing is carried out, and a time constraint of continuous green wave passing is obtained; performing speed calculation on each road section according to the time constraint to obtain a speed interval of each road section; performing quadratic programming on the speed interval by taking the energy consumption and the driving time as optimization objectives to obtain a global speed sequence; and performing multi-dimensional constraint and multi-target optimization on a speed controller of the vehicle according to the global speed sequence so as to control the vehicle to run on the target running path. According to the embodiment of the invention, the vehicle can be guided to realize continuous green light passing, and the driving efficiency and the driving comfort are improved while the driving energy consumption of the vehicle is reduced.

The invention belongs to the field of offshore boarding operation, and relates to a gangway ladder with a wave compensation function and an abutting control method thereof, the gangway ladder comprises a fixed gangway ladder, a gangway ladder telescopic control mechanism, a movable gangway ladder, a six-degree-of-freedom compensation platform, a gangway ladder rotation control mechanism, a gangway ladder rotation platform, a gangway ladder pitching control mechanism, a ladder end force sensor, an abutting device and a speed controller; and the speed controller sends the calculated driving instruction to the accommodation ladder telescopic control mechanism to switch the telescopic control mode of the movable accommodation ladder. The automatic compensation device is used in the automatic compensation stage after the accommodation ladder abuts against and makes contact with the accommodation ladder, so that the situation that contact points are possibly disconnected or disengaged due to the fact that the accommodation ladder is not stretched in time is avoided; when wave compensation is carried out, a speed control mode and a force control mode are adopted to cooperate with each other, the two control modes are switched under specific conditions to adapt to different conditions, and safety and stability are high.

An automated control system for a glider towed by a tug employs a sensor system (e.g., cameras mounted on at least one of the aircraft) to determine the relative position and velocity of the glider. A controller determines corrections to the flight characteristics of the glider in response to this data from the sensor system to maintain the glider on the surface of a limit sphere extending behind the tug with a predetermined radius based on the length of the tow cable. An interface to the flight controls of the glider maintains the desired flight characteristics of the glider provided by the controller.

A work machine is capable of making a working attachment operate accurately along a construction target surface in the vicinity thereof and of allowing an operator to operate the work machine while recognizing the load acting on a front work implement thereof when the working attachment is not in the vicinity of the construction target surface. To accomplish this, a controller calculates target velocitys for actuators on the basis of an operation amount from an operation input device, postures of a machine main body and the front work implement, and the distance between the working attachment and the construction target surface. The controller calculates operation command values for the actuators on the basis of the target velocities, calculates correction amounts for the operation command values on the basis of loads on the actuators sensed by a load sensor, and adds the correction amounts to the operation command values.

The invention belongs to the technical field of PID (Proportion Integration Differentiation) control optimization, and particularly relates to a control method based on a mechanical angular velocity regulating system, which comprises the following steps of: 1, constructing a mechanical angular velocity regulating system model, 2, constructing a red tail and algorithm mathematical model, and improving the red tail and the algorithm, and mainly improving the red tail and the algorithm. The method specifically comprises the following steps: S1, introducing an exponential penalty mechanism into a red-tail plinth algorithm, S2, improving a transition factor TF oscillation convergence problem of high-altitude soaring by using a cosine adaptive transformation factor, and S3, introducing normal distribution disturbance in a diving stage, adding random noise to explore a solution space, and solving the solution space by using the random noise. 3, parameters of an angular velocity PID controller of the mechanical angular velocity adjusting system are optimized through the improved red tail plinth algorithm, and 4, simulation and contrast test are conducted on the improved mechanical angular velocity adjusting system through MATLAB, and performance is verified.

The invention provides a design and application method of a sliding-mode deadbeat reaching law, and relates to the technical field of electrical engineering, and the method comprises the steps: designing a sliding-mode deadbeat reaching law SMDRL, designing a control strategy through a deadbeat control principle, defining a state change law on a sliding-mode surface through a sign function, and achieving the design of the sliding-mode deadbeat reaching law SMDRL. It is ensured that the system state converges to the sliding mode surface at the fastest speed in a control period; an improved sliding mode deadbeat reaching law ISMDRL is designed, a traditional sign function is replaced with a hyperbolic tangent function, and parameters of the hyperbolic tangent function are adjusted according to the system state; the SMDRL and the ISMDRL are applied to a speed driving system of a permanent magnet synchronous motor (PMSM), and the speed driving system comprises a PMSM mathematical model, a sliding mode speed controller with a speed disturbance observer and model prediction current control. The SMDRL is introduced from the traditional sliding mode reaching law for the first time through theoretical derivation, the convergence time of the SMDRL is the shortest, and the SMDRL is applied to a permanent magnet synchronous motor speed driving system.

The invention relates to the technical field of servo loading, and discloses a rotating speed control method of a servo loading system, which comprises the following steps: constructing the servo loading system; the servo motor is driven to work at a constant torque; establishing a disturbance estimation model under servo loading disturbance; rotating speed data of the tested motor are obtained in real time, rotating speed errors are input into a speed PID controller, a basic control signal is generated, disturbance compensation and error response are fused, and a master control signal is constructed; pID parameters of a speed PID controller are optimized and adjusted on line through an improved fast exploration random tree algorithm; and fixing the speed PID parameter according to an error stability criterion, keeping the current control output, and readjusting the PID parameter when the disturbance trend changes. According to the invention, the rotating speed control precision and the operation stability of the servo loading system under complex disturbance conditions can be improved.

This invention relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a tilting rotor omnidirectional UAV control method and related equipment. By acquiring the UAV's current pose information (including position, attitude, and body angular velocity) and desired pose information, the position controller generates a desired total force based on the position deviation, the attitude controller generates a desired angular velocity based on the attitude difference, and the angular velocity controller generates a desired total torque based on the angular velocity deviation, forming a three-level control closed loop. The control distributor uses a rotor configuration dynamics model to convert the total force and torque into desired thrust for each rotor, calculates the desired rotational speed based on the thrust-rotor speed correspondence, and controls the rotor rotation. This scheme achieves decoupling optimization of position and attitude control, improving pose control accuracy and response speed.

An electric motor controller system for modulating requested motor torque via oscillating the instantaneous torque, including a bi-stable torque controller; a proportional-integral (PI) velocity controller a proportional-integral-differential (PID) position controller; and sinusoidal zero-velocity table mapping.

The invention provides a multi-vehicle cooperative docking method, system and device and a storage medium, and relates to the technical field of vehicle engineering. The method comprises the following steps: firstly, acquiring position information, state information and expected docking distance of a plurality of vehicles which are divided into a pilot vehicle and a following vehicle, and constructing a pilot-following vehicle motion model according to the position information and the state information so as to control the docking distance between the following vehicle and the pilot vehicle to be equal to the expected distance as a target; and according to the pilot-following vehicle motion model, the position of the following vehicle is changed by using a feedback linearization speed controller, and when the docking distance is equal to the expected distance, the docking device of the following vehicle and the docking device of the pilot vehicle are controlled to carry out docking, so that multiple vehicles can keep dynamic driving at relatively stable positions, and the docking efficiency is improved. Therefore, multi-vehicle docking is achieved, and the process is flexible, high in real-time performance, high in efficiency and high in robustness.

A brake device may include: first and second wheel speed sensors disposed in each wheel of a vehicle and configured to measure a speed of the wheel; a controller configured to control braking of the wheels in response to a wheel speed signal output from at least one of the first wheel speed sensor and the second wheel speed sensor; a brake actuator disposed in each wheel of the vehicle and configured to brake the wheel; a first brake driving circuit and a second brake driving circuit configured to control a driving power supply of the brake actuator based on control of the controller; an actuator housing to which the first wheel speed sensor and the second wheel speed sensor are coupled, and in which the first brake driving circuit and the second brake driving circuit are accommodated; and a plurality of circuits configured to connect each of the first wheel speed sensor, the second wheel speed sensor, the first brake drive circuit, and the second brake drive circuit to the controller.

The invention discloses a speed control method and device, a motor and a storage medium, and the method comprises the steps: obtaining a preset reference rotating speed and a real-time rotating speed, and calculating a speed error and an error change rate at a current moment based on the preset reference rotating speed and the real-time rotating speed; actual weights and expected weights of the preset reference rotating speed, the speed error and the error change rate are confirmed, and a first correction weight, a second correction weight and a third correction weight are calculated based on the actual weights and the expected weights; calculating a time constant based on the first correction weight, the second correction weight and the third correction weight; and the time constant is substituted into a preset internal model speed controller, and the real-time rotating speed is adjusted through the preset internal model speed controller. Parameters of the internal model speed controller can be adjusted in a self-adaptive mode, and stability is improved.

A vehicle driving control apparatus and method are capable of eliminating problems in conventional stop control provided in an electric vehicle. The vehicle driving control apparatus includes a manipulation device, an input device, a driving information detector, and a controller connected thereto. The controller determines whether the vehicle speed detected by the vehicle speed detector is not higher than a predetermined reference speed for creep initiation, when the on state of the one-pedal mode is selected through the manipulation device and creep allowance in parking is set through the input device. The controller controls a motor configured to drive the vehicle such that the motor generates a creep torque in the on state of the one-pedal mode, in response to determining that the vehicle speed is not higher than the predetermined reference speed for creep initiation.

The invention relates to a control system for a motor operating a roof assembly, including a speed controller, a current controller, a motor and a performance feed forward module. The control system is configured for receiving a speed setpoint as input, feeding back a speed signal, and determining a speed error. Providing a current setpoint and feeding back a current output to the current setpoint, and providing a current error signal to the current controller. Feeding back a relative position signal and feeding forward, based on at least one performance profile determined from an absolute position signal, a current feed forward signal to the current setpoint. And generating, based on the current error signal and the relative position signal, a drive signal for driving a motor. The current error signal is based on the current setpoint, the current feedback and the current feed forward.

This invention relates to the field of asynchronous motor control technology, specifically to an asynchronous motor speed control method and system based on an improved Super-Twisting sliding mode algorithm. The method includes: (1) deriving the fourth-order nonlinear differential equation of a three-phase squirrel-cage asynchronous motor in a rotating coordinate system d-q based on rotor magnetic field orientation theory; (2) designing a linear sliding surface based on the error between the set speed and the feedback speed; (3) using the first-order differential equation of rotor speed in step (1) and the linear sliding surface described in step (2), and introducing a variable proportional differential term based on the traditional Super-Twisting sliding mode algorithm to design a fast Super-Twisting sliding mode speed controller; (4) constructing a variable exponential switching function to replace the sign function in the fast Super-Twisting sliding mode speed controller described in step (3), thus completing the design of the improved Super-Twisting sliding mode speed controller. This solution effectively solves the problems of slow response speed and poor control accuracy in existing systems, thereby improving the overall robustness of asynchronous motor control.

The application considers a PMSM speed regulation system iron loss variable reaching law sliding mode control method and relates to the minimum loss speed regulation technology field of a permanent magnet synchronous motor, which takes the iron loss torque as a link and designs a PMSM sliding mode speed controller under the minimum loss target; firstly, a minimum loss point d-axis current compensation method based on virtual loss power Taylor series expansion is proposed to realize the minimum loss control of the motor under different working conditions; secondly, in order to eliminate the influence of the iron loss on the speed regulation performance, a PMSM speed tracking model containing the iron loss is established, the minimum loss control is linked with the speed control, an adaptive sliding mode reaching law based on disturbance estimation is proposed to avoid the system energy consumption and the sliding mode chattering caused by the too high sliding mode gain, and the chattering is weakened by adjusting the system state to reach the sliding mode surface. In addition, the chattering is effectively reduced by adding the switching function to the derivative of the control quantity, and the set speed is quickly followed under the uncertain environment.

Aspects of the present invention relate to an automatic speed controller, an automatic speed control system, to a method for automatic speed control, and to a vehicle. The automatic speed comprises an input for receiving a road classification signal from a road classification module and a vehicle speed information signal from a speed information module, wherein the road classification signal comprises information relating to a road on which the vehicle may travel, and the vehicle speed information signal comprises a speed limit value for the road; an output for outputting a speed offset signal for use in setting a speed of the vehicle; a processor arranged to determine the speed offset signal comprising an offset value, in dependence on the road classification signal and the speed information signal.

The application discloses a sensorless control system of a permanent magnet synchronous motor, which enhances system robustness, and is composed of a speed given module, a speed controller module, a compound inverter module, a Clark transformation and Park transformation module and a rotor position and speed extraction module; the rotor position and speed extraction module is composed of a parameter adaptive STA-SMO module, a back electromotive force estimation module, a rotor position extraction module and a motor parameter correction module; the parameter adaptive STA-SMO module takes the alpha-beta axis voltage, current observation error, estimated motor parameter dq axis inductance and resistance as input, and outputs estimated dq axis current; the rotor position extraction module outputs estimated rotor position angle and speed, the estimated speed is fed back to the speed controller module, and the estimated rotor position angle is fed back to the compound inverter module; the correction estimated value of the inductance and motor resistance on the dq axis is obtained through calculation and is fed back to the parameter adaptive STA-SMO to update the obtained parameters, so that the position estimation precision and speed estimation precision are improved, and the system robustness is enhanced.

In some embodiments, a method of controlling speed of an ego vehicle in a vehicle platoon is provided. Cooperative adaptive cruise control (CACC) commands based on at least one of a vehicle-to-vehicle communication control received from a preceding vehicle and a feedback control based on a sensor output of a long-range sensor of the ego vehicle are provided to a speed controller. In response to detecting an occluded state, a minimum spacing value and a minimum relative velocity value between the ego vehicle and the preceding vehicle are determined based on information received before the detection of the occluded state; a safety speed based on the minimum spacing value and the minimum relative velocity value is determined; and an occluded adaptive cruise control command is provided to the speed controller to maintain a speed of the ego vehicle that is less than or equal to the safety speed.

The invention discloses a power motor and a power supply mode of an electrically driven vehicle. A main body comprises a power motor, a power supply system and a cooling system; the main body of the power supply system comprises a driving motor, a gear driver, a generator, an electric control assembly and a battery; the driving motor is connected with the gear driver and drives a power input gear of the gear driver to rotate, and finally power is output from a power output gear. One wire group of the electric control assembly is connected to the driving motor, one wire group of the electric control assembly is connected to the battery pack, one wire group of the electric control assembly is connected to the generator, one wire group of the electric control assembly is connected to the cooling system, one wire group of the electric control assembly is connected to the power motor, and one wire group of the electric control assembly is connected to the driving motor starting switch; and one wire group is connected to the power motor speed controller.

The present disclosure provides a direct drive electric variable speed turbofan comprising: a first magnetic gearbox assembly connected to a fan of a turbofan engine; a second magnetic gearbox assembly connected to a spool of the turbofan engine; and a speed controller configured to adjust a rotational speed of the fan based on a rotational speed of the spool by selectively coupling and decoupling the first magnetic gearbox assembly with the second magnetic gearbox assembly. In various aspects, the first magnetic gearbox assembly or the second magnetic gearbox assembly comprises a permanent magnet array, while a different one of the first magnetic gearbox assembly or the second magnetic gearbox assembly comprises a rotor winding separated from the permanent magnet array by an air gap; and the speed controller is configured to selectively couple and decouple the first magnetic gearbox assembly and the second magnetic gearbox assembly with each other via control of switches in a winding circuit having the rotor winding.

The application discloses a kind of field of view angle constraints under cluster unmanned aerial vehicle cooperative target tracking control method, and the heterogeneous role allocation algorithm based on relative position between unmanned aerial vehicles is as the basis of motion control;Considering the movement of the target for a period of time, the proportion of the current detection range of the cluster unmanned aerial vehicle to the range that the target can reach within a certain time is used to measure the target tracking effect, the heading angle controller is combined with the heterogeneous role of unmanned aerial vehicle, including the prediction of the movement of the target for a period of time, different role unmanned aerial vehicle has corresponding heading angle expected value, so that the unmanned aerial vehicle can adaptively change the tracking formation according to the target movement;In the speed controller, the deflection characteristics of the Lyapunov navigation vector field are used to generate corresponding deflection characteristic navigation vector fields for different role unmanned aerial vehicles, to guide the unmanned aerial vehicles to the fixed point around the target, which enables the cluster unmanned aerial vehicles to form a target tracking formation in order, and the safety distance between the unmanned aerial vehicles is easy to maintain.

The present application belongs to the technical field of silicon steel hot drawing control, and provides a sag control system and control method for a silicon steel hot drawing and flattening coating production line. The sag control system comprises a sag detection device, a PLC controller, a 4-roll tension roller, a tension meter, and a steel strip height adjusting device. The sag detection device is installed between a coating machine and a drying furnace. The sag detection device comprises a sag detector, a sag detector water cooling device, a condensed water flow guide device, a fixed slide rail, and a blowing device. The sag detector, the sag detector water cooling device, and the condensed water flow guide device are slidably connected to the fixed slide rail. The blowing device is arranged between the sag detector and the drying furnace. The system establishes a mathematical model of the sag and the tension roller compensation speed control, uses a programmable logic controller to program the real-time sag data through the mathematical model for analysis, processing, and operation, and sends the operation results to a tension roller speed controller. The tension roller speed controller adjusts the tension roller speed to finally realize accurate control of the steel strip sag. The present application effectively avoids the scratching of the steel strip with the furnace door and other equipment, reduces the frequency of fault handling, effectively improves the production efficiency, and improves the product yield.

A gate valve having an opening / closing speed control ability is presented. In order to control the opening / closing speed, the present disclosure presents a housing; an air cylinder configured to move a first shaft vertically upward to a first position, the first shaft connected to the air cylinder; a cam unit including a cam attached to the first shaft at one end; a second shaft connected at the opposite end of the cam and configured to move to a certain height as the cam moves; a first bellows provided around the second shaft; a sealing plate provided at one end of the second shaft and configured to close a passage to / from a chamber; a sealing ring provided around the sealing plate and configured to seal the passage when the sealing plate closes the passage; and a CDA unit configured to control the opening / closing speed of the gate valve.

The present invention discloses a vibration suppression method and control system for a dual-encoder flexible joint. The vibration suppression method is aimed at a joint system in which a flexible joint is equipped with sensors at both the motor end and the load end to obtain kinematic information (angular displacement or angular velocity) of the motor end and the load end respectively. The motor end and load end sensors of the flexible joint described in the embodiment of the present invention are encoders. The method measures the motor end speed and the load end speed respectively through the motor end encoder and the load end encoder, and obtains the rigid body speed by weighted summation of the motor end speed and the load end speed. The error between the obtained rigid body speed and the motor end speed (or the error between the rigid body speed and the load end speed) is fed back to the input of the speed controller after passing through a frequency filter. By correcting the input signal of the speed controller, vibration suppression of the controlled system is achieved. The present invention effectively solves the vibration suppression problem of the dual-encoder flexible joint, and at the same time provides an effective new method for vibration suppression of the flexible joints of collaborative robots.

Cruise control for motor vehicles for regulating the speed to a predetermined target speed, comprising a first control element for switching on, and a second control element for switching off the cruise control, wherein the cruise control can be in the states switched on and active cruise control, switched on and interrupted cruise control, and switched off, and wherein the first control element is designed such that when the first control element is actuated with the cruise control switched on and active, the cruise control is interrupted.

Method for accelerating the decoupling of the starting clutch (5) which detachably connects the electric machine (2) to the transmission input in a hybrid powertrain of a motor vehicle, wherein, when a decoupling request is present, the electric machine (2) is controlled simultaneously with the start of the control of the starting clutch for the purpose of decoupling or a predetermined time after the start of the control of the starting clutch in such a way that a torque is built up, thereby accelerating the transition to sliding friction and thus the decoupling while maintaining a target driving torque, characterized in that a target speed for the electric machine (2) is output by a control unit, wherein a speed controller of the electric machine builds up the torque corresponding to the target speed.