42 results about "Velocity controller" patented technology

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.

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.

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.

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.

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.

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.

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.

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.

A system for measuring the load of a cable (128) associated with a lifting hook (154) of a lifting system, such as a pipe layer (100), is described. The system includes a load cell (144) for acquiring load data describing the load on the hook (154) and a controller (160) designed to control a maximum hook lowering speed based on the load on the hook (154). The controller (160) can determine the maximum speed using sensor data, such as temperature data, as well as configuration data describing the design of the machine (100) and its components, such as the types of bearings, block and pulley configurations, lubricants, and other such machine configurations, to select a speed curve (342) from a predefined set of speed curves.The control (160) allows the hook (154) to lower to the maximum speed based on the speed curve (342) and can also allow adjustment based on a gain setting (324) to scale the maximum speed setting.

The application discloses a permanent magnet synchronous motor speed control method, system, device and storage medium, which is applied to the technical field of control and has the method steps of establishing a kinematics equation of a permanent magnet synchronous motor; establishing an iteration learning-based sliding mode observer with predetermined time convergence according to the kinematics equation of the permanent magnet synchronous motor; establishing a permanent magnet synchronous motor speed controller with predetermined time convergence; compensating total disturbance observed by the sliding mode observer to the permanent magnet synchronous motor speed controller with predetermined time convergence; and performing speed control on the permanent magnet synchronous motor. The robustness and control precision of the permanent magnet synchronous motor system are further improved.

The utility model belongs to the technical field of toy car controllers, and particularly relates to a toy car speed controller which comprises a controller shell, a gear shifting assembly, a gear shifting adjusting assembly and a gear shifting circuit board, the gear shifting assembly, the gear shifting adjusting assembly and the gear shifting circuit board are arranged in the controller shell, and at least two gear contacts with different speeds are arranged on the gear shifting circuit board. The gear shifting assembly comprises an operating rod extending upwards out of the controller shell and an elastic piece matched with the gear contacts, the operating rod is shifted to enable the elastic piece to be connected with one gear contact, and the gear shifting adjusting assembly comprises a push-pull rod extending upwards out of the controller shell and a stop piece connected with the push-pull rod. The gear shifting assembly further comprises at least two gear abutting parts located at different positions. The push-pull rod is horizontally moved to enable the stop piece to abut against one gear abutting portion, and each gear contact corresponds to one gear abutting portion. Speed switching can be achieved, and children can feel pleasure brought by different speeds in the playing process.

The invention relates to the technical field of AGV motion control, and discloses a double-wheel differential AGV course control method and system.The method comprises the steps that firstly, a wheel type odometer and IMU data are fused to obtain a high-precision pose, and transverse and course deviations with a reference path are calculated; secondly, a fuzzy controller is introduced, the state error weight and the control quantity weight of model predictive control (MPC) are dynamically adjusted according to the real-time deviation and the path curvature, the optimal expected speed is solved through rolling optimization, and a self-adaptive strategy of large-error strong deviation correction and large-curvature stability keeping is achieved; and finally, constructing a sliding mode speed controller based on a composite variable speed reaching law, and driving a left motor and a right motor by using the dominant switching characteristic of an exponential term and a power term. According to the method, the defect that a traditional control algorithm is sensitive to system parameters is effectively overcome, and the trajectory tracking precision and the robustness of a bottom layer execution mechanism are remarkably improved while the AGV driving smoothness is guaranteed.

Method for operating a speed-controlled electric motor (62, 66) of a motor pump unit (60) for an active chassis (10) of a motor vehicle, comprising the following steps: Determining at least one target torque (Msoll) of a speed control (110), a target speed (nsoll) of the speed control (110) and an actual speed (nist) of the speed control (110), wherein the speed control (110) comprises a feedforward control (114) and a controller (112), and wherein the target torque (Msoll) is a sum of a feedforward target torque and a controller target torque, Comparison of the target torque (Msoll) with a target torque threshold value, the target speed (nsoll) with a target speed threshold value, and the actual speed (nist) with an actual speed threshold value. Detection of an inactive phase when the target torque (Mtarget) is below the target torque threshold, the target speed (ntarget) is below the target speed threshold, and the actual speed (nist) is below the actual speed threshold. Switching off the speed control (110) of the electric motor (62, 66) when the inactive phase is detected.

A controller of this work machine has a manual operation function for calculating a manual operation target speed on the basis of an operation signal of an operating device, and a support function for calculating a support target speed. The controller: calculates an arbitrated target speed of a hydraulic actuator by arbitrating a plurality of target speeds; calculates a correction value for the target speeds by means of feedback control based on the deviation between the arbitrated target speed and an actual speed; corrects the arbitrated target speed of the hydraulic actuator on the basis of the correction value; and controls the operation of the hydraulic actuator. When the support function is enabled, the controller executes at least one of processing for resetting the correction value and processing for limiting the correction value on the basis of a limit value corresponding to the enabled support function.

The application provides a kind of for the method for eliminating clearance and synchronization of multi-motor drive system, belong to electromechanical control technical field, including the establishment of considering the dynamics model of gear clearance nonlinearity, load position is estimated using hysteresis model, and then improve dynamic clearance elimination method, introduce S-shaped transition curve, based on the characteristics of clearance elimination curve and its complementary curve, realize the coupling control of clearance elimination and speed synchronization, when running in one direction, speed compensation is carried out through differential negative feedback, clearance elimination control is carried out when starting commutation, system disturbance is observed and compensated using linear extended state observer, a predictive function speed controller based on virtual average motor model is established, through the discrete speed prediction model and the construction of cost function, system rolling optimization control is realized, and the performance of multi-motor drive system is improved.The application adopts the above-mentioned method for eliminating clearance and synchronization of multi-motor drive system, solves the problem of control precision decline caused by gear clearance phenomenon in multi-motor drive system.

The invention discloses an amorphous alloy switched reluctance motor radial force control system and method considering a magnetostrictive effect and linear current compensation, belongs to the technical field of motor vibration control, and aims to solve the problems that vibration noise of an amorphous alloy switched reluctance motor is aggravated due to the magnetostrictive effect, and torque performance and vibration suppression are difficult to consider by an existing control strategy. The system comprises a speed controller module, an average torque control module, a direct force control module, a linear current compensator module, a switching signal logic processing module and an improved whale optimization algorithm module. The torque pulsation is reduced through average torque control, the radial force is cooperatively regulated and controlled through direct force control, the linear current compensator compensates the current in real time, and the whale optimization algorithm is improved to optimize parameters. The method is clear in process, can remarkably reduce the radial force peak value and the high-frequency vibration acceleration of the motor under the condition of sacrificing partial torque performance, effectively solves the problem of cooperative control of torque pulsation and vibration noise, is suitable for the fields of new energy automobiles and the like, and is high in practicability and high in popularization value.

A motor control device is provided which is installed in a position control system for position control of a mechanical end connected to a motor, receives a first speed command from a higher-level system control device, and outputs a position response of a motor shaft to the higher-level system control device, and has a speed controller and an in-system vibration damper controller, the in-system vibration damper controller having a position command estimator which calculates an estimated value of a position command based on the first speed command and the position response of the motor shaft, a parallel vibration damper controller which extracts a frequency component of vibration of the mechanical end included in the first speed command based on the estimated value of the position command and outputs the extracted frequency component, a phase adjuster for improving a response delay caused by the parallel vibration damper controller, a first unit converter which converts an output of the phase adjuster to a dimension of speed, and an arithmetic unit which subtracts an output of the parallel vibration damper controller from the first speed command to remove the frequency component of vibration of the mechanical end from the first speed command as a second speed command, outputs the second speed command as a first actual speed command based on an output of the first unit converter and the second speed command as an output of the in-system vibration damper controller, and outputs the first actual speed command as a command of the speed controller.

The disclosure relates to a method for controlling the position of a rotor of an electric machine, in particular a permanently-excited synchronous machine with two separate winding systems, and each of the winding systems is controlled by an independent cascade control assigned to the respective winding system. Each of the two cascade controls includes i) an inner current-control circuit which controls a current of the electric machine, ii) a central speed-control circuit which is superordinate to the inner current-control circuit and which controls a speed of the electric machine, and, iii) an outer position-control circuit which is superordinate to the central speed-control circuit and controls the position of the rotor of the electric machine. The speed-control circuit has a speed controller without an I-component, in particular a P-controller.

An engine speed control system of a vehicle, uses a phase-lag compensator to derive a compensated error signal between an engine speed and a target engine speed. An engine speed controller controls the engine speed based on the compensated error signal. A gain scheduler is used to generate a gain factor and time constant for the phase lag compensator based on the engine speed and a vehicle speed. In this way, the vehicle speed can be taken into account in the engine speed control, for example to provide a different compensation transfer function for times when the engine is driving different loads with different inertia.

This application relates to the field of vehicle control technology, and discloses a convoy cruise adaptive control method, device, and following speed controller. The method includes: determining a following distance and a first control parameter for the vehicle based on its current vehicle speed parameters and the speed parameters of the vehicle ahead; the following distance characterizes the time required for the vehicle to reach the current position of the vehicle ahead when traveling at its own speed parameters; determining a reasonable following distance for the vehicle based on the following distance, the speed parameters of the vehicle ahead, and a preset safety distance; and determining a second control parameter for the vehicle based on the reasonable following distance and a preset cruising distance. The first and second control parameters are used for adaptive speed control of the vehicle. Using this method can significantly improve the stability, accuracy, and safety of following, effectively avoiding sudden braking and over-progression.

The invention relates to switching speed control based on overstress signals. A circuit includes a device stress detector, a snubber circuit arrangement, and a switching speed controller. The device stress detector is configured to generate a device stress signal indicative of an electrical characteristic at the switching element of the power converter circuitry when the driver circuitry controls the switching element at the switching speed. The snubber circuitry is configured to generate an overstress signal indicative of whether an electrical characteristic at the switching element satisfies a threshold based on the device stress signal. The switching speed controller is configured to generate a switching speed signal indicative of a change in switching speed based on the overstress signal, and to output the switching speed signal to the driver circuitry. The driver circuitry is configured to control the switching element at a modified switching speed based on the switching speed signal.

An electrical working device includes an electric motor, a tool driven by the electric motor, a user-operated control element by which a target speed of the electric motor can be specified, a controller which controls an actual speed of the electric motor to the user-specified target speed and a limiter which is designed to reduce the actual speed independently of the controller as soon as the actual speed exceeds a first speed limit.

The utility model provides a full-automatic stacker-reclaimer with a constant current regulation function, which relates to the technical field of stacker-reclaimers, and comprises a base and a grab machine, a hydraulic rod is arranged on the surface of the base, a track is arranged at the top end of the hydraulic rod, a movable groove is formed in the side surface of the track, a moving component is arranged in the movable groove, and a mounting frame is arranged on the surface of the moving component. A moving assembly, a laser range finder and a camera are adopted, the distance between a conveying belt and a coal pile can be accurately measured in real time through the laser range finder, the falling point condition of coal briquettes on the coal pile can be clearly captured through the camera, data are fed back to a controller, and the coal briquette falling point condition can be accurately measured on the basis of the data and the conveying speed of the conveying belt. The controller can drive the moving assembly to accurately adjust the position of the conveying belt, it is ensured that the coal briquettes can stably and accurately fall into the target coal pile range at any conveying speed, scattering and improper accumulation of the coal briquettes are avoided, constant-flow adjustment is achieved, and the flow stability of the coal briquettes in the whole material piling and taking process is effectively maintained.

The electric excavator and the control method, device and medium of the electric drive rotating system thereof relate to the electric excavator rotating control technical field. The method comprises the following steps: performing dynamic modeling on the electric drive rotating system of the excavator to obtain a dynamic model. Based on the dynamic model, system state variables are selected, and a non-singular fast terminal sliding mode speed controller is built with the minimum whole machine rotating speed tracking error and small torque impact as the control target. The structure of the excavator is simplified to establish a space coordinate system and a D-H method coordinate system, and then a mathematical model of the center of gravity of the working device and the moment of inertia changing with the pose is constructed to obtain a total moment of inertia mathematical model of the excavator. In view of the disturbance caused by the load change and the time-varying inertia in the excavator rotating working condition, a Luenberger observer is built, and the observed load value is fed forward to the rotating speed controller to obtain updated control data. The method can solve the problems of unstable rotating speed, large torque pulsation and poor controllability.

A walk-behind work machine includes an electric traction drive operable to move the work machine. An input sensor detects force applied to or movement of a handle of the work machine by an operator and provides a control signal in response thereto. The control signal used to affect a speed of the electric traction drive. A controller is operable to provide control of the electric traction drive. The controller adjusts control variables (e.g., control input values, control parameters) in response to measured data such as zero-force signals of the force sensor and mode selections by the operator.

The utility model belongs to the technical field of teaching training analog simulation control, and particularly relates to a double-suspension-point radial gate simulation control device, which comprises a control processing module, and a data acquisition module, a power supply fault detection module and an execution module which are respectively connected with the control processing module, wherein the data acquisition module comprises a nano particle sensor arranged on the radial gate, a piezoresistor arranged at the joint of the radial gate and the gate support arm, and a flow sensor, a temperature sensor and a pressure sensor which are arranged on one side, far away from the gate support arm, of the radial gate; the control processing module comprises a water flow and sediment controller and a speed controller which are arranged on a rotating shaft of the radial gate; the power supply fault detection module adopts a power supply unit and a power supply state indicator lamp; and the execution module comprises a double-lifting-point radial gate and a hydraulic system.

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