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148 results about "Velocity reduction" patented technology

The average water velocity is multiplied by the reduction factor to account for areas of reduced velocity utilized by a swimming fish to conserve energy. The use of Velocity Reduction Factors is usually only applicable for small fish. Different Velocity Reduction Factors can be applied to the inlet, barrel, and outlet zones.

Direct prestack time migration method for three-dimensional seismic data acquired from irregular surfaces

The invention discloses a direct prestack time migration method for three-dimensional seismic data acquired from irregular surfaces, and the method is applied to the processing on reflected seismic information in seismic exploration. The method can be used for directly carrying out three-dimensional seismic data migration imaging (at different elevations) on shot points and geophone points acquired from irregular surfaces without statically correcting a processing process. In the method, no vertical emergence and incidence assumption is performed on nearsurface seismic wave propagation, therefore, the method can adapt to the situations which have no obvious low velocity region and velocity-reduction region such as high-velocity rock outcropping, and the like. In the method, the seismic wave propagation in near surfaces or stratums is described by using two equivalent speed parameters; and the two equivalent speed parameters can be determined according to the straightness of lineups inmigrated gathers, thereby avoiding the difficulties in near-surface velocity modeling. By using the method disclosed by the invention, the gathers subjected to migration can be subjected to remainingstatic correction, thereby effectively compensating the inherent errors existing in a land acquisition technology. The method has important application value in oil, gas and mineral resource exploration in complex surface areas.
Owner:INST OF GEOLOGY & GEOPHYSICS CHINESE ACAD OF SCI

Industrial robot obstacle avoidance track planning method based on torque control

The invention discloses an industrial robot high-speed high-precision obstacle avoidance track planning method based on torque control. The method comprises the following steps that 1, a robot dynamics model is established by identifying kinematics and inertial parameters of all joints; 2, displacements of all joint angles are obtained through inverse kinematics solution when a robot moves to an end point; 3, the displacements of the joint angles are adopted as motion tracks, speeds and accelerated speeds of all joints are planned through a sine jerk planning method, the speeds and the accelerated speeds are substituted into the dynamics model so as to solve control torque in the motion tracks; 4, collision detection is carried out by adopting a method of judging the distance between key points after detecting the interference conditions of joint projections; and 5, when it is detected that the collision may occur, an impedance accelerated speed is applied to the dangerous joints to reduce the motion speed of the joints so as to achieve the obstacle avoidance. The industrial robot obstacle avoidance track planning method based on the torque control has the advantages that the control precision is high, the obstacle avoidance is effectively realized, and the safety is high.
Owner:ZHEJIANG UNIV OF TECH

A two-wheeled self-balance robot self-adaptive sliding mode changing structure control method and system

The invention discloses a two-wheeled self-balance robot self-adaptive sliding mode changing structure control method and system. According to a classical mechanics analytic method and based on a Lagrange algorithm based on energy analysis, molding of a kinetic equation of a two-wheeled self-balance robot of is realized, a sliding mode changing structure controller is designed according to the kinetic equation. The sliding mode changing structure controller comprises a speed sliding mold changing structure controller and an angle sliding mold changing structure controller; the speed sliding mold changing structure controller and the angle sliding mold changing structure controller give each other feedbacks; a feedback equation is that theta r=beta V; and self-adaptive controlling is carried out on the system on the basis of a function approximation mode. Through adoption of the technical scheme of the present invention, the modeling process is enabled to be more simplified and comprehensive; the robustness and the respond speed of the system are raised; simultaneously, since a mutual feedback relation exists between the speed and the angle of the system, when an inclination angle of the system is overlarge, the system will automatically decelerate; while the speed is reduced, the system will return to the balance position; in a condition of facing different road surface conditions, the system can adapt to external environment and large scope load changes, thereby guaranteeing the safety and stability of the system.
Owner:HANGZHOU DIANZI UNIV

Method and apparatus for converting constant-volume supply fans to variable flow operation

A control strategy for supply fans in constant-volume heating, ventilating, and air-conditioning (HVAC) systems that reduces the speed of the fan at part-load conditions is provided. The invention consists of a constant-volume HVAC system, wireless discharge air temperature sensors, wireless hot source and cold source temperature sensors, and a wireless controller coupled to a fan modulation device. The controller includes a finite state machine that switches between a high-temperature control mode and a low-temperature control mode. The controller also includes a calculator that calculates a high temperature setpoint and a low temperature setpoint as a function of the hot source and cold source temperatures. In high temperature control mode, the controller compares the maximum discharge air temperature with the high temperature setpoint, and it commands the fan modulating device so that the maximum discharge air temperature remains close to the high temperature setpoint. In low temperature control mode, the controller compares the minimum discharge air temperature with the low temperature setpoint, and it commands the fan modulating device so that the minimum discharge air temperature remains close to the low temperature setpoint. Alternatively, the controller includes a calculator that computes a largest load as a function of previous fan command, discharge air temperatures, and readings from wireless zone temperature sensors. The controller increases the speed of the fan as the largest load increases, and reduces the speed of the fan as the largest load decreases.
Owner:VIGILENT CORP

Electric vehicle braking energy recovery control algorithm

ActiveCN108688474AAvoid rough brakingMaximum braking energyElectrodynamic brake systemsEnergy recoveryEngineering
The invention relates to an electric vehicle braking energy recovery control algorithm. The electric vehicle braking energy recovery control algorithm is characterized by being composed of the following steps that in the initial stage of braking, only regenerative braking force of a motor is used for braking, and braking energy is recovered as much as possible, and at the same time, a road adhesion coefficient based on the least square method and a vehicle quality estimation algorithm are adopted to obtain road adhesion coefficient information and vehicle load condition information of vehiclebraking; in the middle stage of the braking process, a Kalman filter algorithm is used for estimating the slip ratio of front and rear wheels; in order to improve the accuracy of the slip rate estimation, the vehicle quality and the road adhesion coefficient obtained at the initial stage of braking are taken as initial values to put into the Kalman filter algorithm; at the end of the braking process, when the vehicle speed is reduced below V0, an algorithm of smoothly reducing the regenerative braking force while improving friction braking is adopted in order to improve the comfort of brakingand prevent generation of torque fluctuation caused by excessive low rotation speed of the motor, and braking is gradually transitioned to a pure friction braking mode to finally stop a vehicle.
Owner:刘清河
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