4374 results about "Wheel drive" patented technology

The invention discloses an intelligent automobile cooperative cruise safety control method under Dos attacks and physical faults, and relates to automobile intelligent safety and automatic driving. A hierarchical control framework is adopted and comprises an observer layer and a tracking layer. The method comprises the following steps: establishing a vehicle longitudinal dynamics model and a DoS attack model for DoS attack in a V2X communication network and the problems of sensor and actuator faults and parameter isomerism of a vehicle; a completely distributed self-adaptive preset time observer based on event triggering is designed for each following vehicle in the observer layer, and rapid and accurate estimation of the state of the pilot vehicle is achieved; the method comprises the following steps: constructing an augmentation system at a tracking layer, designing a distributed intermediate observer, carrying out online estimation and compensation on faults of a sensor and an actuator, designing a distributed active fault-tolerant controller based on a fault estimation value and a pilot vehicle state estimation value, and calculating a wheel driving torque to realize safe cruise control. Multiple threats of coexistence of network attacks and physical faults are effectively handled, and the stability and safety of the cooperative cruise system are ensured.

The invention discloses a mahjong machine and a slope tile playing device thereof, which are characterized in that a planet carrier and a planet wheel which rotate actively rotate around a fixed sun wheel, and a tile feeding push rod is driven by the planet carrier, the planet wheel and a turntable to rotate to push and feed tiles; a mahjong lifting swing arm is driven by a planet carrier, a swing rod, a rack and a mahjong lifting gear to swing to drive a mahjong lifting supporting plate to lift mahjong; two transmission paths of a planet carrier and a planet wheel are ingeniously utilized, so that a mahjong feeding push head does not push mahjong tiles when a mahjong tile lifting supporting plate is controlled to descend only through mechanical transmission cooperation by a motor, and the mahjong tile lifting supporting plate does not move when the mahjong tile feeding push head pushes the mahjong tiles; when the tile lifting supporting plate is lifted, the tile feeding pushing head does not push tiles, after the tile lifting supporting plate is lifted, the tile feeding pushing head moves out of the tile storage groove, the lifting action of the tile lifting supporting plate and the tile pushing action of the tile feeding pushing head do not interfere with each other, the structure is simple and reasonable, action connection is good, operation is stable and reliable, the mahjong machine is coherent and smooth in action, noise is low, and the user experience is good.

The invention relates to the technical field of furnace shell welding, in particular to a gas industrial furnace shell welding device which integrates a radial circular seam and an axial longitudinal seam, a servo motor drives a planetary gear train through an intermittent sheave, a rotating shell drives a clamped furnace shell to rotate, and radial welding is completed; after a bottom clamping jaw instantly locks a shell, power is switched to a planet carrier, an outer mounting arm drives a driven scraping arm to grind the inner wall while axially moving, welding and grinding synchronization is achieved, a bidirectional pushing seat crank sliding block mechanism continuously rotates in a one-way mode to push and pull the furnace shell in a two-way mode, whole-circle accurate grinding is achieved during resetting, and six sets of air cylinder lead screw adjustable clamping jaws conduct internal and external synchronous supporting. The outer supporting cylinder is prevented from deformation, secondary clamping is not needed in the whole process, butt joint of multiple sections of furnace shells is completed at a time, continuous filling of a longitudinal weld bead can be completed when a circular seam is still in a high-temperature plastic stage through instantaneous switching of clamping and stopping, and the welding quality of a T-shaped connector area is improved.

The invention discloses an aircraft landing gear shimmy test bed and a test method, the aircraft landing gear shimmy test bed comprises a main body rack, a hanging basket system, a large flywheel, a flywheel driving system, an excitation device and a follow-up displacement measurement system.The aircraft landing gear shimmy test bed can simulate the shimmy of an aircraft after undercarriages of different design configurations are subjected to interference excitation force or interference torque in the process of takeoff, taxiing, landing and the like of the aircraft; the control effect of the shimmy damping system on the stability of the undercarriage has short excitation time so as to simulate real working conditions, the shimmy stability performance of the undercarriage can be accurately detected, excitation is continuously carried out under the condition that the test state is continuously changed, and the working efficiency is greatly improved. The follow-up displacement measuring system designed by the invention can enable the exciting force and the center of the axle to be always kept on the same horizontal plane, can apply torque control and torque excitation control, is suitable for undercarriage shimmy tests with different axle heights, different tire diameters and different excitation modes, and has certain universality.

The invention discloses an automobile part aluminum plating tool with overturning and clamping functions, and relates to the technical field of film plating tools, the automobile part aluminum plating tool comprises a driving assembly, a fixed outer frame and a plurality of overturning and clamping assemblies, and each overturning and clamping assembly comprises a deflection connecting rod, a telescopic rod, a workpiece chuck and a guide sleeve rod; when the driving assembly ascends and descends, the deflection connecting rod is driven by the first hinge shaft to deflect, the telescopic rod is forced to slide in the radial direction of the guide sleeve rod, and the workpiece chuck generates clamping / releasing displacement. An inner transmission ring is arranged on an inner ring of the fixed outer frame, a transmission wheel is installed at the lower end of the guide sleeve rod, and when the driving disc rotates, a planetary gear train enabling the overturning clamping assembly to rotate is formed through transmission of the inner transmission ring and the transmission wheel. A multi-drive structure is replaced with mechanical layout, modular layered layout improves efficiency, structural innovation guarantees stability, integration of self-adaptive clamping, composite motion and batch processing is achieved in the field of vacuum coating, and the bottleneck that a traditional tool is insufficient in flexibility and poor in uniformity is broken through.

The invention belongs to the field of vacuum pumps, and provides a vacuum pump and application thereof in refrigerators.The vacuum pump comprises a pump body, the pump body is composed of a bottom cover, a middle cover and an end cover, the middle cover is located between the bottom cover and the end cover, a motor is arranged on the side, away from the middle cover, of the bottom cover, and an output shaft of the motor extends to the inner side of the bottom cover to be connected with an eccentric wheel; the outer edge of the eccentric wheel is in contact with a leather cup support slidably connected with the bottom cover, and a guide hole is formed in the middle of the leather cup support. A leather cup and a steel needle linkage mechanism are adopted to replace an electromagnetic valve, a motor drives an eccentric wheel to drive a leather cup support to do reciprocating motion, a pull cup is pulled to do reciprocating deformation in the motion process, reciprocating air exhaust is conducted by changing the size of the space of a pump body cavity, working noise is effectively controlled, and meanwhile the air exhaust speed is increased; and compared with a traditional electromagnetic valve, the volume of the low-oxygen fresh-keeping electromagnetic valve is effectively reduced, and the space utilization rate in the working process is improved.

The invention discloses a four-wheel drive lifting type agricultural universal chassis with an adjustable wheel tread. The four-wheel drive lifting type agricultural universal chassis comprises a frame and four groups of leg-wheel assemblies, the vehicle leg-wheel assembly comprises a vehicle leg assembly, the vehicle leg assembly comprises a vehicle leg support and a wheel assembly, and a lifting adjusting mechanism is arranged between the vehicle leg support and a wheel; the vehicle leg support is in running fit with the vehicle frame through a fixed shaft, wheel track adjusting driving mechanisms are arranged on the vehicle frame in one-to-one correspondence with the vehicle leg assemblies, and the wheel track adjusting driving mechanisms are used for adjusting the wheel track between the wheel assemblies; the lifting adjusting mechanism comprises an electric cylinder and a sliding square tube guide structure, the sliding square tube guide structure comprises an outer square tube fixedly connected to the vehicle leg support and an inner square tube capable of sliding in the outer square tube, one end of the electric cylinder is connected with the vehicle leg support, and the other end of the electric cylinder is connected with a welding plate integrally welded with the inner square tube; a steering execution mechanism is arranged in the inner square tube; the wheel assembly comprises a wheel support and wheels installed on the wheel support, and hub motors are integrated in the wheels to achieve four-wheel independent driving.

The invention relates to the technical field of valves, in particular to a high-pressure-resistant quick opening and closing flat valve which comprises a valve body, a first valve seat, a second valve seat, a valve plate and a valve rod. The first valve seat and the second valve seat are arranged in a medium channel of the valve body, the valve plate is arranged between the first valve seat and the second valve seat in a sealing and sliding mode, and the valve rod is in driving connection with the valve plate. The middle of the valve rod is slidably connected to a valve deck in the middle of the top of the valve body, the hand wheel driving mechanism is connected to the upper portion of the valve deck, a pressure relief pipeline is arranged on the valve body, and the two ends of the pressure relief pipeline are communicated with a high-pressure side cavity, back to the valve plate, of the first valve seat and a low-pressure side cavity, back to the valve plate, of the second valve seat respectively. The pressure relief pipeline is provided with a pressure relief control valve used for controlling connection and disconnection of the pressure relief pipeline. The pressure difference generated by high-pressure fluid on the two sides of the valve plate can be balanced before the valve plate is opened, the main factor causing huge operation torque is fundamentally eliminated, opening and closing of the valve plate are extremely labor-saving and rapid, and rapid opening and closing under the high-pressure working condition are achieved.

The invention relates to the technical field of intelligent suspension conveying, in particular to a packaging bag intelligent suspension conveying system which comprises a top seat and further comprises a conveying assembly, the conveying assembly comprises at least two transmission wheels driven by a servo motor and a conveying belt arranged on the transmission wheels in a surrounding and sleeving mode, and a plurality of first air holes distributed at equal intervals are formed in the conveying belt in a penetrating mode. According to the packaging bag fixing device, negative pressure is formed in the clamping groove of the clamp through air pumping of the air pump, a packaging bag can be actively, flexibly and non-destructively adsorbed to the top of the groove, and primary and effective fixing is completed. And then, the telescopic electric cylinder drives the chuck to conduct mechanical clamping, and main fixing force is provided. By means of the mode of first adsorption and then clamping, the problems that alignment is not easy when manual placement is conducted, and traditional clamping is prone to shaking and falling off are thoroughly solved, and rapid, stable and reliable grabbing is achieved.

The invention provides a steer-by-wire fault processing method and device based on distributed driving and a vehicle, and relates to the technical field of chassis control, the method can activate a distributed driving system to serve as a cross-system redundant execution unit in an extreme fault scene that a steer-by-wire system is completely invalid and loses steering execution capability, and the steer-by-wire fault processing efficiency is improved. The steering intention of a driver is converted into differential distribution of four-wheel driving torque, so that needed additional yawing torque is generated, the traditional mechanical or electric control steering function is effectively replaced, and active control over vehicle steering is achieved. According to the method, the function safety and controllability of the steer-by-wire vehicle when a key system fails are remarkably improved, the advantage of cooperation of multiple actuators of the electric chassis is fully utilized, high-reliability fault degradation processing is achieved, and the safety of a driver and passengers is guaranteed.

The invention relates to the field of power control, and particularly discloses an electric four-wheel drive torque distribution method based on a climbing working condition, which comprises the following steps: defining vehicle state parameters, power system parameters, vehicle real-time driving state parameters and road condition parameters; carrying out torque calculation by utilizing Julia, considering shaft load, friction coefficient, motor efficiency and yaw velocity correction, obtaining a comprehensive weight of a front shaft and a rear shaft, and carrying out normalized torque distribution; and establishing model simulation through Modelica, and verifying the effectiveness of the distribution scheme. According to the invention, the climbing performance of the vehicle can be improved, the control flexibility and driving stability of the vehicle are improved, the energy consumption is reduced, the dynamic stability is enhanced, and the method is suitable for power control of the electric four-wheel-drive vehicle under the climbing working condition.

The utility model discloses plant extract extraction equipment, which belongs to the technical field of plant extraction and comprises an extraction barrel, a supporting plate is fixedly mounted on the upper surface of the extraction barrel, a fixing plate is fixedly mounted on the upper surface of the supporting plate, and a pressing component and a lifting component are arranged on the upper surface of the fixing plate; according to the device, the pressing assembly is arranged, the other toothed chain wheel drives the reciprocating lead screw to rotate under the action of the toothed chain, at the moment, the lower sliding sleeve can drive the pressing plate to move up and down in the filter barrel under the limitation of the air cylinder under the action of the thread, plants in the filter barrel can be extruded when the pressing plate moves downwards, and when the pressing plate moves upwards, the plants can be extruded by the reciprocating lead screw. When the plant is not extruded, the solvent can be absorbed, so that the plant is filled with the solvent, the plant is pressed while rotating in the plant soaking process, the full contact between the plant and the solvent is further ensured, the extraction quality of plant extraction is improved, the solvent waste can be avoided by pressing during discharging, and the purpose of saving resources is achieved.

The invention provides a tendon-driven mechanical arm flexible vibration control method based on a hybrid optimization strategy. The tendon-driven mechanical arm flexible vibration control method comprises the steps that a dynamic model of a tendon-driven mechanical arm is established; constructing a trajectory optimization model for suppressing residual vibration; solving the trajectory optimization model for suppressing residual vibration by using a hybrid particle swarm optimization strategy, and obtaining an expected trajectory; and designing a sliding mode controller based on an RBF neural network to actively track the trajectory so as to suppress residual vibration. According to the invention, a hybrid particle swarm optimization algorithm is adopted to optimize a motion trajectory, so that residual vibration is reduced, an expected trajectory for trajectory tracking is obtained, active control is combined to further suppress the residual vibration, and the tail end vibration amplitude is reduced by more than 50%; the self-adaptive neural network all-drive system control method is designed by combining the RBF neural network, so that the tail end vibration is further inhibited while the mechanical arm completes trajectory tracking, and the tracking error is smaller than 0.5 degree.

The invention discloses a solar cell IV detection device. The solar cell IV detection device comprises a frame cover, a conveying belt body and a detection mechanism. The two sides of the frame cover are provided with inlets and outlets, and a conveying belt body is arranged in the frame cover to achieve automatic conveying of solar cells. The detection mechanism comprises a worm and worm wheel driven by a first motor, a pressing structure and an illumination detection structure, and the pressing structure drives the illumination detection structure to vertically move through a sector gear connecting rod mechanism so as to form a closed detection space. An illumination unit, a pressure measurement assembly and two groups of pressing assemblies are arranged in the illumination detection structure, and the pressure measurement assembly drives a multi-connecting-rod posture adjusting probe through a motor and a screw and nut mechanism to ensure reliable contact with a solar cell electrode; the position pressing assembly adopts a differential gear rack mechanism to drive a pressing frame with a buffer spring, and self-adaptive pressing is achieved. According to the invention, high-efficiency automatic detection and good sealing performance are realized, the test precision is ensured, and the solar cell is effectively prevented from being damaged.

The invention belongs to the technical field of electric overhead working trucks, and provides a narrow-body self-walking working platform with a hybrid power system, which comprises a walking platform, a working device and a control system. The walking platform adopts a narrow-body four-wheel-drive chassis and is provided with a hybrid power system of a fuel engine and an electric pump, and the control system integrates an environment sensing unit, a stability calculation unit, a track prediction unit, an early warning unit and a control decision unit. The environment sensing unit constructs a high-precision three-dimensional environment map; the stability calculation unit calculates the overall gravity center position and the dynamic stability boundary of the platform in real time; the track prediction unit establishes a dynamic hydraulic system response model; and the early warning unit adopts an artificial potential field method to calculate a safety avoidance path. And the control decision unit automatically adjusts the control instruction according to the risk type and degree. According to the invention, the organic combination of environment perception, dynamic stable control, prediction trajectory planning and electrified body safety protection is realized, and the operation safety and efficiency of the aerial work platform are obviously improved.

The utility model relates to the technical field of nail polish, and discloses a nail polish bottle cap screwing device which comprises a base, a mounting groove and a mounting plate. By arranging the base, the mounting groove, the mounting plate, the hydraulic rod, the fixing device, the rotating mechanism, the clamping mechanism and the vertical rod, firstly, a bottle body is mounted on the fixing mechanism, the fixing device is opened, a top transmission wheel drives a lead screw to rotate, the lead screw drives the fixing plate to move through threaded connection, and the bottle body is fixed through the fixing plate; a bottle cap is installed on a clamping mechanism, the bottle cap is clamped through a moving plate, a rotating mechanism is opened, a front side gear drives a transmission frame to rotate, the transmission frame drives the bottle cap to rotate, a hydraulic rod is opened, the hydraulic rod drives the bottle cap to move, and the bottle cap is screwed to a bottle body. And when the bottle cap is manually screwed for a long time, hands are tired, so that the production efficiency is reduced.

The invention provides an agricultural machine four-wheel-drive control method and system for optimizing riding comfort, and relates to the technical field of agricultural machine control, and the method comprises the steps: building a dynamic model of a distributed four-wheel-drive agricultural machine based on basic parameters; an optimization model predictive control algorithm containing constraint conditions is constructed by taking the vehicle body acceleration and the driving stability as optimization targets; solving the dynamic model to obtain the optimal tire force distribution of each wheel of the distributed four-wheel-drive agricultural machine; on the basis of a tire magic formula model, through a reverse lookup table, converting the wheel longitudinal force in each optimal tire force distribution into a target wheel slip rate; designing a slip rate tracking controller to enable the actual wheel slip rate to track the target wheel slip rate; based on a tracking result of the slip rate tracking controller, calculating an independent driving torque instruction of each wheel of the distributed four-wheel-drive agricultural machine; independent drive torque commands are executed to control each wheel drive torque to track an optimal tire force distribution.

The utility model discloses a water wheel driving module and hydroelectric power generation equipment, the water wheel driving module comprises two mounting discs and a plurality of blades, and the two mounting discs are arranged up and down; each blade comprises a mounting frame and a plurality of baffles, a plurality of through holes are formed in the mounting frame, and the baffles are hinged to the mounting frame and arranged at the corresponding through holes; the baffle is configured to be located on the incident flow face of the blade to close the through opening, and the blade is further configured to be located on the back flow face of the blade to open the through opening. The multiple blades are distributed around the axis of the installation discs, and the installation frame is vertically arranged and fixedly arranged between the two installation discs. The use reliability and the power generation efficiency are improved, and the manufacturing cost is reduced.

The invention discloses an explosion-proof three-phase asynchronous motor which comprises a shell, a front end cover, a rear end cover, a stator, a rotor and a rotating shaft, wherein the stator, the rotor and the rotating shaft are arranged inside the shell. The radiating fins are arranged on the outer wall of the machine shell, the reciprocating lead screw transmission mechanism is connected through the supporting frame, the cleaning plate is driven to do reciprocating motion along the guide rod, dust on the radiating fins is automatically removed through the arc-shaped brush plate, and efficient radiating is ensured. The cooling box is arranged below the machine shell, the cooling box and the machine shell are designed to share the wall, an internal cooling pipe conveys cooled gas into the machine shell through a gas circulation system, the temperature is forcibly reduced, combustible gas is dispersed, and the anti-explosion safety is improved. The eccentric wheel on the rotating shaft drives the piston pipe to reciprocate, one-way flow of gas is achieved in combination with the non-return cover plate structure, and active gas circulation is formed in cooperation with the annular gas inlet channel and the gas outlet hole. The motor integrates self-cleaning heat dissipation and gas circulation cooling functions, adapts to high-temperature, high-humidity and closed environments, effectively reduces energy consumption, prolongs the service life of the motor, and is suitable for flammable and explosive places.

The invention discloses a paper pad filling machine which comprises a feeding port, a discharging port, a flow channel and a paper feeding assembly, one end of the flow channel is communicated with the feeding port, the other end of the flow channel is communicated with the discharging port, the paper feeding assembly comprises a driving wheel, a driven wheel, a driving component and a pressing mechanism, the driving wheel and the driven wheel both extend into the flow channel, the driving component drives the driving wheel to rotate, and the pressing mechanism presses the driving wheel. The pressing mechanism can drive the driven wheel to be pressed on the driving wheel, and the driving wheel drives the driven wheel to rotate so as to drive the paper pads in the flow channel to be conveyed in the direction of the discharging port. According to the paper pad filling machine, due to the fact that the pressing mechanism can drive the driven wheel to be pressed on the driving wheel, the driven wheel and the driving wheel are tightly attached, stable pressing force is generated, and the extrusion force between the driving wheel and the driven wheel can enable forming of a paper pad to be firmer and not prone to loosening; and moreover, the formed paper pad with the thickness changing randomly cannot slip or be jammed when passing through the space between the driving wheel and the driven wheel, and self-compensation of surface abrasion after the driving wheel and the driven wheel run for a long time can be realized.

The invention discloses a wafer clamping mechanism, and belongs to the technical field of semiconductor manufacturing equipment. The wafer clamping mechanism comprises an external clamping mechanism, an internal clamping mechanism and a wafer rotating and transferring mechanism. The internal clamping mechanism integrates four motion functions of lifting, deflection, pitching and rotation. Wherein the gear driving motor drives the L-shaped connecting rod shaft to axially move through a gear rack pair, and then the movement is converted into the swing of the rotating shaft through the connecting rod mechanism, so that the pitching adjustment of the suction cup is realized; the deflection motor drives the overturning shaft through the synchronous belt to achieve deflection movement of the suction cup. The rotating motor directly drives the suction cup to rotate, and the Z-axis moving module achieves accurate positioning in the vertical direction. The external clamping mechanism is responsible for bearing and horizontally rotating the wafer, and the rotary transfer mechanism realizes automatic transfer of the wafer among different stations. According to the invention, the problems of function splitting, low space utilization rate and insufficient clamping stability in the prior art are solved, and multi-degree-of-freedom precise posture adjustment of the wafer can be synchronously realized.

The application relates to a kind of decoupled chassis robust control methods for road adhesion disturbance, comprising: based on the dynamics characteristics of each wheel drive, brake and steering independently controllable decoupled chassis system, through demand force reachability analysis, the realization ability of different control action combinations to target force is analyzed, and the control action decomposition feasible region of target force in ideal state is constructed;Calculate the influence of different longitudinal and lateral control actions on target force and the control accuracy of vehicle motion state under road adhesion disturbance, and construct the influence model of adhesion coefficient disturbance on the whole vehicle state under disturbance condition;Based on the framework of multi-objective optimization problem, the robust control algorithm for decoupled chassis is designed, and the redundant tire force control mechanism of decoupled steering chassis is used to generate control actions that minimize the influence of adhesion disturbance on the whole vehicle state.The application can fully utilize the redundant characteristics of decoupled chassis control action, and significantly improve the control robustness of vehicle under complex road adhesion conditions.

The utility model relates to the technical field of high-precision aluminum plate production and processing, and discloses a high-precision aluminum plate quenching device with a rotating structure, which comprises a device bottom cylinder, and a top frame is fixedly arranged at the top end of the device bottom cylinder. When the high-precision aluminum plate quenching device with the rotating structure is used, after a high-precision aluminum plate is clamped and fixed in the fixing frame, a hydraulic cylinder is controlled to start to drive a mounting seat to move downwards, the high-precision aluminum plate is placed in a bottom cylinder of the device to be cooled and quenched, and meanwhile, a servo motor can be controlled to start to drive a worm to rotate by utilizing a speed reducer; when the worm rotates, the meshed worm gear can be used for driving the connecting shaft to rotate, and the connecting shaft can drive the connecting seat and the aluminum plate at the bottom to rotate while rotating, so that the aluminum plate can be in uniform contact with low-temperature cooling liquid in the bottom cylinder of the device, the cooling efficiency of the aluminum plate is improved, and a high-precision aluminum plate workpiece can be conveniently and efficiently cooled; the problem that efficient cooling of a high-precision aluminum plate workpiece is inconvenient is solved.

A double-eccentric-wheel-driven massager with replaceable coplanar massage heads includes: a housing including an upper cover and a lower cover; a drive mechanism disposed in the housing and provided with a drive shaft; centrosymmetrical connecting rods, where the centrosymmetrical connecting rods each include an input portion at a middle and symmetrical vertical rods extending downward, the input portion is in driving connection with the drive mechanism, and the symmetrical vertical rod is driven by the drive mechanism to make a reciprocating motion; a massage member, including a first connecting rod and first massage heads, the first connecting rod being detachably connected to the symmetrical vertical rod; a limiting portion disposed on the lower cover; and a limiting member connected to the symmetrical vertical rod and cooperating with the limiting portion to limit a downward motion of the symmetrical vertical rod, thereby driving a reciprocating motion of the massage member.

The invention discloses a vehicle torque control method and device and related equipment. The method comprises the steps that the utilization adhesion coefficient and the slip rate of target wheels of a vehicle in a preset first time period and the feedback torque of the target wheels are obtained, and the target wheels comprise at least one wheel driven by a target motor; the utilization adhesion coefficient and the slip rate of the target wheel are fitted, and the longitudinal rigidity of the vehicle is determined; performing torque operation on the longitudinal stiffness to obtain a feed-forward torque of the target wheel; and determining the sum of the feedforward torque and the feedback torque as a target motor torque, and controlling the target motor to output the target motor torque, the target motor being a motor corresponding to the target wheel.

The invention relates to an automobile finite time path tracking fault-tolerant control method considering steering actuator faults. The method comprises the following steps: firstly, establishing a vehicle dynamics model and a steering execution mechanism dynamics model, designing a path tracking control strategy by applying a model prediction control method, and establishing an upper-layer path tracking controller; then, on the basis of a differential driving auxiliary steering principle, a preset performance control method of finite time convergence and a nonsingular fast terminal sliding mode control theory are combined, and a steering actuator fault-tolerant controller is established; and finally, designing a torque distribution controller by adopting an optimal control theory, and solving an optimal four-wheel driving torque control quantity through quadratic programming. According to the method, the influence caused by the failure of the steering actuator can be effectively compensated, the safety and the stability of the vehicle are remarkably improved, and a feasible solution is provided for the fault-tolerant control of the steering actuator in a future intelligent vehicle path tracking scene.

A system performs a method for operating a vehicle. A raw total axle torque request for the vehicle is received at a processor of the vehicle. The vehicle includes a primary axle, one or more electric motors on the primary axle, an engine coupled to the primary axle, a secondary axle, and an additional electric motor on the secondary axle. The processor performs an optimization to determine a primary axle torque target and a secondary axle torque target that meets the raw total axle torque request while locating a value representative of a minimum of an objective cost function for the vehicle, controls the one or more electric motors and the engine at the primary axle using the primary axle torque target; and controls the additional electric motor at the secondary axle using the secondary axle torque target.

This invention discloses a stacking machine for corrugated cardboard box production, comprising a base and multiple cardboard boxes; a drive assembly; a rotating assembly; a pushing assembly; a flipping assembly; a reciprocating lifting assembly; a leveling assembly; and a lifting baffle. When the grooved wheel rotates 360°, two cardboard boxes in an L-shape are present on each side of the roller bed. Simultaneously, the grooved wheel drives the flipping assembly to rotate 180°, flipping the two L-shaped cardboard stacks. At the same time, the flipping assembly drives the leveling assembly to push the L-shaped cardboard box on one side of the roller bed to merge with the L-shaped cardboard box on the other side of the roller bed, forming a U-shaped cardboard stack. The reciprocating lifting assembly continues to slide to one side, and the upper U-shaped cardboard stack falls down and stacks with the lower U-shaped cardboard stack. At this time, the flipping assembly is located below the roller bed. When the grooved wheel rotates 360° again, the L-shaped cardboard stack does not flip, allowing the upper U-shaped cardboard stack to be stacked with the lower U-shaped cardboard stack in a staggered manner. The above movement is repeated to perform a U-shaped staggered stacking, which improves the stability of the cardboard stack to a certain extent.

The utility model relates to the technical field of wheelchairs, and provides a front wheel driving type stair climbing chair which comprises a chair frame, and a seat plate and a backrest are arranged on the chair frame. Two groups of obliquely arranged track frames are fixedly mounted at the side rear part of the chair frame; a track is mounted on the track frame; the chair frame is further provided with a stair climbing motor used for driving the two crawler belts to rotate synchronously. Two front wheels are mounted at the front end of the chair frame; a rotating shaft is arranged on the chair frame; the two ends of the rotating shaft are fixedly connected with rear wheel legs respectively, and rear wheels are installed on the rear wheel legs. The front wheel is a driving wheel; and the rear wheel is a driven wheel. Therefore, the front wheels are arranged to be the driving wheels, the wheel tread width is small, and then the turning radius is reduced. The structure of the rear wheels is simplified, spacing is reduced, and access to the door frame is facilitated. When the stair climbing chair steers in a narrow space, one front wheel serves as a turning fulcrum, the back and the side faces of the stair climbing chair have enough space, steering operation is convenient and fast, and safety is good. The front wheel is a driving wheel, so that the risk that the stair climbing chair turns backwards during sudden acceleration is also avoided.