45results about How to "Control method is effective" patented technology

The invention discloses a method and a device for controlling to support a foot of a humanoid robot in a single leg supporting period and belongs to the field of robots. An expected virtual zero moment point is arranged outside the foot supporting region, and a step increasing quantity generated through the rotation of the robot can be acquired. The method comprises steps of calculating the virtual zero moment point and detecting the rotation angle of the supporting foot; determining the rotation angle of the supporting foot; determining the position of the virtual zero moment point; and limiting the position of the virtual zero moment point. The device comprises a calculating and detecting module, a rotary angle control module, a virtual zero moment point position control module and a virtual zero moment point position limiting module. By the aid of the method and the device, the humanoid robot can support the foot to rotate in the single leg supporting period, the walking step is increased, and the control is simple and reliable.

The invention discloses an S-shaped soft-bodied robot which consists of a movement base body, a power system and a signal system, wherein the movement base body consists of a plurality of bilaterally symmetric unit bodies that are made of complete soft material in a hollow casting manner; the unit bodies comprise outer walls, inner spaces enclosed by the outer walls, and air passages communicated with the inner spaces; the inner spaces, except air inlet pipes, of the unit bodies are completely air-tight; the power system mainly comprises an air pump and magnetic valves; the quantity of the magnetic valves accords with that of the unit bodies; and opening and closing of a magnetic valve assembly are controlled by the signal system. Based on the bionics principle, through rational utilization of the particular characteristics of the soft material, the soft unit bodies forming the movement base body are subjected to special structural design, so that the mechanics requirement of wriggling movement is met, and advancing, retrograde and turning movements of the soft-bodied robot are realized.

The invention relates to an intelligent iris recognition gun locker control system which comprises a charging and power supply control module, a master control module, a serial port touch screen, an indicating lamp and starting control module, an iris recognition module and gun locking mechanism control and acquisition modules. The input end of the charging and power supply control module is connected with a switch power supply or a storage battery, and the output end thereof is connected with and provides power for the master control module and the gun locking mechanism control and acquisition modules; the master control module is connected with and provides power for the serial port touch screen, the iris recognition module, the indicating lamp and starting control module and the gun locking mechanism control and acquisition modules; the serial port touch screen sends related instructions to the master control module during touch operation; the iris recognition module registers or recognizes an iris user through collecting a medium of an iris, and receives the instructions sent by the master control module and feeds result back to the master control module; the indicating lamp and starting control module receives a command sent by the master control module and gives a response; and the gun locking mechanism control and acquisition modules are connected with gun locking mechanisms.

The invention discloses a method for controlling web television and videos broadcasting, a web television system and a set-top box. The method comprises the following steps of creating a controlled object according to an extended script; connecting the controlled object to a player of the set-top box; controlling the player of the set-top box by the controlled object according to received operation orders and / or internal events. The method, the system and the set-top box conveniently achieve the control on the video playing of the set-top box through a server, and serve the function that the server actively controls video playing of the set-top box, improve the flexibility of the video broadcasting playing of IPTV business, and decrease the difficulty in handling video playing business.

The invention relates to one call telephone sorting and interface method in communication technique field, which realizes user self-definition rules to control calls on base of SIM card, wherein, in the inner structure, user cell phone judges SIM car reset status through interacting platform through cell phone and SIM card; the cell phone sends detail call transfer or forbids interface order content to limit call interface to end; SIM card not sending Send USSD order to cell phone to permit cell phone to indicate user call to end.

The invention provides a cooperative priority control method of double tramcars at a level crossing under a non meeting state. The invention provides a phase position control method of signal lights when two tramcars reach the level crossing in the states except for the meeting state by considering the condition that the tramcars and social vehicles run together at the level crossing. According to the invention, by separating conflicting vehicles based on time, obeying the principle of let the tramcars relatively preferentially go and vehicles free from the conflict go simultaneously, and adopting the control strategies of green-light extension, red-light early stopping, phase position insertion and phase position crossing, mutual conflicts of two types of vehicles are reduced and passing efficiency of the level crossing is improved.

The invention provides a vehicle-mounted fuel cell engine system and a control method thereof, belongs to the technical field of fuel cell engines, and solves the problems that in the prior art, a reliable control method is lacked during low-power output of a fuel cell, and energy is wasted during standby. The system comprises an electric pile, an air compressor, an air inlet throttle valve, an intercooler, a tail exhaust throttle valve, a hydrogen discharge valve and an engine controller. Air sequentially passes through the air compressor, the air inlet throttle valve and the intercooler to enter the electric pile, and the hydrogen discharging valve and the tail exhaust throttle valve are arranged at the hydrogen pile outlet and the air pile outlet respectively. The engine controller is used for regularly judging whether the required power of the whole vehicle is greater than the minimum output power of the fuel cell or not; if yes, the galvanic pile is controlled to output according to the required power of the whole vehicle; otherwise, whether the real-time output power of the electric pile exceeds the rated threshold value or not is recognized, if yes, the electric pile is subjected to load reduction and purging till the rated threshold value is not exceeded, the electric pile is powered on, the single-chip voltage index of the electric pile reaches the specified threshold value range, and standby is executed.

The invention discloses a household environment energy saving control method on the basis of fuzzy intelligent-behavior simulation. The household environment energy saving control method is characterized by including steps of building an energy saving fuzzy control device, building an energy saving fuzzy control mathematical model, implanting a single-chip microcomputer fuzzy controller, acquiring indoor environment information and sending the information to the single-chip microcomputer fuzzy controller, performing a fuzzy reasoning operation by the single-chip microcomputer fuzzy controller to obtain a fuzzy comfort control output response value, sending the response value to a drive execution mechanism, and controlling openness of a window curtain. By the household environment energy saving control method, difficult problems of contradiction of conventional indoor energy saving parameters, complexity of hardware circuits and the like are solved. In addition, the energy saving control method has the advantages of scientific and effective fuzzy evaluation, simple hardware circuits, high response speed and the like.

The invention discloses a method and a system for controlling a lifter. The method comprises the following steps: a host controller receives control signals sent by an operating board controller, wherein the control signals include handle signals and / or keyboard signals; the host controller judges the control signals and outputs first layer flattening signals to a frequency converter according to a judgment result, wherein the first layer flattening signals comprises automatic layer flattening signals and manual layer flattening signals; the frequency converter outputs a first layer flattening action command according to the received first layer flattening signals, wherein the first layer flattening action command is used for controlling a motor to work. According to the method and the system, the problems that the operation is troublesome, and the structure of a machine is easily damaged because an existing lifter is in shortage of an automatic layer flattening function, and a tractor driver needs to carry out inching adjustment by virtue of a handle in a single manual layer flattening process are solved.

The invention relates to a control method for a neutral system with distributed time delay based on an interval two-type T-S model. The method firstly determines a mathematical model of a chemical reactor of the petroleum refinery, secondly converts the mathematical model into an interval two-type T-S fuzzy model, designs a T-S fuzzy controller by the parallel distributed compensation method, finally determines a stability condition of the interval two-type T-S fuzzy system, and transforms the stability condition into a linear matrix inequality to obtain a control gain. The control method provided by the invention utilizes the interval two-type T-S model to describe the chemical reactor refining process in the petroleum refinery, and the interval two-type T-S fuzzy set has advantages overthe one-type fuzzy set in the processing system uncertainty, and at the same time has lower computational complexity than the two-type fuzzy set. Therefore, modeling the system using functions of theinterval two-type fuzzy set not only makes the system description more accurate, but also makes the control method more efficient.

The invention discloses a method for controlling a crack of a fiber reinforced concrete wall. The method for controlling the crack of the fiber reinforced concrete wall comprises the following steps that firstly, selection of the diameter of each steel bar and the number of the steel bars is conducted so that stress concentration caused by abrupt change of the structural section can be avoided; secondly, optimization selection of raw materials of concrete is conducted; thirdly, optimal design of the mixture ratio of concrete is conducted; fourthly, effective control and effect detection are conducted on the construction progress. According to the method for controlling the crack of the fiber reinforced concrete wall, reasonable layout of the steel bars, reasonable reservation of expansion joints, and reasonable selection of sand are conducted, tests and engineering practice show that the method for controlling the crack of the fiber reinforced concrete wall is effective on control over the large-area concrete crack of a base plate, and the problem that the structure generates cracks in the process of construction of a basement can be solved, favorable conditions of crack control are fully utilized, and the situation that the crack control effect is not ideal in the prior art is changed. In addition, the method for controlling the crack of the fiber reinforced concrete wall is simple, convenient to control and effective.

The invention relates to the technical field of preparation processes, in particular to a method for controlling genotoxic impurities in a metformin hydrochloride sustained release tablet preparation process, which comprises the following steps of: controlling the content of impurity dimethylamine in a raw material medicine metformin hydrochloride and the content of impurity nitrite in an auxiliary material hydroxypropyl methylcellulose; effective control of the genotoxic impurity N-nitrosodimethylamine is achieved, side reactions of medication of patients are reduced, and medication safety of the patients is guaranteed to a certain extent; the content of the genetic toxic impurity N-nitrosodimethylamine of the metformin hydrochloride sustained-release tablet is far lower than that of the State Food and Drug Administration and an acceptable limit specified by FDA (Food and Drug Administration).

The invention discloses a control method for a submerged-arc welding platform for an intersection-line seam of a thick-wall large-size cylindrical weld element. The control method includes that confirming the weld element size and welding speed, and confirming a proper discrete step length; discretizing the intersection line to obtain coordinate values of a discrete welding spot; gathering an actual pitch angle and an actual rotating angle of the weld element through a sensor and using as two feedback quantity, comparing with pitch angle and rotating angle control reference values to obtain errors, using as the input of pitch and rotating position PID controllers, and using the output of the two position PID controllers as the speed control reference values of a roller drive motor and a hydraulic pump drive motor; comparing the three degree of freedom position control reference value of the welding gun with an actual welding gun position value detected by the sensor to obtain an error, and using the output of position PID controllers in three directions of the welding gun as speed control reference values of servo drive motors corresponding to three directions of a mechanical arm of the welding gun to realize closed loop control. The control method for the submerged-arc welding platform for the intersection-line seam of the thick-wall large-size cylindrical weld element is capable of effectively and stably controlling the submerged-arc welding platform for the intersection-line seam of the thick-wall large-size cylindrical weld element and enables the high-quality weld joint welding to be guaranteed.

The invention aims at the problems of low efficiency, poor consistency, unclean cleaning and easiness in destroying a to-be-destroyed substrate or a radar electronic component of manual large-scale cleaning. The invention provides an acoustic vibration brush, which comprises a handle, a rechargeable battery compartment, a switch, a rechargeable battery, an acoustic transducer, a vibration bar, a brush head sleeve and bristle. The invention provides a cleaning method, which comprises the six steps of installing, injecting cleaning fluid for the first time, cleaning, carrying out visual inspection, injecting the cleaning fluid for the second time and cleaning, and blowing. The acoustic vibration brush and the cleaning method which are provided by the invention have the beneficial technical effects that an acoustic vibration manner is adopted to drive the bristle to clean the vibration sensitive ceramic substrate or the radar electronic component at short time and high frequency, so that the cleaning efficiency is improved, the operation fatigue is alleviated and the cleaning effect consistency is guaranteed.

The invention provides an immersion type water hole heating rotating device. The device comprises a control system, and further comprises an inductor and a temperature measuring device, wherein the inductor is arranged at the outer side of an immersion type water hole in a sleeving mode, and is connected to the bottom of a tundish; the temperature measuring device is arranged beside the immersiontype water hole, and is electrically connected to the control system; a coil which is wound at the outer side of the immersion type water hole and is in the shape of a tapered solenoid is arranged inthe inductor, and the diameter of the coil is gradually reduced from top to bottom; and the coil is electrically connected to the control system. Compared with the prior art, the immersion type waterhole heating rotating device provided by the invention realizes controlling the temperature and a flowing way of molten steel which enters a crystallizer once by heating molten steel in the immersiontype inlet and controlling a molten steel flowing way, is small in energy consumption, and can greatly reduce the temperature of a bale and can homogenize the temperature of molten steel in the crystallizer. The invention further provides a working method of the immersion type water hole heating rotating device.

The invention relates to a DC transformer series side bus capacitor voltage-sharing device and voltage-sharing method. The voltage-sharing device comprises a switching power supply, a control board card and a fan. The switching power supply acquires electric energy from the bus capacitor and supplies power to the control board card and the fan. Before the direct-current transformer is started, thecontrol board card collects the voltage of the bus capacitor, and when the voltage of the bus capacitor is smaller than the rated voltage, the rotating speed of the fan is controlled to decrease. When the voltage of the bus capacitor is higher than the rated voltage, the rotating speed of the fan is controlled to increase, and the fan is a heat dissipation fan of the direct-current transformer power module. According to the invention, the heat dissipation fan when the DC transformer power module operates normally is reused for static voltage sharing of the bus capacitor on the series side ofthe direct-current transformer, the efficiency of the whole direct-current transformer is improved, electrical elements of a power module of the direct-current transformer are reduced, the cost is reduced, the power density of the direct-current transformer is improved, and the control method is simple, effective and easy to implement.

The invention relates to a method for realizing the gang control of three Z axes in a numerical control machine system, which is based on the principle that when the three Z axes are adjusted to have the same workpiece coordinate, the three Z axes are uniform in motion control for the same workpiece so as to obtain the effect that information calculated from one axis can simultaneously control the three axes, and the motion of the three axes is correct actually. The method comprises the following steps: taking one axis as an effective axis by the system and calculating the motion control information of the Z axis; storing the information whether each Z axis moves or not by the system according to external commands and mutually switching the three Z axes from a motion state to a non-motion state; sending the motion control information of one Z axis to other Z axes by the system. The control method can effectively control a plurality of Z axes to link together in the batch processing of a numerical control machine, enhance working efficiency and reduce processing time. The control method is effective and reliable.

The invention provides a surface treatment method and system for strip steel. The method comprises at least comprises the following steps of: 1) pressurizing high-temperature gas and spraying the pressurized high-temperature gas to the surface of strip steel in an incinerator; 3) brushing the surface of the strip steel for a first time; and 3) brushing the surface of the strip steel for a second time. The surface treatment method provided by the invention effectively removes adhesive substances such as rolling oil and iron powder on the surface of the strip steel, and sufficiently utilizes heat of combustion waste gas of the incinerator, so that a great deal of alkali liquor is not used, and therefore, the surface treatment method is energy-saving and environmentally friendly, and is low in production cost.

The invention relates to a fuel cell hybrid power system, a power supply unit and a charging control method. The method first detects the state of charge value of the power battery, and then judges whether it is greater than the set state of charge value: if it is greater than the set state of charge value, Then control the DC / DC between the fuel cell and the power battery so that the fuel cell does not charge the power battery; otherwise, control the DC / DC between the fuel cell and the power battery so that the fuel cell charges the power battery with a constant current in stages; The stages are divided according to the state of charge value of the power battery, and the charging current of each stage is different, and the charging current of the stage with a small state of charge value of the power battery is greater than that of the stage with a large state of charge value of the power battery. The control method of the present invention is simple, reliable and effective, so that the fuel cell does not need to follow the power change of the vehicle, thereby prolonging the service life of the fuel cell and ensuring the service life of the power battery, and at the same time, making the energy management strategy of the vehicle simple and reliable.

The invention discloses a cooling water flow control device of a lead-acid storage battery plate casting machine. A cooling water main pipe, cooling water branched pipes and flow control devices are arranged. The flow control device comprises a flow control body, an automatic adjusting device, a lower-limit flow positioning device and a shell. An automatic control switch is arranged in the flow control body. A displacement sensor in signal connection with the automatic control switch is arranged in the automatic adjusting device. A flow cavity is formed in the flow control body. The flow control body is arranged in the flow cavity and achieves automatic adjustment on flow through the automatic adjusting device. The lower-limit flow positioning device is arranged between the flow control body and the automatic adjusting device to achieve quantitative control over the minimum working flow of the cooling water flow. The invention further discloses a cooling water flow control method. Theflow control device automatically adjusts the cooling water flow according to changes of the indoor temperature. The minimum temperature difference between plate casting machines in a workshop is guaranteed. The consistency of a grid structure and a grid crystal form is realized.

The invention relates to a method for realizing the gang control of three Z axes in a numerical control machine system, which is based on the principle that when the three Z axes are adjusted to have the same workpiece coordinate, the three Z axes are uniform in motion control for the same workpiece so as to obtain the effect that information calculated from one axis can simultaneously control the three axes, and the motion of the three axes is correct actually. The method comprises the following steps: taking one axis as an effective axis by the system and calculating the motion control information of the Z axis; storing the information whether each Z axis moves or not by the system according to external commands and mutually switching the three Z axes from a motion state to a non-motionstate; sending the motion control information of one Z axis to other Z axes by the system. The control method can effectively control a plurality of Z axes to link together in the batch processing ofa numerical control machine, enhance working efficiency and reduce processing time. The control method is effective and reliable.

The invention discloses an impact-proof buffer release control method and experiment apparatus for a space tether system combination body. The impact-proof buffer release control experiment apparatus comprises a master control computer, a visual sense detection device, an optics identifier, an object emulator, an elastic tether, a tether folding and unfolding apparatus, a task platform emulator and a basic platform. An impact-proof buffer release ground experiment platform capable of simulating a space microgravity environment is designed, and a foundation is laid for verifying effectiveness of proposed control strategies on the ground. The impact-proof buffer control method for the tether system combination body is simple, effective and capable of realizing impact-proof buffer control over the combination body via tension force control over tethers so as to prevent system impact and collision The method is advantaged by simple control, rapid control responses, strong robustness, convenience of engineering implementation and the like. The method is suitable for controlling the space tether system combination body on general occasions. The impact-proof buffer release control method and experiment apparatus can be used for simulating the ground experiment platform in a weightless environment in space, and the platform can be widely applicable and can be used for conducting other relevant space simulation experiments.

The invention discloses an S-shaped soft-bodied robot which consists of a movement base body, a power system and a signal system, wherein the movement base body consists of a plurality of bilaterally symmetric unit bodies that are made of complete soft material in a hollow casting manner; the unit bodies comprise outer walls, inner spaces enclosed by the outer walls, and air passages communicated with the inner spaces; the inner spaces, except air inlet pipes, of the unit bodies are completely air-tight; the power system mainly comprises an air pump and magnetic valves; the quantity of the magnetic valves accords with that of the unit bodies; and opening and closing of a magnetic valve assembly are controlled by the signal system. Based on the bionics principle, through rational utilization of the particular characteristics of the soft material, the soft unit bodies forming the movement base body are subjected to special structural design, so that the mechanics requirement of wriggling movement is met, and advancing, retrograde and turning movements of the soft-bodied robot are realized.

The invention provides a cooperative priority control method of double tramcars at a level crossing under a non meeting state. The invention provides a phase position control method of signal lights when two tramcars reach the level crossing in the states except for the meeting state by considering the condition that the tramcars and social vehicles run together at the level crossing. According to the invention, by separating conflicting vehicles based on time, obeying the principle of let the tramcars relatively preferentially go and vehicles free from the conflict go simultaneously, and adopting the control strategies of green-light extension, red-light early stopping, phase position insertion and phase position crossing, mutual conflicts of two types of vehicles are reduced and passing efficiency of the level crossing is improved.

The invention discloses a method and a system for controlling a lifter. The method comprises the following steps: a host controller receives control signals sent by an operating board controller, wherein the control signals include handle signals and / or keyboard signals; the host controller judges the control signals and outputs first layer flattening signals to a frequency converter according to a judgment result, wherein the first layer flattening signals comprises automatic layer flattening signals and manual layer flattening signals; the frequency converter outputs a first layer flattening action command according to the received first layer flattening signals, wherein the first layer flattening action command is used for controlling a motor to work. According to the method and the system, the problems that the operation is troublesome, and the structure of a machine is easily damaged because an existing lifter is in shortage of an automatic layer flattening function, and a tractor driver needs to carry out inching adjustment by virtue of a handle in a single manual layer flattening process are solved.

The invention relates to a control method of a neutral system with distributed time-delay based on an interval-type T-S model. The present invention firstly determines the mathematical model of the chemical reactor of the petroleum refinery; secondly, converts the above mathematical model into the interval two-type T-S fuzzy model; then adopts the parallel distribution compensation method to design the T-S fuzzy controller; finally determines the interval two-type T ‑S Fuzzy system stability conditions, and transform into linear matrix inequalities, to find the control gain. The present invention uses the interval type 2 T-S model to describe the refining process of the chemical reactor of the petroleum refinery. The interval type 2 T-S fuzzy set has advantages over the type 1 fuzzy set in terms of processing system uncertainty, and at the same time, it is computationally complex. It is lower than the type II fuzzy set. Therefore, modeling the system using interval-type fuzzy set functions not only makes the system description more accurate, but also makes the control method more effective.

The invention discloses a method for controlling web television and videos broadcasting, a web television system and a set-top box. The method comprises the following steps of creating a controlled object according to an extended script; connecting the controlled object to a player of the set-top box; controlling the player of the set-top box by the controlled object according to received operation orders and / or internal events. The method, the system and the set-top box conveniently achieve the control on the video playing of the set-top box through a server, and serve the function that the server actively controls video playing of the set-top box, improve the flexibility of the video broadcasting playing of IPTV business, and decrease the difficulty in handling video playing business.

The invention relates to an intelligent iris recognition gun cabinet control system, which includes a charging and power supply control module, a main control module, a serial port touch screen, an indicator light and an opening control module, an iris recognition module, and a gun locking mechanism control and acquisition module. The input of the power control module is connected to the switching power supply or battery, and its output is connected to the main control module, the gun locking mechanism control and acquisition module and supplies power to them; the main control module is connected to the serial touch screen, iris recognition module, indicator light and opening control module respectively. The module and gun locking mechanism control are connected with the acquisition module and provide power for it; the serial port touch screen sends relevant instructions to the main control module during touch operation; the iris recognition module registers or identifies iris users through the medium of collecting irises, and receives the main control The instruction sent by the module is fed back to the main control module; the indicator light and the opening control module receive the command sent by the main control module and respond; the gun locking mechanism control and acquisition module is connected with the gun locking mechanism.

The invention relates to a crawling soft robot driven by a thermally deformable cavity, which is composed of a motion base, an actuation system, a foot expansion system and a signal system; the motion base is composed of three identical unit bodies, a head, and a first foot group and a second foot group. The joints of the three units are covered with air ring pads, so that the moving base can move smoothly. The actuator includes an outer wall and an inner cavity surrounded by the outer wall, and the inner cavity is completely air-tight; the actuation system includes an actuator, a heating system and a cooling system, and the operation of the heating system and the cooling system is controlled by a signal system . The foot expansion system incorporates an actuation system to change the direction of motion of the motion substrate. Based on the principle of bionics, the present invention makes special structural design on the soft unit modules constituting the base by rationally utilizing the special properties of soft materials, so as to meet the mechanical requirements for the movement of soft robots and realize the forward, turning and backward movements of soft robots.