36results about How to "Guaranteed continuous change" patented technology

The invention relates to a directional flow valve for a hydraulic support, in particular to a directional flow valve with the function of continuously adjusting flow and a control method thereof. Including main valve, pilot circuit and control part. The main valve includes the liquid return valve sleeve, the liquid inlet valve core, the liquid return valve core, the valve seat, the liquid inlet valve sleeve, and the return spring. The pilot circuit includes a normally closed high-speed switch valve, a normally open high-speed switch valve, a one-way valve, A one-way valve, the control part includes a pressure sensor, a displacement sensor, a flow calculation unit and a controller. The invention can not only realize the continuous adjustment of the direction and flow of the hydraulic support, precisely control the flow, improve the attitude control accuracy of the hydraulic support, but also realize the soft start of the main valve spool and reduce the hydraulic impact caused by the sudden opening and closing of the spool.

The invention discloses an error-controllable industrial robot fairing movement track generation method which comprises the following steps: S1, generating an MOVEB movement instruction, describing an industrial robot movement track which comprises a track point and posture, a track point error threshold input by a user, and a chord height error threshold; S2, performing interpolation on a robot track point, namely performing interpolation on a high-order B sample curve into the track point according to the track point error and the chord height error threshold by using the high-order B sample interpolation algorithm, and respectively achieving G2 interpolation and G3 interpolation of the robot track point, so as to obtain an interpolation track which has high continuity and meets the track point error and chord height error requirements; S3, performing interpolation on the posture of the robot so as to obtain a robot posture curve with sectional G2 and continuous G3; S4, acquiring a movement track of the robot after interpolation according to the track point interpolation curve and the robot posture curve. By adopting the error-controllable industrial robot fairing movement track generation method, real-time continuous interpolation of the movement track can be achieved, calculation can be simple, efficient and precise, and vibration and abrasion of the robot can be reduced.

The invention relates to a method for active obstacle avoidance trajectory planning and stable tracking control of a two-wheeled self-balancing vehicle, which comprises an obstacle avoidance trajectory planning method based on a circular arc and a transition curve and a stable tracking control method based on a non-singular terminal sliding mode algorithm and a nested saturation algorithm. Trajectories planned by a local trajectory planning method comprise a lane changing trajectory, an overtaking trajectory and a lane combining trajectory. The non-singular terminal sliding mode algorithm controls a full-drive steering subsystem of the two-wheeled self-balancing vehicle, and the nested saturation algorithm controls an under-drive forward subsystem of the two-wheeled self-balancing vehicle. The obstacle avoidance trajectory planned according to the invention has the characteristics that the trajectory is gentle in curvature change and stable tracking of the under-drive two-wheeled self-balancing vehicle is facilitated; and the stable tracking control algorithm provided by the invention can enable the two-wheeled self-balancing vehicle to stably track the planned obstacle avoidance trajectory at a large initial value of the vehicle body inclination angle and keep the vehicle body to be stable at the same time, and thus active obstacle avoidance of the two-wheeled self-balancing vehicle is achieved.

Disclosed are a hydraulic variable-flow device with two parallel pumps and a rubber mixing mill roller driving system. The hydraulic variable-flow device with the two parallel pumps comprises a first hydraulic pump, a second hydraulic pump, a first one-way valve, a proportional flow control valve, a second one-way valve, a control valve, an actuating mechanism, loading equipment, a pressure control valve, a pressure sensor, a speed sensor, a controller, a variable-frequency governor of a first hydraulic pump driving motor and a control mechanism of a second hydraulic pump driving motor, wherein a pressure oil port of the control valve is connected with oil outlets of the first one-way valve and the second one-way valve, the actuating mechanism is connected with a working oil port of the control valve, the loading equipment is connected with the actuating mechanism, the pressure control valve is connected with an oil inlet pipeline of the pressure oil port of the control valve, the pressure sensor is used for detecting pressure of the oil inlet pipeline of the pressure oil port of the control valve, the speed sensor is used for detecting movement of the loading equipment, pressure signals detected by the pressure sensor and speed signals detected by the speed sensor are inputted to the controller, and the output end of the controller is electrically connected with the variable-frequency governor of the first hydraulic pump driving motor, the proportional flow control valve and the control mechanism of the second hydraulic pump driving motor.

The invention relates to a non-diffraction two-dimensional optical lattice cycle rapid and continuous adjustment method, in which a zoom lens and a lens are sequentially added along the optical axis on the optical path for generating the two-dimensional optical lattice. In the zoom lens, the position of the rear focal plane remains unchanged during focusing, and the distance between the zoom lens and the lens is the sum of the rear focal length of the zoom lens and the front focal length of the lens; by adjusting the focal length of the zoom lens, the The continuous change of the magnification of the beam expander system can realize the rapid and continuous adjustment of the non-diffraction two-dimensional optical lattice period.

The invention discloses a leaky-wave antenna and a beam forming method based on the same. The shape of the leakage gap of the leaky-wave antenna adopts a composite structure including different periodic structures corresponding to different radiation directions. The leaky-wave antenna and the beam forming method based on the same have clear principle and simple design, so that the design and optimization of beam forming can be promoted.

The invention relates to a non-diffraction two-dimensional optical lattice period adjusting system based on a zoom lens. The system comprises a laser, a first half-wave plate, a lens group for expanding beams, a beam splitting prism, a second half-wave plate, a spatial light modulator, a first lens, a mask plate, a reflector, a second lens, a zoom lens, a third lens and a detector. After the light beam retaining the base level information is reflected by the reflector, the light beam is interfered behind the reflector through the second lens to form a non-diffraction two-dimensional optical lattice, then sequentially passes through the zoom lens and the third lens and is imaged on the detector, wherein the position of the back focal plane of the zoom lens is kept unchanged during focusing, and the distance between the zoom lens and the third lens is the sum of the back focal length of the zoom lens and the front focal length of the third lens; by adjusting the focal length of the zoom lens, the continuous change of the amplification factor of the beam expanding system is achieved, so that the rapid continuous adjustment of the diffraction-free two-dimensional optical lattice period can be achieved.

The invention belongs to the technical field of underwater acoustic communication, in particular to an underwater acoustic communication method imitating dolphin whistle continuous phase multiple frequency modulation. The invention includes: the sending end performs continuous phase multi-frequency modulation on the information; the modulated signal is added to the time spectrum profile of the extracted dolphin whistle signal with a certain ratio coefficient to generate a synthesized whistle and obtain an imitation whistle data signal; Add the original whistle signal before the whistle data signal as a synchronization signal to form a frame of transmission signal; after the receiving end synchronizes, extract each symbol waveform; calculate the relationship between each symbol waveform and all possible signal waveforms of the symbol The correlation function realizes demodulation by judging the maximum correlation peak. The underwater acoustic communication method of the present invention imitates the dolphin whistle continuous phase multi-frequency modulation, each symbol can modulate a plurality of bit information, the communication rate is high, and the synthetic whistle signal has a high similarity with the real whistle signal, which has the advantages of Strong concealment, which can meet the needs of underwater concealed acoustic communication.