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Omnidirectional moving transfer robot with Mecanum wheels
InactiveCN105479433AImprove motor flexibilityHigh degree of intelligenceManipulatorVehicle frameDrive wheel
The invention discloses an omnidirectional moving transfer robot with Mecanum wheels. The omnidirectional moving transfer robot comprises a mechanical arm with six degrees of freedom, an omnidirectional moving base plate, a binocular vision device, a master control box and a remote monitoring device. The omnidirectional moving base plate comprises a frame and the multiple Mecanum wheels arranged below the frame. Each Mecanum wheel is a drive wheel. A plurality of distance measuring sensors are arranged on the periphery of the frame. Each distance measuring sensor is fixedly connected with the frame through an independent suspending module. By means of the structure, the rotating speeds and the steering direction of all the wheels are matched so that a moving platform can move in any direction in the plane, and the moving flexibility of the whole transfer device is remarkably improved; in addition, it can also be ensured that the Mecanum wheels are in full contact with the ground, and operation stability and control precision are improved; and furthermore, the binocular vision device is used for guiding the robot to move and conduct the object carrying and conveying task, the whole process is completed by the robot independently, and the intelligence degree is higher.
Owner:JIANGSU UNIV OF SCI & TECH
System for controlling automatic car-following operation and method thereof
ActiveCN107089231AImprove reliabilityImprove adaptabilityExternal condition input parametersDriver input parametersControl systemRadar
The invention discloses a system for controlling automatic car-following operation and a method thereof. The system comprises a piloting-car control system and following-car control systems, wherein the piloting-car control system is arranged on a piloting car, and the following-car control systems are arranged on following cars and communicate with the piloting-car control system. The piloting-car control system collects related data about the piloting car through a plurality of sensors and a GPS positioning device which are arranged on the piloting car, and sends the data to the following car through a car-car communicator. Each following-car control system receives the data based on a car-car communicator and collects data through a plurality of sensors, a GPS positioning device, a radar, a camera and the like which are arranged on the following car, and then controls automatic car-following driving of the following car according to the data. Multi-data is integrated to judge the following situation of the following car so that the safety and the reliability of automatic driving can be ensured effectively.
Owner:CHINA FIRST AUTOMOBILE
Electric pressure cooker
ActiveCN107019419ASmall linear motion distanceLarge rotation angleFood processingPressure-cookersEngineeringCooked food
The invention discloses an electric pressure cooker, which comprises a cooker body, a cooker cover and a driving mechanism, wherein the cooker body comprises an outer pot and an inner pot which is arranged in the outer pot, and the inner pot is used for accommodating cooked foods; the cooker cover is arranged on the cooker body and the cooker cover covers the inner pot in a sealing mode; an exhaust passage which communicates with the interior of the inner port and a pressure limiting valve which is in charge of controlling a ventilation state of the exhaust passage are arranged on the cooker cover; the driving mechanism comprises a power mechanism which is used for offering rotating motion of a rotating shaft and a threaded transmission mechanism which is used for converting rotation of the rotating shaft into vertical motion of the pressure limiting valve; and the threaded transmission mechanism comprises threaded pillars and threaded holes which are mutually matched. With the application of the technical scheme provided by the invention, a problem in the prior art that an electric pressure cooker, which cannot achieve continuous exhausting, is poor in cooking effect since foods cannot be kept turning continuously is solved.
Owner:ZHEJIANG SHAOXING SUPOR DOMESTIC ELECTRICAL APPLIANCE CO LTD
Control structure of double-fed AC-DC-AC converter for wind power generation
ActiveCN1992496AIncrease speedImprove robustnessConversion with intermediate conversion to dcSingle network parallel feeding arrangementsPower factorFuzzy pi
This invention discloses a dual-feed AC-DC-AC converter control structure for wind power generation, and the rotor exciting magnetic converter using the fuzzy PI adaptive control strategy of current inner loop. When the generator no-load networking, the current inner loop uses the conventional PI regulator, and after networking, as to three modes, sub-synchronization, synchronization, super-synchronous, it uses fuzzy adaptive PI control. The network-side converter uses SPWM control strategy which fixed switching frequency and combining electric network electromotive front-feed. In the invention, both converting processes use four-quadrant operation PWM converters based on full-controlled devices, so it can not only improve the system dynamic response, reduce wastage and impact, achieve the two-way electric transmission, but also it can achieve wind power generation network side unit power factor sinusoidal current networking power generation operating.
Owner:SUNGROW POWER SUPPLY CO LTD
Intelligent sleep monitoring system for preventing kids from kicking quilts
ActiveCN104900000AEnsure sleep qualityImprove temperature monitoring accuracyAlarmsEngineeringHeat sensitive
The invention provides an intelligent sleep monitoring system for preventing kids from kicking quilts, comprising a control assembly, magnetic sensors, stretching motors, drive pulleys, pull ropes, a humidity-sensitive resistor, a thermal-sensitive resistor, magnets, temperature sensors, and a remote alarm assembly. The humidity-sensitive resistor and the thermal-sensitive resistor are arranged on the obverse side of a bed body. The magnetic sensors and the stretching motors are arranged in the corners of the bed body. The control assembly is connected to the humidity-sensitive resistor, the thermal-sensitive resistor, the magnetic sensors and the stretching motors. A quilt is connected to the stretching motors through the pull ropes. The temperature sensors are arranged on the quilt, and the temperature sensors are connected with the control assembly in a wireless communication mode. The control assembly is connected with the remote alarm assembly in a wireless communication mode. The intelligent sleep monitoring system of the invention has the functions of automatically covering a kid with a quilt, alarming for high fever and enuresis, and the like, and has a high level of intelligence. Long-term test shows that the intelligent sleep monitoring system can prevent kids from kicking quilts in sleep in a fully automatic way and improve the quality of sleep of both kids and parents.
Owner:左冬平
Solar cell assembly frame and angle assembling device and process thereof
InactiveCN102024868ARealize semi-automationNo need for manual handlingFinal product manufactureSemiconductor devicesDrive wheelEngineering
The invention discloses a solar cell assembly frame and angle assembling device and a process thereof, and relates to a solar cell assembly device. The invention provides the solar cell assembly frame and angle assembling device with good comprehensive use performance, scientific and reasonable structure, simple process and high automation degree. The device comprises a rack; the center of the rack is provided with a lifting mechanism; the sides of the lifting mechanism are provided with locking and adjusting mechanisms respectively, fixed on the rack and connected with movable supports; the movable supports are provided with frame assembling cross beams for connecting an upper guide plate and a lower guide plate respectively, the lower guide plate fixes an angle assembling bottom plate of an angle assembling cylinder and is connected with the frame assembling cross beam, and the angle assembling bottom plate fixed on the inner round angle of the rack is provided with an angle assembling mechanism; the upper guide plate of the frame assembling cross beam is provided with a transmission mechanism consisting of a motor, a telescopic pipe and a driving wheel set, and the two corresponding sides of the transmission mechanism are provided with positioning guardrails; and the transmission mechanism is connected with a frame closing mechanism.
Owner:YINGKOU JINCHEN MACHINERY
Method and device for controlling energy balance between bridge arms of modularized multi-level converter
InactiveCN103595285AGuaranteed control accuracyImprove stabilityAc-dc conversionResonanceEnergy balanced
The invention provides a method and device for controlling the energy balance between bridge arms of a modularized multi-level converter and relates to the field of control over the energy balance between the bridge arms of modularized multi-level converters. The method and device for controlling the energy balance between the bridge arms of the modularized multi-level converter solve the problem that energy imbalance between the bridge arms of the modularized multi-level converter causes unstable operation of the modularized multi-level converter. According to the method for controlling the energy balance between the bridge arms of the modularized multi-level converter, an alternating-current component is added to a bridge arm circulation, so that a channel of energy exchange between the upper bridge arm and the lower bridge arm is formed, and on the premise that the alternating-current output voltage of the modularized multi-level converter is not influenced, energy balance of the upper bridge arm and the lower bridge arm is controlled through the control over the component of the alternating-current circulation. According to the device for controlling the energy balance between the bridge arms of the modularized multi-level converter, an inner-ring controller composed of a standard proportional resonance adjuster is adopted, and both the stability and the reliability of the modularized multi-level converter are improved by over 5% through the control over the energy imbalance of the upper bridge arm and the lower bridge arm. The method and device are suitable for controlling the energy balance between the bridge arms of the modularized multi-level converter.
Owner:HARBIN INST OF TECH +1
Vertical shaft maglev wind power generator
ActiveCN101761454ALow start wind speedExtend working hoursShaftsMachines/enginesMagnetic bearingMagnetic poles
A vertical shaft maglev wind power generator is composed of vanes, a rotary shaft, a power generator, a radial magnetic bearing, an axial TDOF magnetic bearing, an upper protection bearing, a lower protection bearing, an upper protection bearing retainer ring and a lower protection bearing retainer ring; the rotational part and the stationary part of the fan are not in mechanical contact, the mechanical friction in the fan is completely eliminated and the FDOF levitation of the fan rotor is realized. The axial magnetic bearing of the fan supplies gravity offset through 4 stator magnetic poles and the effect of a suction disc and performs axial translation and two radial rotational DOF control on the rotor; and the radial magnetic bearing finishes the two radial translation control of the fan rotor. The invention has reasonable layout of the components, completely eliminates the friction problem of the vertical shaft fan bearing, greatly reduces the starting wind speed of the wind power generator and improves the wind energy utilization rate.
Owner:BEIHANG UNIV
Multiple-on-line heat pump air-conditioning system and method for controlling multiple-on-line heat pump air-conditioning system
ActiveCN102927715ALow costReduce control difficultyMechanical apparatusSpace heating and ventilation safety systemsEngineeringAir conditioning
The invention discloses a multiple-on-line heat pump air-conditioning system and a method for controlling the multiple-on-line heat pump air-conditioning system. The method is that a confluence unit performs gas-liquid separation and compression to a refrigerant output by the third end of a changing-over unit and outputs the refrigerant to the first end of the changing-over unit; under the working conditions of refrigeration and cooling-free dehumidification, a refrigerant output by the second end of the changing-over unit is driven to flow through a first heat exchange unit, a second electronic expansion valve, a second heat exchanger, a third electronic expansion valve and a third heat exchanger, flows back to the fourth end of the changing-over unit through a first stop valve and then is output out of the third end; under a working condition of heating, a refrigerant output by the fourth end of the changing-over unit is driven to flow through the third heat exchanger, the third electronic expansion valve, the second heat exchanger and the second electronic expansion valve, flows back to the second end of the changing-over unit through a second stop valve and the first heat exchange unit and then is output from the third end. By applying the method, the system cost can be reduced, and the control accuracy of the multiple-on-line heat pump air-conditioning system can be improved.
Owner:QINGDAO HISENSE HITACHI AIR CONDITIONING SYST
Navigation robot obstacle detection method and system
InactiveCN102445694AExpand the detection rangeHigh precisionAcoustic wave reradiationActive safetyEngineering
The invention discloses a navigation robot obstacle detection method and system. The system mainly comprises an ultrasonic detection module, an ultrasonic scanning module, an infrared detection compensation module and a robot core control module, wherein the ultrasonic detection module is mainly realized by amplifying a 40 kHz high-voltage driving signal and an ultrasonic receiving signal. The module is erected on a scanning steering engine to realize front non-dead-angle 180-degree scanning detection. By combining infrared range finding, the compensation of a navigation robot ultrasonic blind region is realized. A driving circuit is realized by establishing an H bridge with a field effect transistor. In a navigation robot, planar multi-point sensing is realized by using a pair of ultrasonic probes; the range finding range can reach 5.9 m at farthest; and a detection blind region is reduced to 2 cm. The system has the characteristics of low cost, small detection blind region, high anti-diffraction capacity, high real-time property and the like and has broad industrialization prospect. The method and the system can be used for the fields of micro robot navigation, environmental detection, intelligent vehicle active safety and the like.
Owner:CENT SOUTH UNIV
Synchronous belt pulley driving structure, robot drive base and tabletop-level mechanical arm
PendingCN110948470ALow costExtended service lifeProgramme-controlled manipulatorElectric machineryControl theory
The invention provides a synchronous belt pulley driving structure, a robot drive base and a tabletop-level mechanical arm. By means of ingeniously arranging the space relationship of a stepping motor, a first synchronous belt pulley, a second synchronous belt pulley, a synchronous belt, an output shaft, an encoder code disk and an encoder reading head portion on a base plate, arranging the transmission structure of the stepping motor, the first synchronous belt pulley, the second synchronous belt pulley, the synchronous belt and the output shaft and adopting the structural arrangement of theencoder code disk and the encoder reading head portion which are used for reading the rotation quantity of the output shaft, the synchronous belt pulley driving structure has a relatively low integration level since the structure is simple and parts are not excessive, and since the rotation quantity of the output shaft can be read, the control precision is guaranteed; and in this way, the materialcost, the installation cost and the maintenance cost are lowered, and the service life of the driving structure is effectively prolonged.
Owner:SHENZHEN YUEJIANG TECH CO LTD
Road surface self-adaption anti-skid controlling system and method for distributed type driving electric automobile
ActiveCN106985703AAvoid affecting distribution layer momentsEffective anti-slipSpeed controllerElectric devicesElectric machineControl system
The invention relates to a road surface self-adaption anti-skid controlling system and a method for a distributed type driving electric automobile. The road surface self-adaption anti-skid controlling system comprises a motor controller, a motor torque distributor, an actual measurement sensor unit, a nonlinearity road surface estimating unit, an anti-skid controlling selective access unit and a driving anti-skid controlling unit, the nonlinearity road surface estimating unit is used for obtaining road surface peak value attachment coefficients of all wheels, the driving anti-skid controlling unit conducts anti-skid controlling and outputs control torque according to the road surface peak value attachment coefficients, of the wheels, obtained by the nonlinearity road surface estimating unit and actual measured data of the actual measurement sensor unit, the anti-skid controlling selective access unit conducts a logical judgment and then outputs control torque or distributed torque to the motor controller according to the control torque output by the driving anti-skid controlling unit, distributed torque of the motor torque distributor and the actual measured data of the actual measurement sensor unit, and the motor controller controls four driving motors to move. Compared with the prior art, the road surface self-adaption anti-skid controlling system and the method for the distributed type driving electric automobile have high control precision and a good anti-skid effect.
Owner:TONGJI UNIV
Thermal power generating unit coal feed amount control method based on frequency modulation and peak regulation of power grid
ActiveCN104238494AGuaranteed stabilityMeet the requirements of FM and peak shavingTotal factory controlProgramme total factory controlThermodynamicsControl system
Owner:STATE GRID CORP OF CHINA +2
Intelligent valve positioner
ActiveCN101846212ARealize automatic controlReduce processing costsOperating means/releasing devices for valvesEngineeringCopper
The invention relates to an intelligent valve positioner. A copper waterproof connector and a silencer are arranged outside a box body, while a transducing plate, a connecting plate, a cartridge valve and an insert block are arranged in the box body; a plug block is arranged below the connecting plate, and a main board is arranged above the connecting plate; a protection cover is arranged above the main board; a valve plate is arranged on one side of the cartridge valve and has a valve port; and a linear displacement sensor is arranged on a pneumatic actuating mechanism out of the box body and connected with the copper waterproof connector by a lead. The intelligent valve positioner has a simple structure, rational design, low energy consumption and high control precision, can conduct functions of valve position alarm, fault alarm and self-diagnosis, can be switched manually and automatically, has 'gas, power supply and signal interruption' protection functions, works stably in severe spot environments and has a wide application range.
Owner:航天科工哈尔滨风华有限公司
Automatic thickness control system and method of blown film
The invention discloses an automatic thickness control system and method of a blown film. The automatic thickness control system of the blown film comprises a film thickness detection module, a film thickness control module, a film cooling and forming mold with a plurality of brushless direct-current motors as well as a control panel. According to the invention, an FPGA (field programmable gate array) control chip of a programmable logic device is utilized to achieve a fuzzy control algorithm so as to obtain the speed control quantity of the brushless direct-current motors; by combining a double-closed-ring control algorithm for the brushless direct-current motors a control signal output by the FPGA control chip is changed and adjusted correspondingly when the thickness of the film is changed; the thickness uniformity of the films at different circumferential parts can be controlled by acquiring horizontal thicknesses of the films at controlled subzones and the positions of air flue openings corresponding to the films via transmission and decoupling control, so that the control requirement on horizontal thickness uniformity of the films can be met; the automatic thickness control system and method of the blown film are high in integrity, small in volume, good in robust performance, stable and reliable in operation, high in expansibility, high in control precision, low in accumulative error, and high in adaptability.
Owner:XI AN JIAOTONG UNIV
Optimal control system for steel rolling heating furnace
ActiveCN103019097AGuaranteed control accuracyGuaranteed stabilityAdaptive controlFurnace temperatureOptimal control system
The invention discloses an optimal control system for a steel rolling heating furnace, relating to the technical field of steel rolling of a heating furnace. Firstly, an on-line furnace temperature setting device is established according to different billet types, production rhythm, billet initial temperature and billet tapping temperature; the billet tapping temperature is controlled by controlling the temperature of the furnace; based on heat efficiency models under various working conditions, the loading variation of the heating furnace is calculated and taken as a feedforward value of the furnace temperature, and the high-accuracy control on the temperature of the heating furnace under loading fluctuation is realized; and on the basis, an optimal air-fuel ratio is found by establishment of an air-fuel ratio optimal control model, so that the heating furnace achieves an optimal burning condition and the aims of saving fuel and lowering steel loss are achieved.
Owner:北京和隆优化科技股份有限公司
Constant-pressure water pumping compressed gas energy storage system and energy storage method
ActiveCN108930627AAvoid lostReduce lossesHydro energy generationEngine componentsAutomotive engineeringBattery energy storage
The invention discloses a constant-pressure gas storage water pumping compressed gas energy storage system and an energy storage method. A high-pressure constant-pressure gas storage cabin, a water-gas jointly containing cabin and a water storage pool are arranged, stable sealing pressure is provided through the water-level difference of the high-position water storage pool and the low-position high-pressure constant-pressure gas storage cabin, the investment cost of the system is greatly reduced, the recovering age limit of the energy storage system is shortened, the operating economy of thesystem is improved, the energy loss in the throttling pressure stabilizing process is avoided, it is guaranteed that a compressor and an expansion machine run under the constant working condition, thesystem efficiency is improved, the water-gas jointly containing cabin and the water storage pool form a water pumping energy storage system, the high-pressure constant-pressure gas storage cabin anda water storage pool close to the ground form a water pumping energy storage system, that is the double water pumping energy storage systems are formed, in the energy storage process and the energy releasing process, flowing changing speeds of water in the water storage pool and water in the low-position high-pressure gas storage cabin are slow, the loss of the water in the flowing process is relatively small, and the efficiency of the water pumping energy storage system formed by the high-pressure constant-pressure gas storage cabin and the water storage pool close to the ground is improved.
Owner:XI AN JIAOTONG UNIV
Multi-terminal flexible direct current power transmission system adaptation droop control method
ActiveCN106253320ALarge power marginSmall power marginElectric power transfer ac networkFuzzy logic inferenceDistribution characteristic
The invention discloses a multi-terminal flexible direct current power transmission system adaptation droop control method. The method comprises the following steps of taking a system direct current voltage deviation and a convertor station power deviation as input variables respectively; taking a droop control coefficient as an output variable; and using a fuzzy logic reasoning method to adjust the droop coefficient in real time so that the droop coefficient is adjusted in real time along with changes of a system operation condition. The method possesses the following advantages that according to the system operation condition, a convertor station direct current voltage deviation and a power margin are detected and the droop coefficient is adjusted in real time so that the system can guarantee control precision of a direct voltage when a convertor station power margin is large; and when the convertor station power margin is small and a maximum transfer capability is approached, a power distribution characteristic is guaranteed to be good.
Owner:STATE GRID CORP OF CHINA +4
Control method of two-way direct current conversion device
InactiveCN103036433ASimple designGuaranteed continuityDc-dc conversionElectric variable regulationCircuit complexityControl signal
The invention discloses a control method of a two-way direct current conversion device. The control method of the two-way direct current conversion device is suitable for high voltage and high power conversion sites, and can support frequent changing-over of power flow direction. Switching loss and circuit complexity can be balanced. At first an upper switch tube breakover time T 1 and a lower switch tube breakover time T 2 in a control cycle T s are calculated according to required pulse width modulation (PWM) control signal duty ratio D, and the ratio of T 1 to TS is D. In the process of practical control, one main circuit in the two-way direct current conversion device can be used as a reference subcircuit. The control on the reference subcircuit is that the upper switch tube and the lower switch tube in the reference subcircuit are controlled to be communicated in a complementary mode in each control circuit T s, and every time the upper switch tube and the lower switch tube are changed over, the dead time delta is added to carry out transition. Therefore the real breakover time of the upper switch tube is that T 1 subtracts the delta, and the real breakover time of the lower switch tube is that the T 2 subtracts the delta. The control on an un-referenced subcircuit is that control signals of all un-referenced subcircuits are the same, and differ by 180 degrees from the control signals of the reference circuit.
Owner:BEIJING POWER MACHINERY INST
Hydrodynamic deep drawing equipment for forming deep cavity parts
InactiveCN102327945AHigh forming precisionImprove the sticking degreeAutomatic controlControl system
The invention relates to hydrodynamic deep drawing equipment for forming deep cavity parts, which is capable of deep drawing the deep cavity parts with complicated shapes such as necking-type parts with negative draft angles. The equipment is formed by three parts, i.e. a host machine, a hydraulic control system and an automatic control system of a computer. The host machine is a hydraulic machine with three beams and four columns; the hydraulic control system provides motion power to the host machine and mainly comprises two main loops, i.e. a side pressing control loop and a charging chamber control loop; and the automatic control system of the computer is used for collecting data of a displacement sensor and a pressure sensor in real time, accurately controlling and recording formed parameters, and also accurately controlling pressure according to a set curve. The equipment provided by the invention can be used for forming the parts which cannot be formed by a traditional forming process or can be formed only by a plurality of processes; has the advantages of high forming accuracy, good surface quality of the parts, high die fitting degree and the like; and has the characteristics of simplicity and convenience in operation, high control accuracy, high universality, high automation degree and the like.
Owner:CHENGDU AIRCRAFT INDUSTRY GROUP
Rotary table of desktop mechanical arm, desktop mechanical arm and robot
PendingCN112454328ARealize away from the arrangementAvoid affecting the transmissionProgramme-controlled manipulatorArmsElectric machineryMechanical engineering
The invention discloses a rotary table of a desktop mechanical arm. The rotary table is provided with a base, a large arm driving motor, a small arm driving motor, a large arm speed reducing assemblyand a small arm speed reducing assembly, wherein the large arm driving motor and the small arm driving motor are located at the rear side of the base and arranged in an up-down stacking manner; the large arm speed reducing assembly and the small arm speed reducing assembly are located on the left outer side surface and the right outer side surface of the base separately; the large arm speed reducing assembly comprises a large arm first-level synchronous belt wheel and a large arm second-level synchronous belt wheel located between the large arm first-level synchronous belt wheel and the base;and the small arm speed reducing assembly comprises a small arm first-level synchronous belt wheel and a small arm second-level synchronous belt wheel located between the small arm first-level synchronous belt wheel and the base. According to the rotary table of the desktop mechanical arm, the safety is improved; for a speed reducing synchronous belt, arrangement for auxiliary assemblies is reduced, so that the manufacturing cost is reduced, and the speed reducing ratio can be increased and the speed reducing effect can be improved, so that the control precision is ensured; and moreover, the rotary table of the desktop mechanical arm is simple in structure, easy to detach and install, and convenient to maintain.
Owner:SHENZHEN YUEJIANG TECH CO LTD
Device for closed-loop control of permanent magnet synchronous motor
ActiveCN102122915AGuaranteed control accuracyShorten the design cycleElectronic commutation motor controlAC motor controlLoop controlClosed loop feedback
The invention discloses a device for closed-loop control of a permanent magnet synchronous motor, which comprises a current sampling recover module, a closed-loop feedback control module, a voltage coordinate inverse conversion module and a space vector pulse width modulation module. The optimized design of the whole control algorithm is realized by using the device for closed-loop control of a permanent magnet synchronous motor provided by the invention under the condition of ensuring motor control precision; moreover, a hardware circuit can be used for adjusting motor parameters and dead time according to a specific motor, thereby shortening the design period and flexibly applying the device for closed-loop control to various permanent magnet synchronous motors.
Owner:INST OF MICROELECTRONICS CHINESE ACAD OF SCI
Underwater multipurpose robot propelled by bionic undulating fins
PendingCN111422334APropulsion mode quietImprove concealmentMeasurement devicesPropulsive elements of non-rotary typeClassical mechanicsUltrasonic doppler
The invention discloses an underwater multipurpose robot propelled by bionic undulating fins. The underwater multipurpose robot comprises a head, a middle, a tail, a left bionic undulating fin propelling mechanism and a right bionic undulating fin propelling mechanism which are arranged in sequence. The bionic undulating fin propelling mechanisms on the left side and the right side with a cam swing arm driving structure as the core are adopted for driving the fin strips to drive the flexible fin faces to generate continuous undulating deformation, the fin strips act with water to generate advancing thrust, through cooperation with a sinking and floating adjusting mechanism in the middle, multi-dimensional movement such as straight moving, turning and floating and diving of the underwater robot can be achieved, and good maneuverability is achieved. Meanwhile, the sensing flow field speed data and the self orientation data can be obtained according to an ultrasonic Doppler current meterarranged at the head part and a USBL underwater acoustic positioning system; motion of the underwater robot is planned, the underwater robot is selected to operate on a channel with constant flow velocity and small flow resistance, the underwater robot has the capacity of sensing and reducing underwater surge interference in advance, and the underwater robot has good reliability and robustness.
Owner:XI AN JIAOTONG UNIV
Precise landing control method for unmanned aerial vehicle
InactiveCN106020239AReduce distractionsStrong reliabilityTarget-seeking controlFly controlControl system
The invention discloses a precise landing control method for an unmanned aerial vehicle. The method comprises the steps that 1, the unmanned aerial vehicle executes landing preparing; 2, the unmanned aerial vehicle starts hovering and shoots a base station through a camera; 3, an unmanned aerial vehicle control system conducts denoising processing and binarization processing on a shot image, a central point is determined by adopting a central method, when the central point is marked as a suspicious point, mode recognition is conducted on the suspicious point, and when mode matching is successful, an unmanned aerial vehicle flying control system controls the unmanned aerial vehicle to land; 4, in the landing process of the unmanned aerial vehicle, the flying control system controls the flying attitude of the unmanned aerial vehicle according to the offset; 5, the unmanned aerial vehicle precisely lands on the base station for landing. According to the method, an influence of interference factors on base station seeking is reduced by adopting denoising processing, binarization processing and mode recognition, and the control precision is high; in the landing process of the unmanned aerial vehicle, the flying attitude of the unmanned aerial vehicle is adjusted in real time, and it is guaranteed that the unmanned aerial vehicle precisely lands on the base station.
Owner:南京奇蛙智能科技有限公司
Multi-shaft AC servo motor control device
ActiveCN106208876AHigh control precisionGood real-time controlElectronic commutation motor controlAC motor controlHysteresisMotor shaft
The invention provides a multi-shaft AC servo motor control device, which comprises a parallel bus communication module, a PWM cycle counter module, an encoder feedback signal processing module, an AD interface module, a first sequential control module, a position loop computation module, a first filter group, a second filter group, a speed loop computation module, a third filter group, a data conditioning module, a CLARK transformation module, a PARK transformation module, first and second current loop computation modules, a counter electromotive force compensation module, a cross decoupling compensation module, a bus voltage compensation module, an IPARK transformation module, an ICLARK transformation module, an SVPWM module, a second sequential control module, a PWM comparator module and a dead zone insertion module. When the multi-shaft AC servo motor control device is used, the control hysteresis of a position loop, a speed loop and a current loop can be eliminated, the real-time property is good and the control precision is high; and through the global PWM cycle counter, the complete synchronization between multiple motor shafts can be realized.
Owner:广州金智为电气有限公司
Model uncertain boundary-based planet landing trajectory tracking robust control method
InactiveCN102968124AImprove controlGuaranteed control accuracyPosition/course control in three dimensionsAdaptive controlCelestial bodyFeedback control
The invention relates to a model uncertain boundary-based planet landing trajectory tracking robust control method, in particular to a trajectory tracking robust control method in a planet landing process under the condition that a detector is disturbed by multiple sources, belonging to the technical field of deep space detection guidance and control. According to the method, in consideration of influences of a target celestial body gravitation model and outside interferences and other uncertain factors on trajectory tracking, the design concept of a model uncertain boundary is introduced; through designing a robust feedback control rule and ensuring the nonlinear characteristic of a control mechanism, a deviation between an actual tracking trajectory and a feedforward guidance design trajectory does not exceed an expected boundary, therefore, the landing trajectory tracking performance of the planet detector disturbed by multiple sources is optimized, the influences of the multi-source disturbance and system uncertainty on the landing flight trajectory of the detector can be effectively overcome, the control performance of the detector system is improved, and the landing flight trajectory control precision of the planet detector is ensured.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Steering system capable of switching various steering modes
InactiveCN106184352ARealize automatic/manual steering functionSteering control with high precisionElectrical steeringVehicle position/course/altitude controlDriver/operatorSteering linkage
The invention provides a steering system capable of switching various steering modes and belongs to the technical field of electric automobile driving. The steering system comprises a left steering wheel, a steering gear, a right steering wheel, an angle and torque sensor I, a power transmission gear set, a clutch, an EPS motor, an EPS controller, an angle and torque sensor II, an angle and torque sensor III, a steering wheel, a servo motor, a steering column, a servo motor controller and an automobile control system. Through deep analysis of the requirements for the steering system of an unmanned automobile, the steer-by-wire technology is combined with the EPS technology, an automatic / manual steering function is achieved, and the control accuracy of the steering angle in the automatic driving process is guaranteed; and in the manual steering mode, the manual steering mode based on steer-by-wire or mechanical steering can be selected according to the requirements of a driver.
Owner:JILIN UNIV
Intelligent setting method for on-line target strip shape of cold rolling strip
ActiveCN105689405AReduce shape deviationFacilitate the realization of intelligent settingsMeasuring devicesMetal rolling arrangementsLegendre polynomialsEngineering
The invention discloses an intelligent setting method for the on-line target strip shape of a cold rolling strip. The intelligent setting method comprises the following steps that a strip shape curve is divided into an original strip shape detection curve, a technology error strip shape compensation curve and a target strip shape curve, wherein the original strip shape detection curve and the technology error strip shape compensation curve are overlaid to form an effective actually-measured strip shape curve which is called the effective strip shape curve for short, and the target strip shape curve only needs to consider a strip shape control target for the follow-up process requirement; an on-line strip shape target curve is built on the basis of a quartic Legendre polynomial, the self-balanced constraint condition requirement (that is, the transverse integration in the width direction of the strip is zero) of the residual stress deviation of the rolled strip in the width direction of the strip is met, the target is clear, and the function is explicit; and a target strip shape standard curve library is built on the basis of an intelligent algorithm, the optimal parameter of the on-line target strip shape is obtained, and the control precision of the strip shape is ensured.
Owner:河北燕赵蓝天板业集团有限责任公司
Thyristor rectifier bridge parallel operation full digital current homogenizing control device
ActiveCN101795084AHigh control precisionImprove real-time performanceAc-dc conversionTerminal voltageAnode voltage
The invention discloses a thyristor rectifier bridge parallel operation full digital current homogenizing control device, which comprises a regulator, a rectifier cabinet controller, thyristor rectifier bridges and a detection component. The regulator is a master controller; the rectifier cabinet controller is a slave controller; a terminal signal processing module regulates terminal voltage and current signals of a generator, so that the terminal voltage and current signals are suitable to be output to an analog-to-digital conversion module of a regulator controller; and a synchronization signal processing module regulates the anode voltage of the rectifier cabinet thyristor rectifier bridges, so the anode voltage is suitable to be output to a pulse formation module of the regulator controller to serve as a synchronization signal of the anode voltage of the thyristor rectifier bridges. Due to the adoption of digital closed loop control, full digital intelligent current homogenization for a plurality of parallel operation thyristor rectifier bridges under full-motion environment is realized by real-time sampling and control.
Owner:DONGFANG ELECTRIC MACHINERY +1
Full-active cooling hypersonic flight vehicle
ActiveCN107914862AAvoid thermal structural thermal matching problemsGuaranteed aerodynamic shapeBoundary layer controlsFuselage insulationFlight vehicleTranspiration
The invention discloses a full-active cooling hypersonic flight vehicle which comprises a transpiration cooling end, a transpiration cooling wing front edge, a transpiration cooling rudder front edge,a regenerative cooling rudder surface, a regenerative cooling windward side and a flight vehicle leeside, wherein porous structures are formed in the transpiration cooling end, the transpiration cooling wing front edge and the transpiration cooling rudder front edge, and the interiors of the porous structures are filled with liquid cooling media; the liquid cooling media can be supplied outwardsfrom the porous structures, flow through the porous structures to perform heat exchange, are heated and then flow out of the outer surface of the end in a gaseous form; and the regenerative cooling rudder surface and the regenerative cooling windward side are respectively used for cooling the rudder surface and the windward side of the flight vehicle in a regenerative cooling manner, and the liquid cooling media carried inside the flight vehicle are used for blocking, cooling and taking away pneumatic heating volume of the flight vehicle transferred into the flight vehicle in the hypersonic flight process, so that thermal protection requirements of the flight vehicle on high-speed, long-term and long-distance flight in the atmosphere are met.
Owner:BEIJING LINJIN SPACE AIRCRAFT SYST ENG INST +1
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