210results about How to "Improve control performance" patented technology

The invention discloses a nonlinear output feedback flight control method for a quad-rotor unmanned aerial vehicle. The nonlinear output feedback flight control method for the quad-rotor unmanned aerial vehicle comprises the following steps of: (1) determining a kinematic model of the quad-rotor unmanned aerial vehicle under an inertial coordinate system and a kinematic model of the quad-rotor unmanned aerial vehicle under a body coordinate system; (2) designing an attitude control system of the quad-rotor unmanned aerial vehicle; defining tracking errors of the attitude angle and the angular speed of the quad-rotor unmanned aerial vehicle; designing a filter to perform online estimation on an angular speed signal and obtain an open loop dynamic equation of the tracking errors; and estimating unknown functions in the open loop dynamic equation by adopting neural network feedforward, and designing attitude system control output of the quad-rotor unmanned aerial vehicle; and (3) designing a height control subsystem of the quad-rotor unmanned aerial vehicle; defining height tracking errors and defining auxiliary filtering tracking errors; and designing a height subsystem controller. According to the nonlinear output feedback flight control method for the quad-rotor unmanned aerial vehicle disclosed by the invention, the polarity problem is effectively avoided, a wide-range stable control effect is achieved, the robust performance of the system is greatly improved, and the dependence of a flight controller on an airborne sensor is greatly reduced.

A flow control valve includes a main body 1, bonnet 2, spring receiving portion 3, piston 4, spring 24, first diaphragm 27, first valve member 5, second valve member 6 and base plate 7, wherein an opening area of a hydraulic control portion composed of a valve element of the second valve member and a valve seat of the main body is changed according to a motion of the piston.

The invention discloses a direct-current pre-excitation starting method for the VVVF (Variable Voltage Variable Frequency) control of an asynchronous motor under flux linkage control, belonging to the technical field of the starting control of asynchronous motors. The direct-current pre-excitation starting method for the VVVF control of the asynchronous motor under the flux linkage control is characterized in that an included angle for synthesizing an excitation current vector and a starting voltage vector in a starting process is 90 degrees; a current is decomposed according to a known voltage vector direction for the VVVF control to obtain a reactive current feedback value; and the reactive current feedback value is converted into a voltage regulation value by gain amplification to control the flux linkage. In the invention, the direct-current pre-excitation and the starting process are controlled sequentially by using a DSP (Digital Signal Processor) chip. The method has an inhibition effect on the peak current subsequently appearing in the starting process.

The invention discloses a device for detecting the brake performance of a disk damper brake of a friction type elevator. A speed photoelectric encoder is mounted at the shaft end of a friction roller; the speed photoelectric encoder is connected with a programmable controller of a data detection processing and control center; an electric eddy displacement sensor is mounted on a butterfly-shaped spring cylinder body of the disk damper brake; and the end face of the electric eddy displacement sensor and the end face of a damper brake shoe subjected to maximum wear maintain the same plane. The device can be applied to a mine friction type elevator and also can be applied to a mine winding type elevator and other mechanical equipment using the disk damper brake as a brake device.

The invention relates to a piloted valve, particularly a piloted proportional throttle valve, having a valve piston (29) displaceably guided in the longitudinal direction in a valve housing (13) having a fluid inlet (2) and outlet (1), the front side (27) whereof can be pressurized against a main valve seat (25) by fluid pressure acting on the back side thereof, having a pilot valve device comprising an actuating member (7) displaceable in the longitudinal direction by means of an electrically actuatable magnet system (4), working together with a pilot valve seat (37) in a bore (17) of the valve piston (29) connecting the back side thereof to the fluid outlet (1) on the front side of the piston, in order to reduce the fluid pressure on the back side of the piston (29) for an opening motion when the pilot valve seat (33) is released, a flow baffle device (39) being disposed between the back side of the piston and the fluid inlet (2) of the housing (13) for building up the fluid pressure pressurizing the piston (29) against the closed position thereof by introducing pilot fluid, characterized in that the flow baffle device (39) comprises a device for performing filtration, preferably gap filtration, of the pilot fluid.

The invention provides an electric wheel automobile steering road feeling and whole automobile stability control method. The method comprises the steps of firstly, building a steering and whole automobile system dynamics model, then, designing an ideal steering road feeling characteristic diagram, then, obtaining a steering road feeling controller, providing the proper steering road feeling for adriver, and finally obtaining a whole automobile stability controller so that the whole automobile can kept in stable running under various working conditions. By considering factors such as externaldisturbance, road surface parameter changes and sensor noise, robust mixed road feeling control is performed; then, by synthesizing the influence of road feeling control on the automobile state, wholeautomobile stability robust control is performed. Accordingly, the steering road feeling and control stability of an electric wheel automobile can be effectively improved.

The invention relates to a production method for medium plates used in bridges with the high strength and toughness of 460Mpa and belongs to the technical field of bridge steels. The smelting production technique with the carbon content of 0.07 percent to 0.10 percent is used, and the carbon content is less than or equal to 0.040 percent by the converter endpoint; and the carbon adding is controlled by using silicon ferromanganese iron and micro-carbon ferromanganese to be matched with manganese, desulfurizating the large argon with the opening of 100 percent and heating the argon with the opening of 30 percent; the micro-alloying of Nb, V and Ti is used; the micro-alloying is treated in vacuum after being refined in a ladle furnace; the sheet slab constant casting speed casting technique guarantees the casting blank quality; two stages of control rolling are carried out on a heavy plate mill, and the rerolling temperature is 850 DEG C to 950 DEG C, and the finish rolling temperature is 790 DEG C to 810 DEG C; a rolled control cooling system with the finish cooling temperature of 630 DEG C plus or minus 20 DEG C and the cooling temperature of 10 to 15 DEG C / S is used for obtaining ferrite and pearlite tissues; the yield strength of the steel plate is more than or equal to 460Mpa, the toughness under the low temperature of minus 40DEG C is more than or equal to 100J. The production method for the medium plates has the advantages that the tissue, the property and the welding adaptability of the steel plates can be controlled stably and a trail is blazed in the technical route of producing the bridge steel plates with the high strength and toughness of 460Mpa.

The invention discloses a full-degree-of-freedom underwater vehicle and a control method thereof, and relates to the technical field of ROVs. A cabin part and a propeller part of the underwater vehicle are fixed to an integral support part and connected through a cable. The propeller part is composed of eight propellers, the propeller part is provided with a symmetry plane I, a symmetry plane II and a symmetry plane III, every two of the symmetry plane I, the symmetry plane II and the symmetry plane III are orthogonal, and the rotating directions of adjacent propeller blades are opposite. Theeight propellers are completely and symmetrically arranged, and blades of the adjacent propellers rotate differently, so that the underwater vehicle can complete actions of advancing, retreating, floating, diving, left-right translation, left-right turning, left-right tilting and overturning, low-head-rising rotation and fixed-depth hovering posture, and full-degree-of-freedom movement of front-back, left-right and up-down movement and overturning of the underwater vehicle is realized. In the process, translation and rotation are mutually independent, the resultant force during translation isonly a force vector coinciding with the translation direction, the resultant force during rotation is only a couple coinciding with the rotation direction, and the control effect is stable.

The invention relates to a control method of an oscillating type door wing of a safe passage. In the control method, a driving motor is adopted, a rotating shaft is arranged outside the driving motor and vertically movably arranged on a driving base, the oscillating door wing is connected with and arranged on the side surface of the rotating shaft and the oscillating door wing can be driven by the rotating shaft for realizing reciprocating oscillation under the drive of the driving motor. The oscillating type control method of the door wing of the safe passage is reasonable in design, stable in control operation and using performances, long in service life and convenient for mounting and maintenance. The driving control is simple, the maintenance and the repair are easy, a driving component is assembled quickly, the abrasion rate of the driving component is reduced and good opening and closing operations of the oscillating wing can be kept for a long time.

An optical head apparatus is made to be downsized while obtaining an sufficient driving force of an objective lens actuator. The optical head apparatus includes a first optical system including a first objective lens for focusing a light beam upon an optical disc; a second optical system including a second objective lens for focusing a light beam upon an optical disc having an information recording density smaller than the optical disc which the first optical system irradiates upon, the second objective lens having a numerical aperture smaller than the first objective lens; and an up-orienting prism including a first reflecting surface for deflecting a light beam to an optical axis of the first objective lens in the first optical system, and a second reflecting surface for deflecting a light beam to an optical axis of the second objective lens in the second optical system.

The present invention relates to an embedded piezoelectric jacquard control system and control method. The control system is mainly composed of an industrial control computer, a piezoelectric jacquard controller, a proximity switch, piezoelectric jacquard repeaters, piezoelectric jacquard drivers and a piezoelectric ceramics jacquard guide needle. The piezoelectric jacquard controller is implemented in a manner of designing master station software under a Linux system. An ARM+FPGA configuration is adopted by the piezoelectric jacquard repeaters. An industrial Ethernet EtherCAT bus is adopted by the whole system to transmit data. The embedded technology and the industrial Ethernet bus technology are well combined into a warp knitting machine piezoelectric jacquard control system, more accurate synchronous control is achieved, data transmission speed is faster, data packet capacity is larger, real-time response effect is better, system anti-interference capability is higher, wiring is more flexible, expansibility and update of functions are largely improved, and high-speed and intelligent levels of the warp knitting machine control system are improved.