841results about How to "Improve control stability" patented technology

A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.

A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.

The invention relates to the technical field of automatic driving, in particular to an automatic driving system based on a highway. The automatic driving system comprises a sensor, a positioning module, a man-machine interaction module, an automatic driving controller and a vehicle executing module. A traditional laser radar is replaced with a monocular camera, a stereo camera, a forward-direction long distance millimeter microwave radar and four-corner middle distance millimeter microwave radars which are arranged behind an inside-vehicle rearview mirror, at the center of a vehicle front bumper and on the two sides of the front bumper and a rear front bumper correspondingly. Multiple kinds of information in traffic sign road information and obstruction information are collected separately. The whole automatic driving system of perception fusion, path planning, decision planning, controlling and the like is integrated into an embedded type controller to achieve automatic driving. Compared with a traditional automatic driving system adopting the laser radar, the cost is low, and integration is easy. Perception precision is improved greatly, the system is high in integration level and small in size, the size of the automatic driving system is reduced greatly, the power consumption of the system is lowered, and mass production is easy.

A navigation-controlling method of agricultural machine includes measuring out current attitude and movement state data of agricultural machine by navigation transducer, applying dynamic-target point searching algorithm to calculate out horizontal tracking error and longitudinal heading deflection, using fuzzy-PID control algorithm to calculate out operation-control value and carrying out actual control on agricultural machine according to said operation-control value for realizing path-tracking.

Disclosed is a novel adaptive control method and system called optimal control modification with normalization and covariance adjustment. The invention addresses specifically to current challenges with adaptive control in these areas: 1) persistent excitation, 2) complex nonlinear input-output mapping, 3) large inputs and persistent learning, and 4) the lack of stability analysis tools for certification. The invention has been subject to many simulations and flight testing. The results substantiate the effectiveness of the invention and demonstrate the technical feasibility for use in modern aircraft flight control systems.

The invention discloses a combination control system for integration electric power steering and active steering. The combination control system for integration electric power steering and active steering comprises an active steering control system, an electric power steering control system, an adjustment control system based on yaw velocity and an adjustment control system based on steering wheel moment, the active steering control system and the electric power steering control system are respectively connected with a vehicle speed sensor and a steering wheel angle sensor for calculating and processing the inputted vehicle speed and steering wheel angle and outputting the total front wheel angle control signal to the total system for steering the front wheel actively; the adjustment control system based on yaw velocity is used for adjusting the obtained yaw velocity value for having feedback to the active steering control system for amending the front wheel angle control signal; the adjustment control system based on steering wheel moment is used for adjusting the obtained steering wheel moment for having feedback to the electric power steering control system for amending the outputted front wheel angle control signal.

The invention discloses a beneficiation method for separating fluorite, white tungsten (black tungsten) and gangue minerals in complex polymetallic ore through flotation. Non-magnetic products of tailings subjected to sulphide ore flotation or tailings subjected to sulphide ore flotation and then subjected to strong magnetic separation for recycling black tungsten serve as two kinds of samples. The pH value is controlled by adding regulators, white tungsten, black tungsten, other gangue combined inhibitors and collectors are added, fluorite is subjected to differential flotation, then, tungsten minerals are subjected to flotation, and therefore fluorite and tungsten can be efficiently recycled. Loss of fluorite in tungsten flotation concentrate is avoided when tungsten minerals are subjected to differential flotation, and the defect that when tungsten flotation is performed, fluorite is difficult to recycle through flotation because the inhibitors have strong inhibition on fluorite, and beneficiation efficiency is low is avoided. Compared with a current beneficiation situation, the fluorite recycling rates of tests on the two different samples are increased by 39% to 48 % and 9% respectively, and the tungsten recycling efficiency is improved by 3%.

The present invention relates to an intelligent driving control system and method, and a vehicle. The intelligent driving control system comprises a driver model module used for collecting driver operation information and desired route information and predicting the running state parameters of the vehicle at future moments in combination with motion information of the vehicle, a preview control model module used for calculating the lateral correction angle and judging the correct running mode of the vehicle at the next moment, a path tracking control module used for converting the parameters into control quantities that can be executed by a vehicle system module, and the vehicle system module used for making responses to the control quantities obtained from the tracking control module to control the vehicle to move and feeding back motion parameters of the vehicle. The intelligent driving control system and method can not only predict a series of running states of the vehicle in a certain future period of time, but also can adaptively adjust the steering control quantities based on the vehicle running effect according to the actual driving environment, to improve the running safety and accuracy of the vehicle.

Provided is a low-cost compressor having excellent operation stability which enables the improvement of the stability of a control circuit by shielding electromagnetic noise and the effective prevention of the vibration of a control substrate while the design flexibility is maintained at the same high level as that of conventional ones. An inverter-integrated electric compressor in which a motor is incorporated and a high-voltage circuit for motor drive including an inverter and a control substrate provided with a low-voltage circuit for control are provided in a compressor housing is characterized in that a shield plate made of a material capable of shielding an electromagnetic noise emitted from the high-voltage circuit for motor drive toward the low-voltage circuit for control is interposed between the high-voltage circuit for motor drive and the control substrate, and the shield plate and the control substrate are fixed to each other and both are fixed at a predetermined position in the compressor housing.

The invention discloses a high-precision rare-earth polishing powder and a method for preparing the same. The high-precision rare-earth polishing powder is characterized in that D50 particle diameter is between 0.5 and 1.80 mu m; the powder also meets the conditions that D10 is more than or equal to 0.5D50, D90 is less than or equal to 2D50, and D100 is less than or equal to 3D50; a cerium lanthanum nitrate or cerium lanthanum chloride solution is added to an ammonium oxalate solution with PH value of between 4.5 and 5.5 to generate monodisperse lanthanum cerium oxalate or lanthanum cerium praseodymium oxalate deposit; and the deposit is used as a crystal seed to prepare the high-precision rare-earth polishing powder. The high-precision rare-earth polishing powder prepared by the method does not need airflow pulverization and precise classification and has the characteristics of small median particle diameter and narrow granularity distribution range; the stability of the wearing resistance and polishing precision is easy to control; and the quality of a product has small fluctuation.

In a linkage mechanism between a trigger valve and a control valve in a nail gun, the control valve is disposed on a main body of the nail gun. A valve plug of the control valve adjoins to a safety rod of the nail gun. A trigger valve is mounted on the main body and an outer trigger is disposed adjacent to the trigger valve. A valve stem of the trigger valve is extended in the outer trigger. An inner trigger is pivotably connected to a bottom end of the valve stem. An end of a rod member is slidably disposed at a side of the outer trigger and another end of the rod member is connected between the valve plug and the safety rod with an arm. A stopping portion is formed at a middle portion of the rod member. The stopping portion is configured for pressing the outer trigger so as to drive the inner trigger to push the rod member, the arm, the valve plug and the safety rod to move along a nail driving direction of the nail gun. The present linkage mechanism can improve a stability of controlling of nail shooting action and a durability of the nail gun.

The invention discloses a communication control method and apparatus for an unmanned aerial vehicle. The method comprises the steps of: detecting whether network parameters corresponding to a current network meet preset conditions; when the network parameters meet the preset conditions, generating a network switching request of a communication network; sending the network switching request to a control terminal; and if receiving a switching confirmation instruction returned by the control terminal in a preset time period, according to the switching confirmation instruction, switching the current network into a target network. Namely, when the unmanned aerial vehicle detects that the current network is interfered, the unmanned aerial vehicle generates the communication network switching request and fulfills the communication network switching aim by communication with the control terminal, so that the problem that the unmanned aerial vehicle is out of control due to interference to the communication network can be avoided, thereby improving control stability and safety of the unmanned aerial vehicle.

A method for operating a gas turbine (11) having a compressor (12), a turbine (14) and a combustor (13) with a pilot burner group (15a), a rich premix burner group (15b) and a lean premix burner group (15c), under changing composition of the incoming fuel gas (16), includes the steps of: continuously measuring, in real time, the composition of the fuel gas (16); and controlling the operation of the gas turbine (11) and the combustion of the burners (15a-c) by using the real time fuel gas composition measurements.

A target throttle opening degree computing device of a control apparatus computes a target throttle opening degree of a throttle valve and includes a phase lead compensator. A filter filters the target throttle opening degree to provide an ultimate target throttle opening degree, which is used to drive a drive motor to adjust an opening degree of the throttle valve.

The invention discloses a multichannel electrical stimulation device based on myoelectricity feedback, and relates to the field of medical instruments. The device comprises a myoelectricity signal collection / electrical stimulation output instrument, an upper computer, and a signal collection / output part. The myoelectricity signal collection / electrical stimulation output instrument is in communication connection with the upper computer, and the myoelectricity signal collection / electrical stimulation output instrument and the signal collection / output part are connected with each other through a wire. The signal collection / output part is connected to a human body. The device integrates the myoelectricity diagnosis and the electrical stimulation treatment to form closed-loop control, so as to achieve the sharing of a myoelectricity diagnosis and electrical stimulation electrode in different time periods. The device is high in cooperation degree, is good in compatibility, is portable and is easy to use. The device achieves the purposes of clinical active rehabilitation, precise positioning and diagnosis and targeting simulation treatment.

The invention relates to a kind of hot-wind desiccation controlling system. It includes a sensor group(1), a water sensor of the material(2), a transducer(3), a impedance transducer(4), a controller(6),a converter(9),a blowdown device(10) and a superior computer(13). The output signal of the sensor group(1) and the water sensor of the material(2) connect with the input end of the controller(6) individually through the transducer(3) and the impedance transducer(4). The input and the output interface of the controller (6) and the output and the input interface of the superior computer (13) realize the two-direction communication through the communication interface. The output interface of the controller (6) connects with the blowdown device (10) of the hot-wind desiccation chamber through the converter (9). The input quantity and the change rule of the system is not predefined but determined real time by the superior computer according to the online measuring value. It can save the energy loss, increase the desiccation efficiency and security and improve the hot-wind desiccation quality farthest as the character of the material in desiccation.

The invention provides a novel plane articulated robot structure which comprises a base, a lifting seat, a first mechanical arm, a second mechanical arm and an operation spindle. The base functions in supporting and reducing vibration; the lifting seat vertically moves along a Z-axis direction under the limiting action of a lead screw and a polished shaft; the first mechanical arm is rotatably mounted on the lifting seat by taking an X axis parallel to a Z axis as a rotating center; the second mechanical arm is rotatably mounted on the first mechanical arm by taking a Y axis parallel to the X axis as a rotating center; the operation spindle is rotatably mounted on the second mechanical arm by taking an R axis parallel to the Y axis as a rotating center. The vertically moving Z axis of a plane articulated robot with four degrees of freedom moves to the base of the robot, so that the inertia of the mechanical arms of the industrial robot can be decreased by the design, stress of the mechanical arms serving as cantilever beams is improved, the running speed and control stability of the robot are effectively improved, and the working space of the industrial robot is enlarged.

The invention discloses a GPS-based unmanned aerial vehicle variable-rate spraying control device and method. The device comprises a flight control subsystem, a sensing acquisition subsystem, a flow control subsystem and a power supply module. The sensing acquisition subsystem is connected with the flight control subsystem and the flow control subsystem separately. The power supply module supplies power for the flight control subsystem, the sensing acquisition subsystem and the flow control subsystem. The method is implemented in a way that the flow values corresponding to flight speeds are taken as the given values through an integral separation PID control strategy, then a single chip microcomputer outputs corresponding PWM signals to change the rotation speeds of a diaphragm pump, and thus the flows are changed; and the PID control strategy refers to that the flows of nozzles are detected by flow sensors, the process variables and the set values are constantly compared, and the flow of the pump is constantly corrected and controlled, so as to improve the control precision. The PWM technology is adopted to adjust the diaphragm pump, to realize the control that the flows change along with the speeds, and an intelligent variable-rate spraying control system high in efficiency, good in stability and low in cost is formed.

The invention is to provide an auxiliary circuit for power factor corrector (PFC) having self-power supplying and zero current detection (ZCD) mechanisms, which comprises a filter capacitor electrically coupled to a secondary winding of an inductor of the auxiliary circuit installed in a power supply and two resistors respectively coupled the positive and negative terminals of the filter capacitor in series with a ZCD pin of a PFC. Such that the secondary winding can be shared by the ZCD and the power supply pins of the PFC to eliminate a necessity of providing an additional ZCD winding and reduce the complexity of circuitry, the manufacturing cost, and a size of power supply without sacrificing power.

The invention relates to a teleoperation robot adaptive control method based on a master-slave reference model. The system of the invention is composed of a master side circuit, a slave side circuit and a communication delay link, wherein the master side circuit is composed of an operator, a main robot and a master side environmental model; the slave side circuit is composed of an environment, a slave robot, a slave side environment model, a model parameter correcting module and a delay-simulating module; the side environment model provides reference force signals, the reference force signals and the force signals fed back by the environment are input the model parameter correcting module for comparison; by utilizing the error, an adjustable gain pc(t) is output from the model parameter correcting module, passes through the communication delay link and adjusts the master side master side environmental model; the master side environmental model provides feedback force signals for the operator; and the adjustable gain pc(t) passes through the delay-simulating module, adjusts the slave side environmental model and performs continuous circulation; and the master side environmental model and the slave side environmental model continuously approximate the real environmental model and form the teleoperation which can overcome the influence of delay and ensure the system to obtain the stable control.

The present invention discloses an agricultural machinery automatic navigation control method based on a double-antenna GNSS (Global Navigation Satellite System) and a preview tracking model. According to the method, a clock-shared integrated dual-antenna GNSS receiver supporting multi-satellite system carrier phase difference technique is used for performing positioning and attitude measurement of agricultural machinery; and a piecewise adaptive foresight distance related to speed is adopted as a parameter in a preview tracking model, so that path tracking control can be performed on the agricultural machinery. A positioning board card supporting the multi-satellite system carrier phase difference technique can effectively increase the number of satellites participating in positioning calculation and improve the precision and stability of navigation and positioning; navigation satellite system-based inertial navigation attitude measurement can improve the accuracy and real-time performance of the attitude measurement of the agricultural machinery; the design and simulation of driving behaviors of a user by the preview tracking model algorithm have predictability, and therefore, a path tracking control effect is good, the quickness and stability of the launch of the agricultural machinery and the adaptability of the agricultural machinery to compacted field road conditions can be improved; and the foresight distance is related to speed, and therefore, the control accuracy and stability of an agricultural machinery automatic navigation system in relatively high-speed operation can be improved.

A braking force control device is provided in which wheel speeds of respective wheels of a vehicle are detected. On the basis of detected wheel speeds, a road surface .mu. slope, which is a slope of a coefficient of friction .mu. between a wheel and a road surface, is estimated for each wheel. On the basis of the road surface .mu. slope estimated for each wheel, a braking force of each wheel is controlled such that the braking force of each wheel is adjusted.

Production of cerium-enriched rare-earth polishing powder is carried out by preparing crystal seed, depositing to obtain lanthanum cerium carbonate, fluorating to obtain lanthanum cerium fluorine-carbonate, and calcining to obtain the final product. The grain diameter of single-crystal reaches to 1-2 micro. It's easy to control, has better abrasive resistance and grinding rate.

A method for controlling operation of a power converter is provided. The method includes determining, in a rotating dq-reference frame, a direct current error signal and a quadrature current error signal, performing a first control procedure, and performing a second control procedure. The method also includes obtaining a direct voltage control signal by subtracting a signal resulting from the second control procedure from a signal resulting from first control procedure, and obtaining a quadrature voltage control signal by adding a signal resulting from the second control procedure to a signal resulting from the first control procedure. The method includes executing a transformation from the rotating dq-reference frame to a stationary abc-reference frame based on the obtained signals, and controlling switching states of the plurality of semiconductor switches based on the signals resulting from the executed transformation from the rotating dq-reference frame to the stationary abc-reference frame.

A voltage transformer, which is placed between a DC power source (B) and a motor (M1), includes: a voltage sensor (10) and an electric current sensor (11), which senses input and output of electric power to and from the DC power source (B); a buck-boost converter (12) having power control elements, which is placed in a path connecting between power lines (PL1) and (PL2) that establish the connection to the DC power source (B) and the connection to the motor (M1), respectively; and a controller (30) for controlling the buck-boost converter (12). The controller (30) monitors the change in the regenerated power that is supplied to the DC power source (B), based on the outputs from the voltage sensor (10) and the electric current sensor (11), and, if the amount of change in the regenerated power is greater than a predetermined amount, the controller (30) changes the operation mode of the buck-boost converter (12) from a rapid operation mode to a slow operation mode.

Production of cerium-enriched rare-earth polishing powder is carried out by preparing crystal seed, depositing to obtain lanthanum cerium carbonate, fluorating to obtain lanthanum cerium fluorine-carbonate, and calcining to obtain the final product. The grain diameter of single-crystal reaches to 1-2 micro. It's easy to control, has better abrasive resistance and grinding rate.

The invention relates to an optimal setting method for roll force of a six-roller temper mill unit, and belongs to a strip steel temper rolling production process and a control technology. After a lot of production tests and theory researches, the equipment and process characteristics of the temper rolling process of a six-roller temper mill are fully considered. According to the method, a set of optimal roll force setting values of the temper mill is determined for each type of steel and each specification. When a new specification of product is produced at the first time, a system can give the reasonable roll force setting values. Under the conditions of ensuring that slip factors are in a critical point, calculating the impact response amplitude of the roll force of the temper mill not to be beyond load, and finally being combined with the actual production, the roll force setting values of the temper mill are determined. The bad phenomena of unstable production, break by rolling and the like due to inaccurate setting are reduced. The strip shape controlling stability of the temper mill can be improved, and the yield is increased.

The invention discloses an FPGA-based thin film rolling tension control system and method. The system comprises a tension signal collection module, a thin film rolling tension control module, a thin film rolling module and an upper computer operation panel. A programmable logic device FPGA controls a chip to achieve a fuzzy PID control algorithm, the speed controlled quantity of a brushless direct current motor is obtained, a double closed-loop control algorithm of the brushless direct current motor is combined, then signals are controlled to be correspondingly changed and adjusted when tension changes in the rolling process of a thin film, and constant control over the tension in the rolling process of the thin film can be achieved through real-time collection of tension of the thin film by utilization of the fuzzy PID control algorithm; the development cost is low, the integration level of the system is high, the steady state performance is good, the response speed is high, the control precision is high, and adaptability is high.

The invention belongs to the technical field of the limitation of noises or interference, and particularly relates to a method and a device for eliminating amplitude-phase control interference in a self-excitation mode. The device comprises an amplitude control loop, a phase control loop and a frequency control loop, wherein the amplitude control loop stabilizes an amplitude value of a radio frequency system; and the phase control loop controls the phase of an accelerating field of a radio frequency cavity. The method and the device are characterized in that: the phase control loop is used for stabilizing the frequency of the radio frequency system by a self-excitation loop. Through the technical scheme provided by the invention, the amplitude-phase control interference can be effectively avoided, and the control accuracy and stability of a radio frequency control system of a high-intensity cyclotron can be improved.

The invention relates to the technical field of air conditioner control, in particular to an electronic expansion valve control method and device in a heat pump air conditioning system. The method comprises the following steps: acquiring pressure at the suction end of an electric compressor and temperature at an outlet of a vehicle interior heat exchanger; calculating an actual superheat degree through the pressure at the suction end of the electric compressor and the temperature at the outlet of the vehicle interior heat exchanger; acquiring a heating or refrigeration state sent by a panel of an air conditioner, and setting a target superheat degree according to the heating or refrigeration state; differencing the actual superheat degree and the target superheat degree to obtain a superheat degree deviation; and determining a current opening degree of an electronic expansion valve according to the superheat degree deviation, and sending the opening degree of the electronic expansion valve to the electronic expansion valve to control work of the electronic expansion valve. Through the electronic expansion valve control method and device, the control accuracy and the stability of the heat pump air conditioning system are improved.