745results about How to "Large torque" patented technology

In a 2-motor drive mode with connection of both motors to a driveshaft by means of a transmission, a hybrid vehicle sets torque commands of the motors to make a work performed by the second motor substantially equal to a work performed by the first motor and to ensure output of a torque equivalent to a preset torque demand to the driveshaft. This arrangement connects both motors to the driveshaft by means of the speed change-transmission assembly and ensures continuous output of a relatively large torque.

The invention discloses a hydraulic servo rolling mill for producing battery pole sheets, which comprises a pedestal, a frame arranged on the pedestal, a lower mill roller and an upper mill roller both arranged inside the frame, a computer-controlled press-down servo hydraulic cylinder connected on a bearing seat for holding the rollers, and computer-controlled roller-bending hydraulic cylinders respectively arranged outside the lower bearing seat of the lower mill roller and the upper bearing seat of the upper mill roller to adjust the bearing clearance between the lower and the upper mill rollers. The invention has three control modes of constant-pressure, constant-clearance and constant-thickness rolling of battery pole sheets, achieves on-line real-time control of position and pressure of the roller and the thickness of the battery pole sheet, ensures the arbitrary switch among the three control modes, thereby meeting higher requirement for the accuracy of battery pole sheets.

A gearbox having an input shaft (8) and an output shaft (20); a first epicyclic gear (10) connected to the input shaft (8); a second epicyclic gear (12) connected to the first epicyclic gear (10); a first electrical machine (14) connected to the first epicyclic gear (10); a second electrical machine (16) connected to the second epicyclic gear (12); a first main shaft (34) connected to the first epicyclic gear (10); a second main shaft (36) connected to the second epicyclic gear (12). A first coupling unit (56) disengagingly connects two rotatable components (22, 26, 50) at the first epicyclic gear (10), and a second coupling unit (58) disengagingly connects two rotatable components (28, 32, 51) at the second epicyclic gear (12), such that at least one of the rate of revolution and the torque at the first and the second main shafts (34, 36) can be influenced by controlling at least one of the first and the second coupling units (56, 58) to a condition of the rotatable components (22, 26, 50; 28, 32, 51) that is engaged or disengaged. Also a vehicle (1) having such a gearbox (2), a method to control such a gearbox (2), a computer program (P) to control a gearbox, and a computer program product comprising program code for an electronic control unit (48) or another computer (53) in order to implement the method.

A 6-freedom man-machine interactive mechanism with force feeling is composed of a base, a static platform, a dynamic platform, 6 branches driven by 6 DC motors, a drive unit with a speed reducing mechanism in steel cable driving mode, and several composite ball sets. The 6 freedoms of dynamic platform can be realized by 3 composite ball set not on a same line for outputting 3D force and 3D force moment.

The invention provides a submersible buoy pulley mooring system and relates to a mooring system. The submersible buoy pulley mooring system mainly comprises submersible buoys, pulleys, anchor bases, ropes and rope knots. The anchor bases are provided with rope chains in a tying mode. The other end of each rope chain is tied to each fixed pulley support. Each pulley is wound with a rope. One end of each rope is tied to the corresponding submersible buoy. The other end of each rope is tied to a floating body required to be moored. The positions, between the pulleys and the moored floating body and close to the pulleys, of the ropes are provided with the rope knots in a tying mode. Combination of a plurality of submersible buoy pulley anchoring units distributed on the periphery tightly pull the central floating body required to be moored jointly. By means of the submersible buoy pulley mooring system, the problems of anchor chain breakage or anchor base slippage and the like generated due to the fact that the mooring constraining force is violently increased can be avoided, so that the storm resistance capacity can be provided, and the mooring cost is lowered.

The invention provides a hydraulic control system for a forklift. The hydraulic control system comprises an oil tank, a pumping component, a first control branch for controlling and driving the forklift to move forward or backward and a second control branch for controlling and driving the forklift to ascend or descend, wherein the pumping component pressurizes hydraulic oil in the oil tank and conveys the pressurized hydraulic oil to the first control branch and the second control branch; and return oil in the first control branch and the second control branch is conveyed to the oil tank through a return oil pipeline. The invention also provides the forklift. By the technical scheme, the lifting tonnage of the forklift is increased; the forklift stably runs, wide-range stepless speed change is easily realized, and power loss during speed change is reduced simultaneously; by a hydraulic drive mode, the weight of the forklift is greatly reduced, and the service lives of elements are prolonged due to a self-lubricating function of the oil; and besides, the environment is slightly polluted, and the forklift is low in noise.

The invention discloses a circular-disc-shaped underwater glider and a working method thereof. The glider comprises a circular-disc-shaped shell, a pressure-resisting shell, a control system, a communication navigation system, a driving system, a sensor system, an energy source system and an external port. The circular-disc-shaped shell made of a buoyancy material covers the pressure-resisting shell and greater buoyancy is provided for the circular-disc-shaped underwater glider, so that effective load is improved. The pressure-resisting shell structure design scheme combining the pressure-resisting shell and a pressure-resisting hollow ring is adopted so that the utilization rate of the inner space of the circular-disc-shaped underwater glider is improved; meanwhile, the quantity of sealing nodes of internal equipment is greatly reduced, more equipment is prevented from being exposed in a deep sea complicated underwater environment, and thus the whole reliability is improved. A gravity center adjusting system is arranged in the pressure-resisting hollow ring, and a force arm and a moment, generated by a slide block, are relatively great; and the posture control efficiency is improved and the inner space of the circular-disc-shaped underwater glider is sufficiently utilized.

A gearbox that includes an input shaft (8) and an output shaft (20); a first epicyclic gear (10) that is connected to the input shaft (8); a second epicyclic gear (12) that is connected to the first epicyclic gear (10); a first electrical machine (14) that is connected to the first epicyclic gear (10); a second electrical machine (16) that is connected to the second epicyclic gear (12); a first gear pair (60) that is arranged between the first epicyclic gear (10) and the output shaft (20); and a second gear pair (66) that is arranged between the second epicyclic gear (12) and the output shaft (20). A side shaft (18) is arranged between one of the epicyclic gears (10, 12) and the output shaft (20) (18) and connected to the output shaft (20) through a final gear, (21) (21) which includes a gear element (92), that is arranged at the side shaft (18) in a disengagable manner. Also, disclosed is a method for controlling the gearbox. Also a vehicle (1) that includes such a gearbox (2), and a method to control such a gearbox (2). Also a computer program (P) to control a gearbox (2).

The invention relates to a magnetic suspension light wind generating street lamp with the complementation of wind and light, comprising a lamp rod, a junction box and a lamp head. The lamp rod body, or the pole support body connected with the lamp rod, or the bodies of the lamp rod and the pole support are provided with magnetic suspension generating devices; or one group or a plurality of groups of magnetic suspension generating devices are sequentially connected in series through an upper and a lower fixed flange as the street lamp rod, a spherical solar energy photospot generating device is installed on the top of the lamp rod or directly on the upper fixed flange of the magnetic suspension generating device and the lower fixed flange is installed and fixed on the junction box; the magnetic suspension generating device comprises a stator consisting of the inner shell of the lamp rod body, the pole support body or the generating device, a coil winding, a radial permanent-magnetic clamp and the upper and the lower fixed flange and a rotor consisting of a continuous permanent-magnetic clamp, a shell and a fan blade. The invention can directionally revolve the wind of any direction, with high reliability, small resolving noise, no mechanical abrasion, high power generation efficiency and long service life of the whole appliance. The street lamp can be widely used for various occasions.

The invention provides a six-degree-of-freedom chewing robot control system, and aims at solving problems that conventional point-to-point cubic polynomial interpolation is high in the required torque and relatively large in the required equipment size. Each chewing robot has problems of individual difference and symmetry of six driving rods due to the factor of machining accuracy of the robot so that consistent PID control parameters are difficult to obtain. The following scheme is adopted: step one: the movement tracks of each branch rod of the chewing robot are planned, telescoping of each driving rod is solved through the position and the posture of incisor points, and the expected position and speed of each driving rod are solved through a path passing point cubic polynomial interpolation method; and step two: the chewing process of the robot is controlled according to the movement tracks of each branch rod, and the chewing process includes three phases of opening, closing and occlusion; and fuzzy control is used in the opening and closing phases, and fuzzy PID control is used in the occlusion phase.

The invention discloses a preparation method for decreasing sintered NdFeB declination. The preparation method includes preparing materials, performing smelting, processing powder, performing forming and performing sintering; to be specific, adding addition agent during powder processing to improve powder liquidity; increasing magnetic field intensity H during forming; reducing mold orientation length L; enlarging section area A in the vertical magnetic line direction; feeding mixture powder in a forming mold of a press; adjusting a center, on a coil pole, of the forming mold on a mold frame to allow the presses powder to stay in the center of the coil magnetic field during forming orientation pressing; by adjusting four relative parameters, the declination of the sintered NdFeB is decreased to 3 degrees from 10 degrees, use ratio of material with declination qualified is increased to 60% or above from 35%, production cost is remarkably decreased, and economic benefit is enhanced.

The invention discloses a multi-joint chain link-type robot capable of implementing modular combination. The robot is in a modularized open chain structure; and each module has twelve degrees of freedom, each of which is finished through the drive of a steering engine or a direct current motor. Each sport leg of the robot is composed of four crank arm joints and a wheel leg and has five active degrees of freedom; two symmetrically arranged sport legs form a pair of joints, and two joints are connected via a chain link-type waist joint; and two active degrees of freedom are formed at the waist joint so that the waist joint can flexibly rotate in four vertical directions. Through the modular combination, the robot can implement organic combination of characteristics of wheel-type, leg-type, straight traveling and swinging movements so that the robot has the advantages of strong terrain adaptation ability of a leg-type robot and high maneuvering speed of a wheel-type robot. Meanwhile, through the design of the width of the waist, the step length and the motion of the robot can meet a condition of noninterference when the robot moves forwards or backwards. Through the coordination among several pairs of sport legs, the robot can finish dozens of movement gaits and can span barriers at a certain height.

The invention discloses a modeling method of a necrosis caput femoris restoring model based on an umbrella-shaped caput femoris supporter. The modeling method comprises the steps that firstly, a three-dimensional model of a to-be-restored caput femoris is obtained, wherein the NURBS curved surface model of the to-be-restored caput femoris is obtained, the to-be-restored caput femoris is a caput femoris which exists in the thigh tissue necrosis area and is pre-restored by the caput femoris supporter, and the caput femoris supporter is composed of an umbrella-shaped supporter body and a supporting sleeve; secondly, the necrosis area needing to be separated is determined according to the shape of the umbrella-shaped supporter body, and a necrosis caput femoris model is established; thirdly, a caput femoris supporter model is established; fourthly, a necrosis caput femoris implantation model is established, wherein the necrosis caput femoris implantation model with an implantation channel and a three-dimensional model of an implanted bone are established; fifthly, the necrosis caput femoris restoring model is established. The modeling method is simple in step, reasonable in design, convenient to achieve and good in using effect, the restoring model of the caput femoris supporter implanted into the necrosis caput femoris can be easily, conveniently and quickly established, and the quality of the established restoring model is high.

The present invention belongs to the technical field of tool fixtures and particularly relates to a motor stator fixture which comprises a stator bracket, a rotation seat at the bottom of the stator bracket. The bottom of the rotation seat is provided with a bracket seat which is rotatingly connected to the rotation seat. The bottom of the bracket seat is provided with a driving device which controls the lifting of the bracket seat. The driving device is fixed to the sliding plate of the bottom of the bracket seat. The bottom of the sliding plate is provided with a sliding rail which is matched with the sliding plate. Multiple uniformly distributed lifting support shafts are vertically arranged between the bracket seat and the sliding plate. The sliding plate is provided with locking position machanisms which lock the lifting support shafts corresponding to the lifting support shafts. The stator bracket comprises two opposite support plates, and multiple magnetic rollers are arranged in a curved way between the support plates. The magnetic rollers are provided with wrenches for controlling magnetic force. The structure is simple, the operation difficulty of clamping a motor stator is reduced, the efficiency is improved greatly, the adjustment performance is good, and the adjustment is flexible.

The invention relates to a controllable control surface-based rocket and attitude self-correction control method thereof, belongs to the technical field of spaceflight, and aims to solve the problem of instable attitude when a rocket takes off and the problem of spinning of the rocket in the process of operating in air. The rocket includes controllable control surfaces and an electronic control board used for controlling the controllable control surfaces; each controllable control surface is connected with a rocket body through a corresponding steering engine; and the electronic control boardincludes a gyroscope used for measuring the triaxial angular velocity and attitude angle of the rocket, a barometer used for measuring rocket flight height and a processor. The gyroscope and the barometer are utilized to obtain current actual measurement attitude data, Kalman filtering is utilized to filter triaxial angular velocity input to a PID controller; the eventually obtained flight height,triaxial angular velocity and attitude angle are input to the PID controller; the PID controller compares the read actual measurement attitude data with ideal attitude data, and provides a reasonablePID controlled quantity through operation of the processor; and the PID controlled quantity drives a rocker arm of the steering engine to act, thereby achieving the purpose of controlling the attitude of the rocket eventually.

This invention relates to a scanning arm assembly for multi-directional mechanical scanning of a semiconductor wafer or other substrate to be implanted. The present invention provides a scanning arm assembly comprising a pair of drive arms connected by two linkage arms to form a quadrilateral. Rotary joints are provided to join adjacent arms together, and a substrate holder is provided on one linkage arm where it joins the other linkage arm. Thus, rotating the drive arms causes the substrate holder to move. Suitable control of the drive arms allows the substrate holder to be moved through an ion beam to follow many different paths and hence implant patterns.

A gearbox that includes an input shaft (8) and an output shaft (20); a first epicyclic gear (10) that is connected to the input shaft (8); a second epicyclic gear (12) that is connected to the first epicyclic gear (10); a first electrical machine (14) that is connected to the first epicyclic gear (10); a second electrical machine (16) that is connected to the second epicyclic gear (12); a first gear pair (60) that is arranged between the first epicyclic gear (10) and the output shaft (20); and a second gear pair (66) that is arranged between the second epicyclic gear (12) and the output shaft (20). A side shaft (18) is arranged between one of the epicyclic gears (10, 12) and the output shaft (20) (18) and connected to the output shaft (20) through a final gear, (21) (21) which includes a gear element (92), that is arranged at the side shaft (18) in a disengagable manner. Also, disclosed is a method for controlling the gearbox. Also a vehicle (1) that includes such a gearbox (2), and a method to control such a gearbox (2). Also a computer program (P) to control a gearbox (2).

The invention discloses a passive force / moment feedback driver of a man-machine interface device for controlling a remote-control operation robot, comprising a shell, a moment feedback shaft, dynamical friction pieces, magneto-rheological fluid and an electric signal input coil, wherein the moment feedback shaft, the dynamical friction pieces and the magneto-rheological fluid are arranged into theshell, the electric signal input coil is used for inputting an electric signal converted by a long-distance force signal, the dynamical friction pieces are fixed on the moment feedback shaft, at least one static friction piece is arranged in the shell, the static friction pieces are arranged among the dynamical friction pieces at intervals, the magneto-rheological fluid is filled around the dynamical friction pieces and the static friction pieces, and the electric signal input coil is coiled outside the static friction pieces. The passive force / moment feedback driver adopts a magneto-rheological fluid technology and converts the magneto-rheological fluid into the electric signal to be input into the electric signal input coil, a passive feedback moment is generated on the moment feedbackshaft under the action of a coil magnetic field to the magneto-rheological fluid, and feedback force is continuous and stable. The passive force / moment feedback driver has simple and compact structure, light weight, small size and friction force and stable and safe characteristics and can transfer a larger moment.

The invention discloses a rope system dragging system and method used for cleaning away space debris, and belongs to the technical field of spaceflight. The rope system dragging system used for cleaning away the space debris comprises a tugboat, a rope and a rope retraction mechanism, and the space debris is the to-be-dragged object which can be cleaned away; the end, connected to the tugboat, ofthe rope is a main rope, the other end of the rope is bifurcated into a plurality of sub ropes connected to the edge of the space debris, the tugboat is utilized to generate pushing force, so that thespace debris is dragged for deorbiting, and the cleaning task is completed; the sub ropes connected with the edge of the space debris are adopted to increase the redundancy of the system, and the reliability of the rope system dragging system is improved; the sub ropes connected with the space debris can generate force torque for correcting the posture deviation of the space debris to inhibit posture motions of the space debris, so that the unstability of the rope system dragging system is avoided. The invention further discloses the rope system dragging method used for cleaning away the space debris. The method is used for the rope system dragging system used for cleaning away the space debris to achieve the purpose of cleaning away the space debris.

The invention relates to a medical rehabilitation training instrument. An upper-limb rehabilitation training robot solves the problems that existing equipment is complex in structure and hand joints cannot move comprehensively. The upper-limb rehabilitation training robot comprises a base (1), a support frame (3), a seat (2), a cantilever beam (4) and an upper limb training mechanism, wherein the upper limb training mechanism comprises a shoulder joint expanding and shrinking mechanism, an arm bending and stretching mechanism, a shoulder joint internal and external rotating mechanism connected and fixed with rotary rods (17 and 18), a front arm forward and backward rotating mechanism the same as the shoulder joint internal and external rotating mechanism, an elbow joint expanding mechanism fixedly connected with the shoulder joint internal and external rotating mechanism and the front arm forward and backward rotating mechanism through two pairs of rotating blocks (32 and 41), and a hand expanding mechanism fixedly connected with the shoulder joint internal and external rotating mechanism through slide bars (44 and 45). The upper-limb rehabilitation training robot is simple to operate and enables the joints to move comprehensively.

The present invention relates to a method for controlling the hydrostatic driver (1). The hydrostatic driver (1) includes a hydraulic pump (3) and a hydraulic engine (7). The hydrostatic driver (1) also includes a first and a second container (40 and 41) which are used for storing and restoring energy. The pressure energy is stored in the first container (40). The first container (40) is connected to the suction side of the hydraulic pump (3) in order to restore the pressure energy in the first container (40). The working line (8 and 9) of the hydraulic engine (7) is connected to the second container (41). Besides, the downstream working line connecting parts (9 and 8) of the hydraulic engine (7) are disconnected with the suction side of the hydraulic pump (3).

The invention discloses an operating device for densely-installed valves. The problem that for dense valve tree using occasions, the operating space of an existing valve operating device is limited issolved. The operating device comprises a moving chassis, a multi-axis driving mechanism assembled on the moving chassis, and a self-limiting valve opening-closing device, and is characterized in thatthe self-limiting valve opening-closing device comprises a valve opening-closing transmission mechanism, a limiting compensator and a wrench which is of a clamping claw structure, the multi-axis driving mechanism is fixedly connected with a connection flange of the moving chassis through a base of a first RV speed reducer and orderly moves along with the moving chassis; and the valve opening-closing transmission mechanism composed of a telescopic rotation driving mechanism and a barrel body drives the wrench of the clamping claw structure through the limiting compensator, rotating is conducted while axial sliding is carried out, and valve opening, closing and adjusting are completed. The operating device is reasonable in structural design, safe, easy and convenient to operate, and quick and stable in operating, the operating enveloping space is not limited, manual valve operating can be effectively replaced, operating is more precise and reliable, and the operating efficiency is remarkably improved.

The invention discloses a crane super-lifting device and an all-terrain crane with the crane super-lifting device. The crane super-lifting device comprises a super-lifting mast (10) and a front pulling steel wire rope (20). The all-terrain crane with the crane super-lifting device comprises a main arm (40) and an auxiliary arm (50). he super-lifting mast (10) is installed on the main arm (40). The super-lifting mast (10) is provided with a winch. One end of the front pulling steel wire rope (20) is connected to the winch. The crane super-lifting device also comprises a support assembly (60). The support assembly (60) is installed on the auxiliary arm (50). The other end of the front pulling steel wire rope (20) is connected to the support assembly (60). The other end of the front pulling steel wire rope (20) is not directly connected to the main arm (40) but is connected to the support assembly (60) so that the moment arm and the moment of a pulling force produced by the front pullingsteel wire rope (20) on the main arm (40) are increased and the stress of the main arm (40) is released, wherein the moment of the pulling force produced by the front pulling steel wire rope (20) andthe moment of a pulling force produced by a load on the main arm (40) are reversed.

The invention provides an electric folding landing gear and a control method thereof. The electric folding landing gear comprises a first support frame, a second support frame, a folding arm, a first locking piece, a control board and a steering gear component, wherein the folding arm comprises a left folding branch arm and a right folding branch arm; the end A of the left branch arm is rotatably arranged on the left surface of the second support frame; the end B of the left branch arm is provided with a first arc-shaped rabbet; the bottom surface of a tiller is fixedly provided with a first push column and a second push column; the first push column is positioned in the first arc-shaped rabbet; the second push column is opposite to the bent part of the first locking piece; by virtue of cooperation of the second push column and the bent part, the stroke caused by pushing a lock hook to be away from a hanging column so as to rotate by the second push column is shorter than the total rotation stroke of the first push column in the first arc-shaped trough. The electric folding landing gear has the advantages of concise mechanism, low construction cost, light weight, high load bearing capacity, easiness for installation and deployment, high safety, strong universality and low energy consumption. The electric folding landing gear is especially capable of realizing asynchronous running of folding and unfolding actions of the landing gear and the rotation of the steering gear, and improving the use safety of the electric landing gear.

The invention discloses a composite triple-hulled vessel with aid-to-navigation hydrofoils. The composite triple-hulled vessel comprises a deck, a main vessel body and two side vessel bodies, wherein the main vessel body and the two side vessel bodies are fixedly connected to the lower surface of the deck; the two side vessel bodies are located at the left and right sides of the main vessel body, and a deep-immersed aid-to-navigation hydrofoil is arranged at the tail portion of each side vessel body. According to the composite triple-hulled vessel with the aid-to-navigation hydrofoils, the design ideas of two high-performance vessels which are added with hydrofoils and side bodies correspondingly to be propelled are combined together, while the advantages of a triple-hulled vessel is ensured, the aid-to-navigation hydrofoils added with propelling devices assist the side vessel bodies to propel, so that the turning ability and the maneuverability of the triple-hulled vessel are enhanced, and the lengths of the deep-immersed aid-to-navigation hydrofoils and wave energy recycling hydrofoils are adjusted to change the areas of the hydrofoils, so that the flotation of the triple-hulled vessel in the sailing process is controlled.

The invention discloses a foldable and variant multifunctional medical bed, which comprises a fixing bottom plate, wherein the middle position of the upper end surface of the fixing bottom plate is fixedly connected with a hydraulic shell, protective rods are symmetrically arranged on the front side and rear side of the upper end surface of a first bed plate, a second bed plate and a third bed plate are rotatably connected with the left side and the right side of the first bed plate, the upper end face of the first bed plate, the second bed plate and the third bed plate is fixedly provided with an integrated flexible mattress, folding devices are symmetrically arranged at the front side and rear side of the lower end face of the second bed plate. According to the invention, a T-shaped sliding block moves along with the up-and-down movement of the first bed plate, the stability of the structure is guaranteed through the connection of a plurality of three corner structures, in the form of the medical bed, through the separation of a first support plate and a second support plate, the moment is increased, which guarantees the stability of the device, in the form of a wheelchair, through the closing of the first support plate and the second support plate, the occupied area is reduced and the movement is facilitated.

The invention relates to a light motion assisting device and a control method thereof. The light motion assisting device includes a power system, a control system and an execution mechanism; the execution mechanism includes a connection rod structure and a sensor group, which match and bear a lower limb of a human body; the sensor group includes a human body pressure monitoring system for monitoring the pressure acted on a foot of the human body, and a mechanical pressure monitoring system for monitoring the pressure acted on the connection rod structure, wherein the human body pressure monitoring system and the mechanical pressure monitoring system output signals to the control system respectively; the control system outputs a control signal to the power system; and the power system drives the connection rod structure to match the human body to move, and then a loop control system is formed. The actual load of the human body and the device assisting load can be measured timely, the changing trend of the pressured acted on the human body can be monitored timely, and the motion assisting device is controlled to do a control action; and all the states of motion of the human body can be included, and the motion assisting device can timely and rapidly make a response and cannot be triggered wrongly.

The invention provides a laser range finder stabilized platform used for a vessel with single degree of freedom and its control method. The laser range finder stabilized platform comprises a machinery support, a navigation attitude sensor, a servo driven controller, a servo motor, a photoelectric encoder and a laser range finder; the machinery support comprises an external support and an internal support, the external support and the internal support are rotationally connected by a transmission shaft; the external support is arranged on the vessel, the navigation attitude sensor is fixed on the external support, the servo motor is arranged on the external support and connected with the internal support through the transmission shaft, the laser range finder is arranged on the internal support, the photoelectric encoder enables coaxial arrangement with the servo motor; the attitude signals from the vessels enable real time acquisition by the navigation attitude sensor and then are input in the servo driven controller, the photoelectric encoder enables real time monitoring of the servo motor rotation angle information and makes a feedback to the servo control driver; a PID regulator is provided in the servo driven controller, the received the signal by the navigation attitude sensor and the feedback signal of the photoelectric encoder can control the rotation of the driving motor through the output signal treated by the PID regulator.

The invention relates to a miniature antenna turntable which is provided with an azimuth axis system and a pitch axis system which are perpendicularly crossed. A symmetrical integral structure design is utilized, thereby ensuring an enough antenna rotation space. In the azimuth axis system, transmission between a disc type motor and a gear is adopted, thereby reducing axial structure dimension. In the pitch axis system, self-locking and large-moment pitching of a servo motor is realized through three-stage transmission, and furthermore a motor and a transmission device are below a balancing frame, thereby realizing compact structure. The miniature antenna turntable has advantages of small dimension, small weight, large moment and high precision.

The invention provides a dual-motor coupling electric power-assisted steering device and a control method thereof. Mode switch is achieved by adopting a magnetic powder clutch and a synchronizer, and a single-row planetary gear system serves as a power coupling device of a first motor and a second motor. A first clutch and a second clutch limit torque output of the first motor and the second motor correspondingly, and the energy flow direction of the second motor is changed through the synchronizer. According to electric current on-off control of an ECU over the clutches, power output of the motors is determined. By using joint conditions of a joint sleeve and combing on-off of the clutches, coupling conditions are determined. According to motor failure and a drive circuit self-diagnosis technology, the power-assisted steering module ECU judges the states of the motors. By controlling the clutches and the joint sleeve, dual-motor fault-tolerant control is achieved. According to the dual-motor coupling electric power-assisted steering device and the control method thereof, four working modes including dual-motor independent drive, dual-motor rotating-speed coupling drive, dual-motor torque coupling drive and the like can be achieved, requirements for various performance of steering in the driving process of a commercial vehicle can be met, and a system is high in reliability.