91results about How to "Short dynamic response time" patented technology

The invention relates to the technical field of control on production equipment, and particularly relates to an intelligent control system for a vertical mill based on a fuzzy PID (proportion integration differentiation) algorithm. The intelligent control system comprises the vertical mill, a dust remover and a feeding device, wherein the feeding device comprises an unloader, a bucket elevator and a storage bin; and the intelligent control system is characterized in that an air inlet in the bottom of the vertical mill is connected with a fan via a pipeline, a cold-air device and a hot-air stove are arranged on the pipeline between the air inlet and the fan, a cold-air adjusting valve and a hot-air adjusting valve are respectively arranged on the cold-air device and the hot-air stove, a vertical mill material layer PID controller is arranged on the feeding device, and an in-mill pressure difference fuzzy PID controller is arranged on the cold-air adjusting valve. According to the intelligent control system disclosed by the invention, mathematical models of the change of the vertical mill material layer thickness and an in-mill pressure difference along with parameters of a feeding amount, a mill inlet hot-air temperature and the like can be established only by inputting and outputting data without analyzing the complex grinding process of the vertical mill; and the intelligent control system is simple in process, high in adaptability, fast in the dynamic response time of a controller algorithm, high in robustness, high in control accuracy, and good in market prospect.

The invention relates to a mud stirring device for planting loquats, in particular to a quick mud stirring device for planting loquats. Mud can be uniformly stirred by the quick mud stirring device for planting the loquats, and the quick mud stirring device is novel in structure and high in stirring speed. The quick mud stirring device for planting the loquats comprises a left frame, a bottom plate, a right frame, a first slide rail, a stirring frame, first sliders, a push rod, a second slide rail, second sliders, a second rack, a large belt pulley, a tooth-missing gear and the like. The left frame, the first slide rail and the right frame are sequentially arranged on the top of the bottom plate from the left to the right, the first sliders are slidably connected onto the first slide rail, and the stirring frame is arranged on the tops of the first sliders. The quick mud stirring device has the advantages that the mud can be uniformly stirred by the quick mud stirring device, and the quick mud stirring device is novel in structure and high in stirring speed; the mud can cover saplings of the loquats, the root systems of the saplings can be protected, transpiration of water can be reduced, and accordingly the survival rate of the loquats can be increased.

The invention discloses a capacitive flexible touch sensor based on a spherical curved surface polar plate. The capacitive flexible touch sensor comprises a hemispherical flexible cavity, four spherical curved surface induction polar plates, a flexible public polar plate and a flexible substrate; wherein the four spherical curved surface induction polar plates are adhered to and fixed on the innerwall of the hemispherical flexible cavity at equal intervals, the four spherical curved surface induction polar plates are symmetrical pairwise by taking the central axis of the hemispherical flexible cavity as a symmetrical line, the spherical curved surface induction polar plates are not in contact with each other, the bottoms of the four spherical curved surface induction polar plates are provided with electrode leads, and the electrode leads penetrate through the flexible substrate and are led out; and the flexible public polar plate is arranged on the flexible substrate, the flexible public polar plate is not in contact with the four spherical curved surface induction polar plates, the four spherical curved surface induction polar plates which are distributed in a space three-dimensional mode and the bottom flexible public polar plate form four independent capacitive touch sensitive units, and a differential structure is formed. The sensor has the normal force and tangential force detection function and high detection sensitivity.

The invention discloses an unmanned rice transplanter automatic steering control system and a control method thereof. The control system includes a main controller, a CAN bus communication unit, a GPS, an on position machine, a sensor module and a steering control module; the CAN bus communication unit is used for providing preset steering parameters, real-time display rice transplanter positions,speed, a handle position and the other information of the on position machine for the main controller; the GPS is used for determining the present position of the rice transplanter and transmitting the information to the on position machine, and the on position machine compares deviation of the present position and the target route; and the sensor module is used for transmitting the real-time operating information of the rice transplanter to the main controller. Compared with the prior art, the unmanned rice transplanter automatic steering control system and the control method thereof has thecharacteristics that a servo motor is used for controlling steering, the system structure is simple, the modular design is carried out and the maintenance is convenient.

The invention discloses a quadruped robot and a leg joint structure. The quadruped robot comprises a robot platform and four feet arranged below the robot platform, each foot includes a side swing connected in turn, thigh and calf, a lateral pendulum is fixedly mount on the robot platform; the thigh and the calf are connected to the hydraulic cylinder through the large connecting rod and the smallconnecting rod; the large connecting rod is connected to the thigh and the calf through a first hinge and a second hinge, The small connecting rod is respectively connected with the upper leg and thelower leg through a fourth hinge and a fifth hinge, the upper connecting rod and the small connecting rod are arranged crosswise, the upper connecting rod is further provided with a third hinge, thethird hinge is located on the inner side of the bent upper leg and the lower leg, one end of the hydraulic cylinder is connected with the third hinge, and the other end is installed in the middle of the thigh through a sixth hinge. As the leg joint structure of the invention makes the leg joint have a smaller turn radius, the complete walking bending action of the joint can be complete by adoptinga smaller hydraulic cylinder stroke.

The invention belongs to the technical field of engine air inlet systems, and relates to a fuel cell engine air inlet system control method based on map and linear quadratic model. The purpose is to control the peroxy ratio and the cathode pressure of a fuel cell stack, so that the fuel cell engine has good dynamic property and quick response capability. The method comprises the steps of firstly,modeling a fuel cell engine air inlet system; building the models of a compressor, an intake manifold and a stack cathode, secondly, calculating state balance points and steady-state control quantityunder various working conditions, and using linear quadratic form optimal control to design state feedback gain of a model after linearization of the fuel cell engine air inlet system under various working conditions; and finally, calibrating the feed-forward steady-state control quantity and the feedback gain by using the map, and designing a feed-forward and feedback controller. In order to verify the effectiveness of the controller, a simulation model is built in MATLAB / Simulink for verification.

The invention discloses a hydraulic-motor angular speed servo system. The hydraulic-motor angular speed servo system comprises an angular-speed command signal generator, a servo controller, a servo amplifier, a servo object, an angular-speed measuring sensor and a hydraulic source. The servo controller comprises a comparator, a first integrator, an integration coefficient Ki1 multiplier, a first subtractor, a second integrator, an integration coefficient Ki2 multiplier, a second subtractor, a feedback coefficient Kd1 multiplier and a feedback coefficient Kd2 multiplier. The servo object comprises an electro-hydraulic servo valve, a hydraulic motor and a mechanical load. Adjustment of control parameters has calculation formulas to follow, so that blindness of parameter adjustment is avoided, time is saved, system stability is improved, and overshooting is avoided; static and dynamic performance of the electro-hydraulic angular speed servo system are improved comprehensively, floating is realized, dynamic response time is short, overshooting and vibration are avoided, and dynamic tracking precision is high.

The invention relates to an X-ray generating device with the tube current control function. The X-ray generating device comprises an X-ray generator, a high-voltage circuit, a lamp filament power supply inverter module, a tube current self-feedback control module and a lamp filament current control module. The signal input end of the lamp filament current control module is electrically connected with the primary side of a lamp filament transformer, and the signal output end of the lamp filament current control module is electrically connected with the control input end of a lamp filament inverter pulse width control integrated circuit. Due to the fact that the lamp filament current control module is additionally arranged based on original tube current self-feedback control, tube current self-feedback control and lamp filament heating current feedback control are achieved at the same time, the magnitude of lamp filament heating currents is adjusted so as to achieve lamp filament heating current feedback control, the lamp filament heating currents are controlled, the electron escape speed is directly controlled, the dynamic response to tube current control is faster through lamp filament heating current feedback control, tube current self-feedback control and lamp filament heating current feedback control are combined for joint control, the dynamic response time for tube current control is shorter, and control accuracy is higher.

The invention discloses a movable valve seat type spring loaded type relief valve. The movable valve seat type spring loaded type relief valve comprises a valve body provided with a cavity body. A water inlet and a water outlet communicated with the cavity body are formed in the valve body. A valve core and a valve seat are arranged inside the cavity body of the valve body. A spring is arranged inside a cavity of the interior of a front end cover. A spring ejection rod is installed at the top of the spring, and a spring base is arranged at the bottom of the spring. One end of the spring abuts against the spring ejection rod, and the other end of the spring abuts against the spring base. The valve seat comprises a two-stage step structure. The ascending end of the step structure is in clearance fit with the valve body and a sleeve. According to the movable valve seat type spring loaded type relief valve, a valve core king-rod structure is designed in the position of an injection inlet where fluid enters the valve core through the valve seat, so that the fluid power of the sprayed fluid is conducted to the valve core through a valve core king-rod, and the impact force and the corrosion to the valve seat by the fluid power are reduced; in addition, the step structure part of the valve seat makes contact with the two-stage conical surfaces of the valve core, so that a two-stage throttling valve port structure is formed between the valve seat and the valve core, and the effective partial pressure can be achieved.

The invention belongs to the technical field of dry battery production, particularly relates to a raw material sealing and mixing device for the dry battery production technology and aims at providing the raw material sealing and mixing device for the dry battery production technology, wherein the raw material sealing and mixing device for the dry battery production technology is easy to operate, small in workload and uniform in mixing. The device comprises a bottom plate, supports, a first large belt wheel, a first rotating shaft, a rotation motor, a first flat belt, a first small belt, a first bearing block, a second rotating shaft, a second bearing block, a sliding block, a sliding rail, a first cover, a second cover, a lower protrusion, a closed ring and the like. A left frame is welded to the left end of the top of the bottom plate, and the supports are symmetrically welded to the right side of the top of the bottom plate. The top ends of the two supports are connected with the sliding rail in a bolt connecting manner. According to the raw material sealing and mixing device, the effects of simple operation, the small workload and uniform mixing are achieved; and the raw material sealing and mixing device has important functions that a good mixing effect is achieved, in addition, the work efficiency is improved, and safety is high.

The invention relates to a control method for a supervoltage / extra-high voltage magnetically-controlled reactor in parallel, which is characterized in that: the control method is realized by controlling by-pass switches of a direct-current excitation system and an excitation winding of the magnetically-controlled reactor in parallel, and includes that a homeostatic control method and a transient control method: 1 the homeostatic control method is an automatic adjusting mode in a homeostatic condition, namely, when the voltage fluctuation of electric networks exceeds the set range, a controller automatically adjusts the capacity of the reactor to maintain the stability of the voltage of the electric networks or automatically adjusts the output current based on the set reactive capacity to maintain the constant reactive power output of the reactor in parallel; 2 the transient control method includes (1) a process control method for no-load power transmission; (2) a control method for a three-phase tripping of an onside breaker; (3) a control method for a single-phase tripping and single-phase grounding; (4) a circuit disconnection control method.

The invention discloses a double harmonic filter and a positive and negative sequence component extraction method based on the double harmonic filter. With the adoption of the positive and negative sequence component extraction method based on the double harmonic filter, the defect that the condition that the grid-tied synchronous requirements cannot be ensured by the traditional SRF (synchronous reference frame)-PLL (phase locked loop) under the condition that the power grid is in fault is overcome; and the method can be used for a power converter grid-tied synchronous system. A grid-tied synchronous strategy has quick dynamic response time, has strong inhibiting ability on five-order and seven-order harmonic components and the like, and can be used for making up the defect that the inhibiting ability on the five-order and seven-order harmonic components is insufficient by adopting other structures at the same dynamic response time; (2) the double harmonic filter is simple in structure, does not need complex calculation, is good in instantaneity, is not sensitive to the condition that when a fundamental frequency offsets within a permission range (50+ / -0.5Hz), so that the grid-tied synchronous strategy is more suitable for a grid-tied power generation system of high-capacity wind power and the solar energy that the grid-tied common point voltage is easy to distort.

The invention discloses an aero-engine fuel oil heating test method and test device which are used for heating test control for external fuel oil systems of aero-engines. The fuel oil heating test method comprises following steps: a required preset temperature value of fuel oil after being heated is received, and an inlet fuel oil temperature value of the external fuel oil system at an inlet of a heating device is collected and received; fuel oil flow of an aero-engine is collected and received in real time; on the basis of the difference value between the inlet fuel oil temperature value and the preset temperature value, and the fuel oil flow, the heating power value of the heating device is calculated; and the output heating power of the heating device is regulated according to the obtained heating power value. The heating power value changes along with the fuel oil flow changes due to changes of aero-engine working condition so that the accuracy of transient control of heating control is increased, the dynamic response time is short, the stable state precision of temperature control is increased, and therefore, the performance requirement of aero-engine fuel oil heating test is satisfied.

The invention discloses a hydraulic-motor angular-displacement digital servo control system and a method thereof. The control system is formed by a digital control computer, a digital-to-analog conversion module, a servo amplifier, a servo object, a hydraulic source, a photoelectric encoder and a high speed counting module. The control method comprises the following steps of initializing an integrator and then reading a follow-up instruction signal and a feedback signal; carrying out first difference on the feedback signal and multiplying a first difference coefficient so as to obtain a first difference product; carrying out second difference operation on a first difference signal and multiplying a second difference coefficient so as to obtain a second difference product; taking an error on a sum of the follow-up instruction signal, the feedback signal, the first difference product and the second difference product; carrying out accumulation integration on an obtained error signal and multiplying an integration coefficient so as to obtain an integration product; carrying out digital-to-analog conversion on the integration product so as to obtain an analog quantity control signal and using the servo amplifier to control the servo object. By using the system and the method of the invention, cost is saved; installation is simplified; and a system response capability is increased.

The invention relates to a column type pole distance variable capacity weight-sensor used in electric weight system. It is formed by a weight-bearing head, a moving column, a capacity upper polar plate, a capacity lower polar plate, a weight-bearing spring, an outer cylinder and a bed and so on, wherein the capacity upper and lower polar plate and the weight-bearing spring are sealed fixed inside the outer cylinder. The gravity action of the object in on the weight-bearing head; it presses the weight-bearing spring by moving cylinder so that the condense deformation of the weight-bearing spring makes the distance between the capacity upper and lower polar plates short and the capacity value between the capacity upper and lower polar plate larges. It uses the external capacity testing circuit to measure the capacity value between the capacity upper and lower polar plate to obtain the weight value of the object.

The invention discloses a unified power quality conditioner. The unified power quality conditioner comprises a voltage and current collection module, an analog-to-digital conversion module, a DSP operation control module, a drive level conversion module and a main circuit which is composed of a series-type APF, a parallel-type APF and a direct-current-side capacitor. Aiming at the problem that a traditional detecting algorithm based on an instantaneous reactive power theory cannot accurately detect the distortion amount when network voltage is distorted, the invention further provides a methodfor using the unified power quality conditioner to detect the harmonic distortion amount and an improved comprehensive detection method of the synchronous rotation coordinate transformation deformation amount. Meanwhile, a novel digital lowpass filter is adopted by the method, a traditional lowpass filter is replaced through series connection of an improved moving averaging filter and a Butterworth filter, the calculating amount and the storage space are greatly reduced, the dynamic response speed is increased, and the detection of the network voltage and the load current distortion amount can be quickly and accurately conducted.

The invention discloses a power electronic converter robustness switching control method. The method comprises the steps of 1, building a system model, wherein in order to enable a system to change areference point into an original point during control, a PWA model type of a Boost converter is changed into an error model type of the Boost converter; 2, obtaining a controller parameter, and obtaining a matrix in a robustness switching controller; 3, according to a switching law, controlling a circuit of the Boost converter, that is, when an output voltage is larger than a desired voltage, adaptively reducing the reference value of an inductive current, when the output voltage is smaller than the desired voltage, adaptively increasing the reference value of the inductive current, outputtinga high level through a switching controller to switch on a switch S, and otherwise, outputting a low level through the switching controller to switch off the switch S. By means of the control method,the dynamic response time of the system is shortened, and the robustness of the converter to the input voltage and load sudden change is enhanced during running.

The invention relates to a numerical-control band saw machine for sawing American cork wood, and the numerical-control band saw machine comprises a saw machine, a saw frame, a vehicle body, a linear guideway pair, a ball screw, a variable frequency motor, a servo motor, an air pump, a numerical control operating desk, an electric control cabinet and the like; the sawing part of the saw machine comprises a band saw driving wheel, a band saw driven wheel, a tensioning mechanism, a tray, a housing and the like; the tension of a cutter is adjusted by virtue of an adjusting handwheel, the exposed teeth of the cutter are adjusted by a saw blade exposed tooth adjusting handwheel; the wood is clamped by a pneumatic device, the clamping force is adjusted by a regulation valve, the clamping force is realized by an operation handle, 01 gear is a wood clamping gear, N is a neutral gear, and 02 gear is a wood loosening gear; the linear guideway pair and the variable frequency motor are adopted for a walking part, the sawing precision is stable and reliable, the servo motor is adopted for a sawing part, the ball screw is lifted, an imported special cutter is adopted, and the numerical-control band saw machine is steady in operation, small in sawing kerf and high in yield.

The invention relates to the technical field of power electronics, and discloses a switch type power amplification device and a method for simulating current transformation control. The switch type power amplification device comprises a simulation-side current transformation circuit, a direct-current bus circuit and a power-side current transformation circuit which are sequentially connected with one another. The simulation-side current transformation circuit comprises an input filter, parallel filter inductors and three-phase two-level parallel arms which are sequentially connected with one another; the input filter is of an LC structure, capacitors are arranged on a side where the parallel filter inductors are arranged, 3n arms are connected with one another on direct-current sides in parallel to form each three-phase two-level parallel arm, each phase of each three-phase two-level parallel arm is provided with the n corresponding arms, and the n is larger than or equal to 2; filter inductors are serially connected with a middle point of each arm, and LCL type filters can be jointly equivalently formed by the filter inductors and the input filter after the filter inductors are subjected to phase separation and are connected with one another in parallel; switches in the three-phase two-level parallel arms are power electronic full-control type devices. The switch type power amplification device and the method have the advantages that the control bandwidth of the switch type power amplification device can be increased, the dynamic response time can be shortened, the adaptability to measured motor control driving devices with different technical characteristics can be improved, and the switch type power amplification device and the method are high in practicality.

The invention provides a distributed damping supporting device of an automobile range extender. The distributed damping supporting device comprises a damping supporting device body and a control system, wherein the damping supporting device body comprises a shell and a piston device, an oil chamber and a jacking pillar cavity which communicate with each other are formed in the shell, the piston device is coaxially matched with the oil chamber, a twisting device enabling the piston device to move up and down in the oil chamber is arranged on the shell, a jacking pillar which is in clearance fitwith the jacking pillar cavity is arranged in the jacking pillar cavity, the piston device is used for adjusting the position of the jacking pillar, and the control system is used for supplying oil and discharging oil for the damping supporting device body, and is used for controlling the twisting device to lift the jacking pillar. According to the distributed damping supporting device, the costfor automobile development is lowered, the control system of the damping device is designed, and the damping device achieves a good damping effect while having high universality.

The invention belongs to the field of power electronics, and particularly discloses a method for extracting a double-frequency alternating-current component under a rotating coordinate system, which comprises a power grid voltage signal acquisition module, a synchronous rotating coordinate transformation module, a delay sampling period filtering module, an amplitude and phase calculation module and a synchronous rotating coordinate inverse transformation module. Only the asymmetric three-phase voltage needs to be subjected to synchronous rotation coordinate transformation, and then a direct-current component, namely a positive-sequence component, under a synchronous rotation coordinate system can be accurately obtained by utilizing a delay sampling periodic filtering algorithm. And the delay sampling periodic filtering module is used for quickly separating the positive sequence voltage component from the negative sequence voltage component by delaying the voltage component on the synchronous rotating coordinate system for two sampling periods.

The invention relates to an electronic tag for the automatic identification of a high-speed train. The electronic tag comprises an energy obtaining unit; the energy obtaining unit is used for obtaining energy and supplies power for the electronic tag, and comprises a rectification module and a transforming module, wherein the rectification module is used for transforming voltage from AC (Alternating Current) to DC (Direct Current), and the voltage transforming module is used for transforming the AC voltage into a voltage suitable for the electronic tag. The voltage transforming module comprises an accelerating circuit, the accelerating circuit is used for reducing the dynamic response time of the voltage transforming module, and the accelerating circuit is connected with an input end and an output end of the voltage transforming module. The application of the electronic tag for the automatic identification of a high-speed train has the following beneficial effects: because the electronic tag is provided with the accelerating circuit, the dynamic response time of a power supply of the electronic label is shorter; simultaneously, because the electronic tag takes the output of a multivibrator with stable microsecond grade as a clock of the electronic tag, the response speed is higher, and the electronic tag is suitable for the trains with the maximum running speed of 500 kilometers per hour.

The invention relates to a low-voltage dynamic hybrid harmonic reactive power compensation device which is in parallel connection with a power grid and is further connected with a load. The low-voltage dynamic hybrid harmonic reactive power compensation device comprises a filter capacitor circuit, a thyristor control electric reactor circuit and a control circuit, wherein the filter capacitor circuit and the thyristor control electric reactor circuit are respectively connected to the power grid in parallel, the control circuit is connected with the thyristor control electric reactor circuit and the load respectively, the filter capacitor circuit offsets induction reactive currents in the power grid in real time, the control circuit tracks the reactive need of the load in real time, the triggering moment of a thyristor in the thyristor control electric reactor circuit is controlled, the size of currents in the thyristor control electric reactor circuit is changed, and reactive currents of the power grid are compensated. Compared with the prior art, the low-voltage dynamic hybrid harmonic reactive power compensation device has the advantages of being low in cost, rapid in response, capable of saving energy, obvious in voltage stabilization effect and the like.

A nano-class intelligent driver with high feeding powder for ultraprecision machining is composed of multiple deformable bodies and multiple insulating bodies, all of which are alternatively arranged. Its advantages are symmetrical structure for self-test, adaptive and self-leaning functions, no stress concentration in feeding procedure, high precision and wide feeding range.

The invention discloses a dynamic filter reactive power compensation device for a fan converter cabinet. The dynamic filter reactive power compensation device is connected with the output end of the converter cabinet and an electric network. The dynamic filter reactive power compensation device consists of a control circuit and a liquid crystal (LC) filter circuit, wherein the LC filter circuit consists of three LC braches which adopt star connection; and each LC branch consists of a filter reactor, a filter capacitor, an anti-parallel thyristor group and a remote-control absorption circuit. The dynamic filter reactive power compensation device can effectively filter higher harmonics, so that waveform of the voltage and current of the electric network is returned to sine, the electrical environment is improved and purified, reactive power is provided for a system in real time, optimum reactive power compensation is realized, and the power factor of a user system is improved.

The invention provides an engine intake system, an engine intake control method and a vehicle to solve the problem that dynamic response performance is insufficient during dynamic variable load of a vehicle in related technologies. To achieve the above purpose, the embodiment of the invention provides an engine intake system. The system comprises an intake pipe of a fuel cell engine, an intake parameter sensor arranged at the intake pipe, an air storage tank, a first pipeline for connecting an air outlet of the air storage tank and the intake pipe, a first electronic control valve arranged onthe first pipeline, an FCU controller, and an intake compensation controller, wherein the FCU controller is respectively connected with a CAN bus of the vehicle, the intake parameter sensor and the intake compensation controller; and the first electronic control valve is connected with the intake compensation controller.

A minimum time controller for the compensation of controllable series capacity features as using upper level controller of upper position target trigger angle in operation control computer as the input, using synchronous signal generating circuit of linear current as the input, using synchronuos signal generating circuit of linear current as the input, using the linear current synchronous signal coming separately from actual trigger angle of upper level controllor and from synchronous signal generating circuit as the input and using the pulse generator of thyristor trigger pulse as the output. The upper level controllor includes the controller being connected with operation control computer, the dual entrance RAM and bus buffer being connected each to controllor, the digital signal processor with EERPOM and SRAM to be connected with dual entrance RAM, bus buffer and A / D digital collecting card separately. The iterative method has been applied for the control caculation of actual trigger angle in thyristor correspondingly. The present invention only has the active state responding time of loms as almost near the extreme for the system going to the stable state immediately after thesaltus.

The invention discloses a nonlinear load current state discrimination algorithm based on a dynamic iterative step length, and belongs to the technical field of electric power. Firstly, a direct computing method and a simple iterative algorithm for computing the average value of load current according to Fourier series indication of the nonlinear load current, and the optimal iterative algorithm is obtained based on the simple iterative algorithm. Secondly, a nonlinear load current state discrimination algorithm based on the optimal iterative algorithm is obtained according to the load current state discrimination idea provided by the optimal iterative algorithm. Finally, the dynamic iterative step length is introduced into the nonlinear load current state discrimination algorithm based on the optimal iterative algorithm, so that the nonlinear load current state discrimination algorithm based on the dynamic iterative step length is obtained. The nonlinear load current state discrimination algorithm can accurately discriminate the state of the load current, and is only related to the load current but not related to power voltage (reference signals).

The invention relates to a vehicle dynamic braking force measuring device. The device comprises a moving part which is arranged on a wheel and is used for dynamically acquiring braking force data in a vehicle braking process, and a vehicle-mounted part which is wirelessly connected with the moving part and is used for receiving and displaying the braking force data in real time, drawing a process curve, and further calculating braking data. Compared with the prior art, the vehicle dynamic braking force measuring device provided by the invention has the advantages of fast response, high precision and the like.

The invention discloses a voltage signal filtering method. The method includes the steps: an analog-digital converter samples a voltage signal to be filtered and measures a peak-peak value Vpp of noise; the peak-peak value is transmitted to a microprocessor; the microprocessor calculates a voltage change threshold Vt according to the peak-peak value Vpp; a voltage value of a digital voltage signal is compared to the voltage change threshold Vt; if the voltage value is less than the voltage change threshold Vt, a Kalman digital filter filters the digital voltage signal of a current moment, and X(k|k) of the current moment of the Kalman digital filter is used as X(k-1|k-1) of a next moment; if the voltage value is greater than the voltage change threshold Vt, filtering is not performed, the currently acquired voltage value of the digital voltage signal is used as the X(k-1|k-1) of the next moment of the Kalman digital filter, and Q of the Kalman digital filter is far less than 1, and R is not less than 1. The invention further discloses a voltage signal filtering device. The voltage signal filtering method and device has the advantages that dynamic response of filtering is fast and convergence stability of filtering is good.