CN111923085A - Dynamic balance method and device for transformer substation operation inspection robot - Google Patents
Dynamic balance method and device for transformer substation operation inspection robot Download PDFInfo
- Publication number
- CN111923085A CN111923085A CN202010574933.7A CN202010574933A CN111923085A CN 111923085 A CN111923085 A CN 111923085A CN 202010574933 A CN202010574933 A CN 202010574933A CN 111923085 A CN111923085 A CN 111923085A
- Authority
- CN
- China
- Prior art keywords
- bearing surface
- inclination angle
- angle
- inspection robot
- horizontal plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rolling Contact Bearings (AREA)
Abstract
The invention discloses a dynamic balance method and a dynamic balance device for a transformer substation operation inspection robot, and aims to solve the technical problem that stable transportation of a test instrument cannot be guaranteed in the transformer substation operation inspection process. It includes: measuring the inclination angle between the bearing surface and the horizontal plane of the operation and inspection robot in real time by using a gyroscope; selecting a bearing surface angle adjusting rate according to the collected inclination angle based on an inclination angle feedback control technology; and rotating the bearing surface according to the angle adjustment rate of the bearing surface to adjust the inclination angle between the bearing surface and the horizontal plane. The invention can realize the dynamic balance of the bearing surface of the inspection robot, improve the safety and stability of the transportation work of the test instrument and improve the efficiency of the inspection work.
Description
Technical Field
The invention relates to a dynamic balance method and device for a transformer substation operation inspection robot, and belongs to the technical field of transformer substation intelligent operation inspection.
Background
The relay protection device verification and the primary equipment electrical test are necessary work for ensuring safe and stable operation of a power grid, which is carried out in a transformer substation, and are required to be carried out under the condition that the primary equipment is powered off, and a test instrument is a precision instrument which usually weighs 30-40 kg. In the transformer substation maintenance process, transport equipment transportation test instruments with extremely low manual or intelligent levels are generally used, the transport mode is seriously disconnected with the current advanced mechanical structure and control technology, the ability of stably transporting precision instruments is not provided in complex geographical environments in a station, and the ordered and efficient development of the operation and maintenance work in the station is greatly influenced.
At present, substations at home and abroad are provided with universal wheels or obstacle crossing wheels for equipment for transporting test instruments, but no mode is adopted to ensure stable transportation of the equipment, and excessive vibration of the precision instruments can influence the precision of the equipment, so that the detection result is influenced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a dynamic balance method and a dynamic balance device for a transformer substation operation inspection robot, which solve the problem of stably transporting a test instrument by measuring and adjusting the inclination angle of a bearing surface of the robot relative to a horizontal plane in real time.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a dynamic balancing method for a transformer substation operation inspection robot, which specifically comprises the following steps:
measuring the inclination angle between the bearing surface and the horizontal plane of the operation and inspection robot in real time by using a gyroscope;
selecting a bearing surface angle adjusting rate according to the collected inclination angle based on an inclination angle feedback control technology;
and rotating the bearing surface according to the angle adjustment rate of the bearing surface, and adjusting the inclination angle between the bearing surface and the horizontal plane to realize the dynamic balance of the bearing surface of the inspection robot.
With reference to the first aspect, further, the method for measuring the inclination angle between the bearing surface and the horizontal plane of the inspection robot in real time by using the gyroscope includes the following steps:
when the transformer substation operation and inspection robot enters a motion state, setting an initial inclination angle reference value, a measurement frequency and a time period of a bearing surface for a gyroscope built in the robot;
measuring the inclination angle between the bearing surface and the horizontal plane in real time by using a gyroscope according to the measuring frequency, dividing the measured inclination angle into m groups according to the time period, and obtaining an inclination angle set beta (beta)1m,β2m,…,βim,…,βnm) Wherein, βimDenotes the inclination angle amount corresponding to the i-th time zone, i is 1,2, …, n, n is the total number of time zones, βim＝(β1,β2,…,βk,…,βm)，βkRepresents the k-th inclination angle amount in the i-th time period, k being 1,2, …, m;
calculating the inclination angle beta corresponding to the ith time period in the inclination angle set in real timeimIs weighted average value alpha ofi：
Obtaining a set of tilt angle weighted average values α ═ α1,α2,…,αi,…,αnIn which α isiIs the final inclination amount, w, of the ith time periodkIs the weight of the kth inclination angle quantity and has
With reference to the first aspect, further, the tilt angle feedback control technique includes a threshold control strategy and a flexible control strategy.
With reference to the first aspect, further, a specific formula of the threshold control policy is as follows:
wherein r isiDenotes alphaiCorresponding bearing surface angle adjustment rate r1、r2A manually set threshold rate of maximum threshold tilt angle, theta is the lock-up sensitivity angle, r1、r2And θ are constants.
With reference to the first aspect, further, the flexible control strategy comprises the following steps:
introducing a mechanism transfer function F (alpha)i；Δ,γ)：
Wherein, Delta is an outlier threshold parameter, Gamma is a conversion speed parameter, and Gamma belongs to N*And is
When | αiWhen | ═ 0, F → 0, when | αiWhen | ═ Δ, F ═ 0.5, when | αi| → ∞ time, F ═ 1;
calculating the bearing surface angle adjustment rate based on a mechanism conversion function:
Wherein r isiDenotes alphaiCorresponding bearing surface angle adjustment rate r1、r2For a manually set threshold rate, θ is the lock-up sensitivity angle, r1、r2And θ are both constants.
With reference to the first aspect, further, the set frequency is 50 times/second.
In a second aspect, the present invention further provides a dynamic balancing apparatus suitable for a transformer substation operation inspection robot, including: the gyroscope is used for measuring the inclination angle between the bearing surface and the horizontal plane of the operation and inspection robot in real time; the speed selection module is used for selecting the bearing surface angle adjustment speed according to the collected inclination angle; and the dynamic balance module is used for rotating the bearing surface according to the angle adjustment rate of the bearing surface and adjusting the inclination angle between the bearing surface and the horizontal plane.
In combination with the second aspect, further, the dynamic balance module includes a stepping motor and a rotating component, the rotating component is installed at a joint between the robot body and the bearing surface, and the stepping motor drives the rotating component to rotate according to the bearing surface angle adjustment rate, so as to adjust the inclination angle between the bearing surface and the horizontal plane.
With reference to the second aspect, further, the rotating member employs a gear and a rotating shaft, an outer rack of the gear is engaged with the stepping motor, an inner rack of the gear is engaged with the rotating shaft, and the rotating shaft is fixed on the bearing surface.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a dynamic balance method and a dynamic balance device for a transformer substation operation inspection robot. Compared with the prior art, the dynamic balance method and the dynamic balance device have the advantages of high adjustment response speed, soft adjustment process and high angle adjustment precision, can dynamically and stably adjust the angle of the bearing surface of the operation and inspection robot, avoid the robot from shaking greatly to damage instruments in the transportation process, improve the safety and stability of the transportation work of the test instruments and improve the operation and inspection work efficiency.
The threshold control strategy has the advantages of short response time and good adjustment precision, is suitable for most of operation and inspection work, has more accurate adjustment of the flexible control strategy, softer adjustment process and small overshoot amplitude, can ensure that the inclination of the bearing surface is adjusted to a required range at a proper speed, is more suitable for the transportation work of high-precision instruments, and realizes the stable transportation of the precision instruments.
Drawings
Fig. 1 is a schematic step flow diagram of a dynamic balancing method for a substation operation inspection robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a mechanical transfer function provided by an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a dynamic balancing device for a substation operation inspection robot according to an embodiment of the present invention.
In the figure: 1 is a gyroscope, 2 is a rate selection module, and 3 is a dynamic balancing module.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The embodiment of the invention provides a dynamic balancing method for a transformer substation operation inspection robot, which specifically comprises the following steps as shown in fig. 1:
step A: and measuring the inclination angle between the bearing surface and the horizontal plane of the operation and inspection robot in real time by utilizing a gyroscope. The bearing surface is a plane used for placing and transporting the test instrument on the transportation and inspection robot, and is parallel to the horizontal plane under the normal condition.
The specific operation for measuring the amount of inclination is as follows:
when the transformer substation operation and inspection robot enters a motion state, setting an initial inclination angle reference value, a measurement frequency and a time period of a bearing surface for a built-in gyroscope of the robot. In order to reduce the influence of the accumulated error, when the robot is continuously moving, the initial tilt angle reference value is reset every 1 minute, and when the robot is subjected to the stop state, the initial tilt angle reference value is reset every time the robot is re-moved into the moving state. The measurement frequency and time period are fixed values.
Measuring the inclination angle between the bearing surface and the horizontal plane in real time by using a gyroscope according to the measuring frequency, dividing the measured inclination angle into m groups according to the time period, and obtaining an inclination angle set beta (beta)1m,β2m,…,βim,…,βnm) Wherein, βimDenotes the inclination angle amount corresponding to the i-th time zone, i is 1,2, …, n, n is the total number of time zones, βim＝(β1,β2,…,βk,…,βm)，βkDenotes the k-th inclination angle amount in the i-th time period, where k is 1,2, …, m.
Calculating the dip angle weighted average value of each group of dip angle quantities in real time according to the measured dip angle quantities, wherein the dip angle quantity beta corresponding to the ith time period in the dip angle quantity setimIs weighted average value alpha ofi：
Obtaining a set of tilt angle weighted average values α ═ α1,α2,…,αi,…,αnIn which α isiIs the final inclination angle quantity of the ith time period, namely the basis for selecting the bearing surface angle adjustment rate of the ith time period, wkIs the weight of the kth inclination angle quantity and has
In the embodiment of the invention, the measuring frequency is 50 times/second, namely the inclination angle between the bearing surface and the horizontal plane is measured for 50 times in one second, the time period is 0.1s, and m is 5, namely according to timeSequentially extracting 5 successive dip angle quantities as a group, assigning equal weights to calculate a weighted average of the dip angles, and
in the process of measuring the dip angle, the dip angle weighted average value, alpha, of a group of dip angle quantities is calculated immediately after obtaining the group of dip angle quantities each timeiUpdating 10 times per second, and acquiring the bearing surface angle adjustment rate in real time according to the weighted average value of the inclination angle.
And B: and selecting the angle adjustment rate of the bearing surface according to the collected inclination angle based on the inclination angle feedback control technology. The inclination angle feedback control technology comprises a threshold control strategy and a flexible control strategy, in actual operation, any one of the strategies can be selected to select the bearing surface angle adjustment rate, the two strategies can be combined to select the bearing surface angle adjustment rate, and the two strategies can effectively improve the transportation safety and the working efficiency when the relay protection tester and the electrical test instrument are transferred to a working surface.
Obtaining the weighted average value alpha of the inclination angleiThereafter, the desired value of the regulation rate, i.e., the threshold rate r, is set based on big data analysis or empirical judgment1、r2Based on a threshold rate r by a threshold control strategy or a flexible control strategy1、r2Dynamic adjustment of alphaiThe speed of adjustment of (2).
The specific formula of the threshold control strategy is as follows:
wherein r isiDenotes alphaiCorresponding bearing surface angle adjustment rate r1、r2A manually set threshold rate of maximum threshold tilt angle, theta is the lock-up sensitivity angle, r1、r2And θ are constants.
The threshold control strategy can realize dynamic control of the inclination angle, has the advantages of quick response time (completion within 1 s), good adjustment precision and suitability for operation and inspection of most power transformation transfer inspection robots.
The steps of the flexible control strategy are as follows:
introducing a mechanism transfer function F (alpha)i；Δ,γ)：
Wherein, Delta is an outlier threshold parameter, Gamma is a conversion speed parameter, and Gamma belongs to N*And is
In the embodiment of the invention, the recommended value of the outlier threshold parameter delta is 5 degrees, and the recommended value of the conversion speed parameter gamma is 500 degrees.
A schematic diagram of the mechanical transfer function is shown in FIG. 2, from which it can be seen that when | αiWhen | ═ 0, F → 0, when | αiWhen | ═ Δ, F ═ 0.5, when | αiWhen | → ∞, F ═ 1.
Calculating the bearing surface angle adjustment rate based on a mechanism conversion function:
Compared with a threshold control strategy, the flexible control strategy is more accurate in adjustment, the adjusting process is softer, the overshoot amplitude is small, and the load surface inclination can be adjusted to a set range at a proper speed.
And C: and rotating the bearing surface according to the angle adjustment rate of the bearing surface, and adjusting the inclination angle between the bearing surface and the horizontal plane to realize the dynamic balance of the bearing surface of the inspection robot.
After a proper bearing surface angle adjustment rate is selected through a threshold control strategy and/or a flexible control strategy, the bearing surface is rotated according to the bearing surface angle adjustment rate, and the inclination angle between the bearing surface and the horizontal plane is adjusted, so that the dynamic balance of the bearing surface of the inspection robot is realized. In the embodiment of the invention, the stepping motor can be used for driving the bearing surface to rotate, so that the angle adjustment of the bearing surface can be directly realized, the friction force of the bearing surface at the joint of the robot body can be adjusted by rotating the stepping motor, and the angle of the bearing surface can be controlled by damping.
In the embodiment of the invention, the angle is 5 degrees, theta is 2 degrees, and when the gyroscope detects alphaiMore than [ -5 °,5 °]When the speed is increased, the stepping motor is rapidly rotated, and the angle of the bearing surface is adjusted; when alpha isiAt [ -2 °,2 ° ]]Because the inclination angle is very small, the test instrument on the bearing surface can not be influenced, so that the stepping motor is in a locking state at the moment and does not carry out angle adjustment; when alpha isiPulled back to [ -5 DEG, 5 DEG ]]When the motor is not in a locking state, the rotating speed of the stepping motor is reduced, and the angle is adjusted at a relatively low adjusting speed.
The invention also provides a dynamic balance device for the transformer substation operation inspection robot, which comprises a gyroscope 1, a rate selection module 2 and a dynamic balance module 3. The gyroscope is mainly used for measuring the inclination angle between the bearing surface and the horizontal plane of the operation and inspection robot in real time; the speed selection module is used for selecting the bearing surface angle adjustment speed according to the collected inclination angle; the dynamic balance module is used for rotating the bearing surface according to the angle adjustment rate of the bearing surface and adjusting the inclination angle between the bearing surface and the horizontal plane.
The dynamic balance module in the embodiment of the invention can directly rotate the bearing surface to adjust the angle, and can also indirectly rotate the bearing surface by adjusting the damping between the bearing surface and the robot body to adjust the angle.
When the dynamic balance module directly rotates the bearing surface, the dynamic balance module comprises a stepping motor and a rotating part, the rotating part is installed at the joint of the robot body and the bearing surface, and the stepping motor drives the rotating part to rotate according to the angle adjustment rate of the bearing surface so as to adjust the inclination angle of the bearing surface between the horizontal planes. Rotary part can adopt gear and rotation axis, and the outside rack and the step motor meshing of gear, the inboard rack and the rotation axis meshing of gear, the rotation axis is fixed on the bearing surface, and step motor drives the gear revolve after the motion, and then rotates the bearing surface through the rotation axis, and rotary part can also use other hardware structures that have rotation function.
When the dynamic balance module rotates the bearing surface through adjusting the damping, the dynamic balance module comprises a stepping motor, an adjusting lock rod, a reset spring, a brake cable and a friction plate, the stepping motor is connected with one end of the adjusting lock rod, the other end of the adjusting lock rod is connected with the reset spring, one end of the brake cable is arranged on the adjusting lock rod, the other end of the brake cable is connected with the friction plate, and the friction plate is arranged at the joint of the bearing surface and the robot body. When the inclination angle quantity is not available, the reset spring is in a normal length, the adjusting lock rod tensions the brake cable at the moment, the friction plate at the other end of the brake cable is tightly attached to the bearing surface, the friction force between the bearing surface and the robot body is increased, and the bearing surface is not moved; when the gyroscope detects the inclination angle, the stepping motor adjusts the speed according to the bearing surface angle selected by the speed selection module to accelerate or decelerate, the stepping motor drives the adjusting lock rod to compress the return spring, the adjusting lock rod slowly releases the brake cable, the friction plate moves, the friction force between the bearing surface and the robot body is reduced, and the bearing surface rotates to the horizontal direction under the action of the gravity.
Compared with the prior art, the dynamic balancing method and the dynamic balancing device have the advantages that the adjusting response speed is high, the adjusting process is soft, the angle adjusting precision is high, the angle of the bearing surface of the operation and inspection robot can be dynamically and stably adjusted, the robot is prevented from shaking to a large extent in the transportation process to damage the instrument, the safety and the stability of the transportation work of the test instrument are improved, and the operation and inspection work efficiency is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A dynamic balancing method for a transformer substation operation inspection robot is characterized by comprising the following steps:
measuring the inclination angle between the bearing surface and the horizontal plane of the operation and inspection robot in real time by using a gyroscope;
selecting a bearing surface angle adjusting rate according to the collected inclination angle based on an inclination angle feedback control technology;
and rotating the bearing surface according to the angle adjustment rate of the bearing surface, and adjusting the inclination angle between the bearing surface and the horizontal plane to realize the dynamic balance of the bearing surface of the inspection robot.
2. The dynamic balancing method for the transformer substation operation inspection robot is characterized in that the method for measuring the inclination angle between the bearing surface and the horizontal plane of the operation inspection robot in real time by using the gyroscope comprises the following steps:
when the transformer substation operation and inspection robot enters a motion state, setting an initial inclination angle reference value, a measurement frequency and a time period of a bearing surface for a gyroscope built in the robot;
measuring the inclination angle between the bearing surface and the horizontal plane in real time by using a gyroscope according to the measuring frequency, dividing the measured inclination angle into m groups according to the time period, and obtaining an inclination angle set beta (beta)1m,β2m,…,βim,…,βnm) Wherein, βimDenotes the inclination angle amount corresponding to the i-th time zone, i is 1,2, …, n, n is the total number of time zones, βim＝(β1,β2,…,βk,…,βm)，βkRepresents the k-th inclination angle amount in the i-th time period, k being 1,2, …, m;
calculating the inclination angle beta corresponding to the ith time period in the inclination angle set in real timeimIs weighted average value alpha ofi：
Obtaining a set of tilt angle weighted average values α ═ α1,α2,…,αi,…,αnIn which α isiIs the final inclination amount, w, of the ith time periodkIs the weight of the kth inclination angle quantity and has
3. The method of claim 2, wherein the tilt amount feedback control technique comprises a threshold control strategy and a flexible control strategy.
4. The dynamic balancing method for the substation inspection robot as claimed in claim 3, wherein the specific formula of the threshold control strategy is as follows:
wherein r isiDenotes alphaiCorresponding bearing surface angle adjustment rate r1、r2A manually set threshold rate of maximum threshold tilt angle, theta is the lock-up sensitivity angle, r1、r2And θ are constants.
5. The dynamic balancing method for the substation inspection robot according to claim 3, characterized in that the steps of the flexible control strategy are as follows:
introducing a mechanism transfer function F (alpha)i；Δ,γ)：
Wherein, Delta is an outlier threshold parameter, Gamma is a conversion speed parameter, and Gamma belongs to N*And is
When | αiWhen | ═ 0, F → 0, when | αiWhen | ═ Δ, F ═ 0.5, when | αi| → ∞ time, F ═ 1;
calculating the bearing surface angle adjustment rate based on a mechanism conversion function:
wherein r isiDenotes alphaiCorresponding bearing surface angle adjustment rate r1、r2For a manually set threshold rate, θ is the lock-up sensitivity angle, r1、r2And θ are both constants.
6. The dynamic balancing method for the substation inspection robot according to claim 2, wherein the set frequency is 50 times/second.
7. A dynamic balancing device for a transformer substation inspection robot, comprising:
a gyroscope: the device is used for measuring the inclination angle between the bearing surface of the operation and inspection robot and the horizontal plane in real time;
a rate selection module: the speed adjusting device is used for selecting the angle adjusting speed of the bearing surface according to the collected inclination angle;
a dynamic balancing module: the angle adjusting device is used for rotating the bearing surface according to the angle adjusting rate of the bearing surface and adjusting the inclination angle between the bearing surface and the horizontal plane.
8. The dynamic balance device suitable for the transformer substation inspection robot is characterized in that the dynamic balance module comprises a stepping motor and a rotating component, the rotating component is installed at the joint of the robot body and the bearing surface, and the stepping motor drives the rotating component to rotate according to the bearing surface angle adjusting rate so as to adjust the inclination angle between the bearing surface and the horizontal plane.
9. The dynamic balance device suitable for the transformer substation inspection robot is characterized in that the rotating component adopts a gear and a rotating shaft, an outer rack of the gear is meshed with the stepping motor, an inner rack of the gear is meshed with the rotating shaft, and the rotating shaft is fixed on a bearing surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574933.7A CN111923085B (en) | 2020-06-22 | 2020-06-22 | Dynamic balance method and device for transformer substation operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574933.7A CN111923085B (en) | 2020-06-22 | 2020-06-22 | Dynamic balance method and device for transformer substation operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111923085A true CN111923085A (en) | 2020-11-13 |
| CN111923085B CN111923085B (en) | 2022-06-28 |
Family
ID=73316611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010574933.7A Active CN111923085B (en) | 2020-06-22 | 2020-06-22 | Dynamic balance method and device for transformer substation operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111923085B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0976184A (en) * | 1995-09-11 | 1997-03-25 | Yaskawa Electric Corp | Control device of robot |
| CN105182140A (en) * | 2015-09-29 | 2015-12-23 | 国家电网公司 | Multifunctional testing platform and method for relay protection testing |
| CN106774446A (en) * | 2016-12-14 | 2017-05-31 | 郑州云海信息技术有限公司 | A kind of server level device for adjusting posture and method |
| CN107894783A (en) * | 2017-12-29 | 2018-04-10 | 南京工程学院 | A kind of autobalance microscope carrier system |
| CN208762024U (en) * | 2018-03-28 | 2019-04-19 | 燕山大学 | Autobalance crane based on gyroscope |
-
2020
- 2020-06-22 CN CN202010574933.7A patent/CN111923085B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0976184A (en) * | 1995-09-11 | 1997-03-25 | Yaskawa Electric Corp | Control device of robot |
| CN105182140A (en) * | 2015-09-29 | 2015-12-23 | 国家电网公司 | Multifunctional testing platform and method for relay protection testing |
| CN106774446A (en) * | 2016-12-14 | 2017-05-31 | 郑州云海信息技术有限公司 | A kind of server level device for adjusting posture and method |
| CN107894783A (en) * | 2017-12-29 | 2018-04-10 | 南京工程学院 | A kind of autobalance microscope carrier system |
| CN208762024U (en) * | 2018-03-28 | 2019-04-19 | 燕山大学 | Autobalance crane based on gyroscope |
Non-Patent Citations (1)
| Title |
|---|
| 郑刚等: "电动车电机驱动***柔性控制策略研究", 《东方电气评论》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111923085B (en) | 2022-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102923318B (en) | Weak impact type butting system for androgynous stiffness damping closed loop feedback control | |
| CN103869834B (en) | Three-axis air-bearing table barycenter intelligent adjusting method based on empirical modal method | |
| CN109018430B (en) | Rotorcraft blade performance test bench | |
| CN106644389B (en) | High-precision five degree of freedom pose regulating mechanism applied to space environment test | |
| CN104199465A (en) | Self-tracking servo control system for flat plate with high integration and high precision | |
| CN107505841B (en) | Mechanical arm posture robust control method based on interference estimator | |
| CN101709975A (en) | Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform | |
| CN110454329A (en) | A kind of Wind turbines award setting method | |
| CN101286281B (en) | Rigid-elastic liquid coupled spacecraft physical simulation experiment system | |
| CN102121874A (en) | Method, device and system for simulating inertia and running resistance of rail transit vehicle | |
| CN212556849U (en) | High-precision double-shaft simulation turntable with no shielding of clearance of pitching shaft | |
| CN111923085B (en) | Dynamic balance method and device for transformer substation operation robot | |
| CN104932559A (en) | Six-degree-of-freedom air bearing table mass center adjustment mechanism and adjustment method | |
| CN110144831A (en) | A kind of rotating method for the swivel structure of continuous beam and for controlling swivel | |
| CN109489974A (en) | A kind of flexible torque loading mechanism of multi-mode switching | |
| CN206037964U (en) | Spatial digitizer transmission decelerator | |
| CN110949690B (en) | Spacecraft structure for low-orbit geomagnetic energy storage on-orbit delivery | |
| CN214225395U (en) | Integrated control debugging device that flies away of overhead transmission line cable patrols and examines platform | |
| Feng et al. | Mechanism design and crawling process force analysis of inspection robot for power transmission lines | |
| CN112943533B (en) | Suspension winding segmentation and multi-end suspension control method for wind power magnetic suspension yaw system | |
| CN114185271B (en) | Annular truss three-dimensional follow-up system and control method thereof | |
| CN211001917U (en) | Spacecraft structure for low-orbit geomagnetic energy storage in-orbit delivery | |
| CN114790969A (en) | Wind driven generator set shaft centering monitoring and adjusting device and monitoring and adjusting method | |
| CN106218924A (en) | α Direct to the sun device driveability ground, space station semi physical test system | |
| CN207964062U (en) | A kind of in-orbit mass measurer ground calibrating installation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |