CN113885489B - Self-adaptive mud scraper obstacle avoidance control method and system - Google Patents
Self-adaptive mud scraper obstacle avoidance control method and system Download PDFInfo
- Publication number
- CN113885489B CN113885489B CN202110802719.7A CN202110802719A CN113885489B CN 113885489 B CN113885489 B CN 113885489B CN 202110802719 A CN202110802719 A CN 202110802719A CN 113885489 B CN113885489 B CN 113885489B
- Authority
- CN
- China
- Prior art keywords
- sludge
- motor
- torque
- thickness
- mud scraper
- 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.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D21/00—Separation of suspended solid particles from liquids by sedimentation
- B01D21/10—Settling tanks with multiple outlets for the separated liquids
- B01D21/12—Settling tanks with multiple outlets for the separated liquids with moving scrapers
- B01D21/14—Settling tanks with multiple outlets for the separated liquids with moving scrapers with rotating scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D21/00—Separation of suspended solid particles from liquids by sedimentation
- B01D21/30—Control equipment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application provides a method and a system for controlling obstacle avoidance of a self-adaptive mud scraper, wherein the method comprises the steps of obtaining thickness information of mud; transmitting the thickness information of the sludge to a control end for setting a starting point and a target point; and adjusting the torque value of the mud scraper; when an obstacle appears in the operation of the mud scraper, the variable thickness of the mud is fed back to a phase of adjusting the torque value of the mud scraper, and the torque value is adjusted again for control treatment; according to the application, the torque value born by the motor operation is judged by constructing stress analysis of the motor under the torque, and disturbance is performed in the load change process; calculating the sensitivity and hysteresis value of torque sensing; reducing the influence of differences in the detection process of the sensor; setting an initial point and a target point according to a sludge cleaning range, setting at least one group of obstacle points at the initial point and the target point, and increasing vigilance in a sludge cleaning process; the sludge treatment effect is improved.
Description
Technical Field
The application relates to an obstacle avoidance control method and system of a self-adaptive mud scraper, in particular to the field of obstacle avoidance treatment.
Background
The obstacle avoidance makes various obstacle avoidance actions for the outside to obstruct the movement direction of the object, and continues to interrupt the previous actions.
The mud scraping device of the existing mud scraper can not automatically adjust and treat the too thick mud layer when the resistance is too large, manual descaling is also needed, and the length of the rotating shaft can not be suitable for sedimentation tanks with different depths; the motor is in different stages in the operation due to different torque applied to the motor under different loads, and the motor is heated and damaged under continuous loads; when obstacles appear in the sludge cleaning process, the sludge cannot be thoroughly cleaned by selecting to avoid, and the load is continuously increased under the original sludge load by selecting to clean.
Disclosure of Invention
The application aims to: an object is to provide a method for controlling obstacle avoidance of an adaptive mud scraper, so as to solve the above problems in the prior art; a further object is to propose a system implementing the above method.
The technical scheme is as follows: an obstacle avoidance control method of a self-adaptive mud scraper comprises the following steps:
step 1, obtaining thickness information of sludge;
step 2, transmitting the thickness information of the sludge to a control end for setting a starting point and a target point; and adjusting the torque value of the mud scraper;
and step 3, when an obstacle appears in the operation of the mud scraper, feeding back the variable thickness of the mud to the step two, and adjusting the torque value again for control treatment.
In a further embodiment, the step 1 is further:
the sludge thickness is obtained by a sludge thickness detection device, and the sludge thickness detection device judges whether the sludge exceeds a cleaning set range by detecting the sludge thickness of the purified sedimentation tank; if the signal is not exceeded, the control end does not receive the signal; if the signal exceeds the preset value, the control end receives and transmits a conducting instruction.
In a further embodiment, the step 2 is further:
when the thickness of the sludge exceeds a cleaning setting range, the control end receives a conducting instruction; at this time, after the thickness detection device detects that the depth of the scraping plate mechanism in the mud reaches a preset value, setting a starting point and a target point is performed, and the specific steps are as follows:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a starting point and a to-be-avoided barrier queue in the process of the target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle or not, if yes, feeding back to the step 21, and resetting the starting point and the target point; the side is cleaned continuously;
the lifting driving mechanism stops working under the action of the control system, and then the motor is started to drive the scraping plate mechanism to rotate; the sludge is gathered towards the center of the sedimentation tank and falls into a sludge collecting tank in the center of the sedimentation tank, when the thickness detection device detects that the first layer of the muddy water is completely scraped, the lifting driving mechanism starts to work, and after the depth in the muddy water reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, and then the motor detects the thickness of the sludge again, and cleaning of the sludge is continued;
by constructing stress analysis of the motor under torque and taking at least one fan-shaped unit body on the motor, the shear stress of the unit body is as follows:
;
wherein T is torque transmitted by the motor; r is the distance from the unit body to the axle center; t is the thickness of the sludge;
the torque value output by the motor is subjected to torque sensing test, and the load loading and unloading processes in a static state are detected through the waveform generator, so that the torque value of the motor is adjusted and increased manually, and the disturbance is large in the load change process; further, the sensitivity of torque sensing is calculated as:
;
wherein Deltau is the voltage difference between the output load and the zero load of the motor; delta T is the load value applied to the motor;
according to the hysteresis of the torque sensor in the loading and unloading process, the hysteresis of the sensor is obtained as follows:
;
in the formula delta p Differential loading for loading and unloading the torque sensor; Δt is a load value applied to the motor.
In a further embodiment, the step 3 is further: when the motor is driven to clean, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleaned, the sludge accumulation in the cleaning process is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
An adaptive mud scraper obstacle avoidance control system for realizing the method, comprising the following steps:
a sludge thickness detection device for acquiring thickness information of sludge;
a first adjustment module for adjusting a torque of the torque value of the mud scraper;
and the second adjusting module is used for controlling the torque value according to the obstacle avoidance object.
In a further embodiment, the sludge thickness detection device detects the thickness of the purified sludge in the sedimentation tank to judge whether the sludge exceeds a cleaning setting range; if the signal is not exceeded, the control end does not receive the signal; if the signal exceeds the preset value, the control end receives and transmits a conducting instruction.
In a further embodiment, the first adjusting module receives detection information of the sludge thickness detecting device, and when the thickness of the sludge exceeds a cleaning setting range, the control end receives a conduction instruction; at this time, after the thickness detection device detects that the depth of the scraping plate mechanism in the mud reaches a preset value, setting a starting point and a target point is performed, and the specific steps are as follows:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a starting point and a to-be-avoided barrier queue in the process of the target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle or not, if yes, feeding back to the step 21, and resetting the starting point and the target point; and if not, continuing cleaning the side.
In a further embodiment, the first adjustment module includes a lift drive mechanism, a motor, and a squeegee mechanism; stopping working by controlling the lifting driving mechanism, and then starting the motor to drive the scraping plate mechanism to rotate; the sludge is gathered towards the center of the sedimentation tank and falls into a sludge collecting tank in the center of the sedimentation tank, when the thickness detection device detects that the first layer of the muddy water is completely scraped, the lifting driving mechanism starts to work, and after the depth in the muddy water reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, and then the motor detects the thickness of the sludge again, and cleaning of the sludge is continued; and the shear stress of the unit body is obtained by constructing stress analysis of the motor under the torque;
the torque value output by the motor is subjected to torque sensing test, and the load loading and unloading processes in a static state are detected through the waveform generator, so that the torque value of the motor is adjusted and increased manually, and the disturbance is large in the load change process; further calculating the sensitivity of torque sensing;
during the load and unload of the torque sensor according to the reference, the hysteresis of the sensor is derived.
In a further embodiment, when the second adjusting module is driven to clean, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleaned, the sludge accumulation in the cleaning process of the first adjusting module is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
The beneficial effects are that: the application provides a self-adaptive mud scraper obstacle avoidance control method and a system, wherein the torque value born by the operation of a motor is judged by constructing stress analysis of the motor under torque, and disturbance is performed in the process of load change; calculating the sensitivity and hysteresis value of torque sensing; reducing the influence of differences in the detection process of the sensor; setting an initial point and a target point according to a sludge cleaning range, setting at least one group of obstacle points at the initial point and the target point, and increasing vigilance in a sludge cleaning process; the sludge treatment effect is improved.
Drawings
FIG. 1 is a flow chart of an implementation method of the present application.
FIG. 2 is a flow chart of the setting of the starting point and the target point of the present application.
Fig. 3 is a schematic view of an obstacle avoidance scenario of the present application.
Detailed Description
The applicant believes that the mud scraping device of the existing mud scraper can not automatically adjust and treat the too thick mud layer when the resistance is too large, and the motor is in different stages in operation due to different torque applied to the motor under different loads, and the motor is heated and damaged under continuous loads; it is therefore necessary to diagnose the treatment thickness of the sludge and the torque value of the sludge treatment.
In order to solve the problems in the prior art, the application realizes the adjustment of different torque values and the obstacle-handling control of the motor according to the thickness of the sludge by the self-adaptive mud scraper obstacle-avoiding control method and the self-adaptive mud scraper obstacle-avoiding control system
The present application will be described in more detail with reference to the following examples and the accompanying drawings.
In the application, we propose a self-adaptive mud scraper obstacle avoidance control method and a system for realizing the method, wherein the self-adaptive mud scraper obstacle avoidance control method comprises the following steps:
step 1, obtaining thickness information of sludge; the sludge thickness is obtained by a sludge thickness detection device, and the sludge thickness detection device judges whether the sludge exceeds a cleaning set range by detecting the sludge thickness of the purified sedimentation tank; if the signal is not exceeded, the control end does not receive the signal; if the signal exceeds the preset value, the control end receives and transmits a conducting instruction.
Step 2, transmitting the thickness information of the sludge to a control end for setting a starting point and a target point; and adjusting the torque value of the mud scraper; when the thickness of the sludge exceeds a cleaning setting range, the control end receives a conducting instruction; at this time, after the thickness detection device detects that the depth of the scraping plate mechanism in the mud reaches a preset value, setting a starting point and a target point is performed, and the specific steps are as follows:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a starting point and a to-be-avoided barrier queue in the process of the target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle or not, if yes, feeding back to the step 21, and resetting the starting point and the target point; the side is cleaned continuously;
the lifting driving mechanism stops working under the action of the control system, and then the motor is started to drive the scraping plate mechanism to rotate; the sludge is gathered towards the center of the sedimentation tank and falls into a sludge collecting tank in the center of the sedimentation tank, when the thickness detection device detects that the first layer of the muddy water is completely scraped, the lifting driving mechanism starts to work, and after the depth in the muddy water reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, and then the motor detects the thickness of the sludge again, and cleaning of the sludge is continued;
by constructing stress analysis of the motor under torque and taking at least one fan-shaped unit body on the motor, the shear stress of the unit body is as follows:
;
wherein T is torque transmitted by the motor; r is the distance from the unit body to the axle center; t is the thickness of the sludge;
the torque value output by the motor is subjected to torque sensing test, and the load loading and unloading processes in a static state are detected through the waveform generator, so that the torque value of the motor is adjusted and increased manually, and the disturbance is large in the load change process; further, the sensitivity of torque sensing is calculated as:
;
wherein Deltau is the voltage difference between the output load and the zero load of the motor; delta T is the load value applied to the motor;
according to the hysteresis of the torque sensor in the loading and unloading process, the hysteresis of the sensor is obtained as follows:
;
in the formula delta p Differential loading for loading and unloading the torque sensor; Δt is a load value applied to the motor.
Step 3, when an obstacle appears in the operation of the mud scraper, the variable thickness of the mud is fed back to the step two, and the torque value is adjusted again for control treatment; when the motor is driven to clean, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleaned, the sludge accumulation in the cleaning process is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
An adaptive mud scraper obstacle avoidance control system for realizing the method, comprising the following steps:
a sludge thickness detection device for acquiring thickness information of sludge; the sludge thickness detection device is used for detecting the sludge thickness of the purified sedimentation tank and judging whether the sludge exceeds a cleaning set range or not; if the signal is not exceeded, the control end does not receive the signal; if the signal exceeds the preset value, the control end receives and transmits a conducting instruction.
A first adjustment module for adjusting a torque of the torque value of the mud scraper; the first adjusting module receives detection information of the sludge thickness detection device, and when the thickness of the sludge exceeds a cleaning setting range, the control end receives a conduction instruction; at this time, after the thickness detection device detects that the depth of the scraping plate mechanism in the mud reaches a preset value, setting a starting point and a target point is performed, and the specific steps are as follows:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a starting point and a to-be-avoided barrier queue in the process of the target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle or not, if yes, feeding back to the step 21, and resetting the starting point and the target point; and if not, continuing cleaning the side.
The first adjusting module comprises a lifting driving mechanism, a motor and a scraping plate mechanism; stopping working by controlling the lifting driving mechanism, and then starting the motor to drive the scraping plate mechanism to rotate; the sludge is gathered towards the center of the sedimentation tank and falls into a sludge collecting tank in the center of the sedimentation tank, when the thickness detection device detects that the first layer of the muddy water is completely scraped, the lifting driving mechanism starts to work, and after the depth in the muddy water reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, and then the motor detects the thickness of the sludge again, and cleaning of the sludge is continued; and the shear stress of the unit body is obtained by constructing stress analysis of the motor under the torque;
the torque value output by the motor is subjected to torque sensing test, and the load loading and unloading processes in a static state are detected through the waveform generator, so that the torque value of the motor is adjusted and increased manually, and the disturbance is large in the load change process; further calculating the sensitivity of torque sensing;
during the load and unload of the torque sensor according to the reference, the hysteresis of the sensor is derived.
The second adjusting module is used for controlling the torque value according to the obstacle avoidance object; when the second adjusting module is used for cleaning by motor driving, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleaned, the sludge accumulation in the cleaning process of the first adjusting module is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
As described above, although the present application has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the application itself. Various changes in form and details may be made therein without departing from the spirit and scope of the application as defined by the appended claims.
Claims (6)
1. The obstacle avoidance control method of the self-adaptive mud scraper is characterized by comprising the following steps of:
step 1, obtaining thickness information of sludge;
step 2, transmitting the thickness information of the sludge to a control end for setting a starting point and a target point; and adjusting the torque value of the mud scraper;
step 3, when an obstacle appears in the operation of the mud scraper, the variable thickness of the mud is fed back to the step two, and the torque value is adjusted again for control treatment;
when the thickness of the sludge exceeds a cleaning setting range, the control end receives a conducting instruction; at this time, after the thickness detection device detects that the depth of the scraping plate mechanism in the mud reaches a preset value, setting a starting point and a target point is performed, and the specific steps are as follows:
step 21, setting a starting point and a target point during sludge cleaning;
step 22, setting a starting point and a to-be-avoided barrier queue in the process of the target point;
step 23, setting at least one group of obstacle avoidance point parameters;
step 24, judging whether the obstacle avoidance point has an obstacle or not, if yes, feeding back to the step 21, and resetting the starting point and the target point; the side is cleaned continuously;
the lifting driving mechanism stops working under the action of the control system, and then the motor is started to drive the scraping plate mechanism to rotate; the sludge is gathered towards the center of the sedimentation tank and falls into a sludge collecting tank in the center of the sedimentation tank, when the thickness detection device detects that the first layer of the muddy water is completely scraped, the lifting driving mechanism starts to work, and after the depth in the muddy water reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, and then the motor detects the thickness of the sludge again, and cleaning of the sludge is continued;
by constructing stress analysis of the motor under torque and taking at least one fan-shaped unit body on the motor, the shear stress of the unit body is as follows:
；
wherein T is torque transmitted by the motor; r is the distance from the unit body to the axle center; t is the thickness of the sludge;
the torque value output by the motor is subjected to torque sensing test, and the load loading and unloading processes in a static state are detected through the waveform generator, so that the torque value of the motor is adjusted and increased manually, and the disturbance is large in the load change process; further, the sensitivity of torque sensing is calculated as:
；
wherein Deltau is the voltage difference between the output load and the zero load of the motor; delta T is the load value applied to the motor;
according to the hysteresis of the torque sensor in the loading and unloading process, the hysteresis of the sensor is obtained as follows:
；
in the formula delta p Differential loading for loading and unloading the torque sensor;
when the motor is driven to clean, the output torque value is adjusted under the corresponding load, then the sludge in the sedimentation tank is cleaned, the sludge accumulation in the cleaning process is readjusted, and the motor torque is readjusted according to the thickness of the sludge.
2. The method for controlling the obstacle avoidance of the adaptive mud scraper according to claim 1, wherein the step 1 is further:
the sludge thickness is obtained by a sludge thickness detection device, and the sludge thickness detection device judges whether the sludge exceeds a cleaning set range by detecting the sludge thickness of the purified sedimentation tank; if the signal is not exceeded, the control end does not receive the signal; if the signal exceeds the preset value, the control end receives and transmits a conducting instruction.
3. An adaptive mud scraper obstacle avoidance control system for implementing the method as claimed in any one of claims 1 to 2, comprising:
a sludge thickness detection device for acquiring thickness information of sludge;
a first adjustment module for adjusting a torque of the torque value of the mud scraper;
and the second adjusting module is used for controlling the torque value according to the obstacle avoidance object.
4. The obstacle avoidance control system of an adaptive sludge scraper according to claim 3, wherein the sludge thickness detection device detects the thickness of the purified sludge in the sedimentation tank to determine whether the sludge exceeds a cleaning setting range; if the signal is not exceeded, the control end does not receive the signal; if the signal exceeds the preset value, the control end receives and transmits a conducting instruction.
5. The adaptive mud scraper obstacle avoidance control system of claim 3 wherein the first adjustment module comprises a lift drive mechanism, a motor, and a squeegee mechanism; stopping working by controlling the lifting driving mechanism, and then starting the motor to drive the scraping plate mechanism to rotate; the sludge is gathered towards the center of the sedimentation tank and falls into a sludge collecting tank in the center of the sedimentation tank, when the thickness detection device detects that the first layer of the muddy water is completely scraped, the lifting driving mechanism starts to work, and after the depth in the muddy water reaches a preset value, the thickness detection device sends a signal to the motor to enable the disc wheel to rotate again, and then the motor detects the thickness of the sludge again, and cleaning of the sludge is continued; and the shear stress of the unit body is obtained by constructing stress analysis of the motor under the torque;
the torque value output by the motor is subjected to torque sensing test, and the load loading and unloading processes in a static state are detected through the waveform generator, so that the torque value of the motor is adjusted and increased manually, and the disturbance is large in the load change process; further calculating the sensitivity of torque sensing;
during the load and unload of the torque sensor according to the reference, the hysteresis of the sensor is derived.
6. The system of claim 3, wherein the second adjusting module adjusts the output torque value under the corresponding load when the motor is driven to clean, then cleans the sludge in the sedimentation tank, readjusts the sludge accumulation during cleaning by the first adjusting module, and readjusts the motor torque according to the thickness of the sludge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110802719.7A CN113885489B (en) | 2021-07-15 | 2021-07-15 | Self-adaptive mud scraper obstacle avoidance control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110802719.7A CN113885489B (en) | 2021-07-15 | 2021-07-15 | Self-adaptive mud scraper obstacle avoidance control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113885489A CN113885489A (en) | 2022-01-04 |
| CN113885489B true CN113885489B (en) | 2023-09-22 |
Family
ID=79010656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110802719.7A Active CN113885489B (en) | 2021-07-15 | 2021-07-15 | Self-adaptive mud scraper obstacle avoidance control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113885489B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114733236A (en) * | 2022-04-26 | 2022-07-12 | 北控水务(中国)投资有限公司 | Floating sludge cleaning system and method for AOA secondary sedimentation tank and AOA secondary sedimentation tank |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104399287A (en) * | 2014-11-28 | 2015-03-11 | 重庆健杰科技有限公司 | Mud scraper driving device for square sedimentation tank |
| KR20170027430A (en) * | 2015-09-02 | 2017-03-10 | 현대자동차주식회사 | System and method for measuring output torque of driving module compring harmonic drive |
| CN107638723A (en) * | 2017-10-26 | 2018-01-30 | 衢州职业技术学院 | A kind of automatic barrier-breaking peripheral drive sludge scraper and its barrier-breaking scrape mud method |
| CN108525357A (en) * | 2018-04-03 | 2018-09-14 | 芜湖孺子牛节能环保技术研发有限公司 | A kind of mud scraper with anti-blockage function |
| CN108585369A (en) * | 2018-05-17 | 2018-09-28 | 王胜军 | A kind of sewage treatment system for breeding base and processing method using technology of Internet of things |
| CN110843552A (en) * | 2019-11-29 | 2020-02-28 | 安徽江淮汽车集团股份有限公司 | Electric vehicle torque control method, device, equipment and storage medium |
| CN113041668A (en) * | 2021-03-16 | 2021-06-29 | 华能南京金陵发电有限公司 | Anti-blocking method for mud scraper of power plant wastewater concentration treatment tank |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201338932A (en) * | 2012-03-21 | 2013-10-01 | Kabo Tool Co | Torque alarming hand tool |
| US11333035B2 (en) * | 2019-07-24 | 2022-05-17 | Pratt & Whitney Canada Corp. | Shaft shear detection in a gas turbine engine |
-
2021
- 2021-07-15 CN CN202110802719.7A patent/CN113885489B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104399287A (en) * | 2014-11-28 | 2015-03-11 | 重庆健杰科技有限公司 | Mud scraper driving device for square sedimentation tank |
| KR20170027430A (en) * | 2015-09-02 | 2017-03-10 | 현대자동차주식회사 | System and method for measuring output torque of driving module compring harmonic drive |
| CN107638723A (en) * | 2017-10-26 | 2018-01-30 | 衢州职业技术学院 | A kind of automatic barrier-breaking peripheral drive sludge scraper and its barrier-breaking scrape mud method |
| CN108525357A (en) * | 2018-04-03 | 2018-09-14 | 芜湖孺子牛节能环保技术研发有限公司 | A kind of mud scraper with anti-blockage function |
| CN108585369A (en) * | 2018-05-17 | 2018-09-28 | 王胜军 | A kind of sewage treatment system for breeding base and processing method using technology of Internet of things |
| CN110843552A (en) * | 2019-11-29 | 2020-02-28 | 安徽江淮汽车集团股份有限公司 | Electric vehicle torque control method, device, equipment and storage medium |
| CN113041668A (en) * | 2021-03-16 | 2021-06-29 | 华能南京金陵发电有限公司 | Anti-blocking method for mud scraper of power plant wastewater concentration treatment tank |
Non-Patent Citations (3)
| Title |
|---|
| 二沉池双周边传动虹吸刮泥机密封装置的优化;张华东;曾金枝;;中华纸业(第02期);全文 * |
| 城市污水处理厂沉淀池的设计及原则参数;陈小燕;王建西;;中国标准化(第04期);全文 * |
| 螺杆集成方式对燃料电池电化学性能的影响;张智明;胡淞;施晓;杨代军;;同济大学学报(自然科学版)(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113885489A (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113885489B (en) | Self-adaptive mud scraper obstacle avoidance control method and system | |
| JP3669320B2 (en) | Inter-vehicle distance measuring device | |
| US6351096B1 (en) | Operation control apparatus for escalator | |
| EP0301437A2 (en) | Control of torque in floor maintenance tools by drive motor load | |
| CN108860293B (en) | Steering control method and steering control device | |
| US20120084020A1 (en) | Collision Detection Method for a Drive Unit | |
| WO2021248858A1 (en) | Plc-based automatic grinding constant pressure control method and system | |
| US6260655B1 (en) | Electric power steering apparatus | |
| CN108290606B (en) | Electric power steering apparatus | |
| JPS644721B2 (en) | ||
| CN108702925A (en) | A kind of device and control method for realizing the automatic unloading of grain harvesting machine | |
| CN106869221B (en) | Land leveler speed control method, device and system | |
| CN109367618B (en) | Electric power steering control method and system | |
| JP3694104B2 (en) | Yaw rate sensor fault diagnosis device | |
| CN111756308B (en) | Motor locked-rotor detection method and system for automatic sweeper | |
| US6450921B1 (en) | System and method for controlling a transfer case clutch assembly | |
| CN112915599B (en) | Monitoring system and monitoring method for chain type transmission mud scraper | |
| JP3822660B2 (en) | Method and apparatus for monitoring rotational speed sensor | |
| CN114999959A (en) | Wafer cleaning device, equipment and cleaning method | |
| JP2010069907A (en) | Steering assist device | |
| KR101196310B1 (en) | Apparatus for monitoring and controling the load of travelling water screen | |
| JPH10278829A (en) | Return control device for electric power steering | |
| JPH05239850A (en) | Preventive method of slip of wheel loader | |
| CN112130560B (en) | In-situ microwave heating machine material pile following control system and control method | |
| CN110629215B (en) | Control method of torque of coating machine |
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 |