摘要：【中文】本申请提供一种电机控制方法、装置、存储介质及其机器人，该方法包括获取电机的当前给定速度，判断当前给定速度是否等于预设的停止值；若是，则获取电机的当前工作速度；判断当前工作速度是否等于预设的停止值；若是，则将电机的比例积分控制的积分输出修正为预设的停止值，获得修正后的比例积分输出量，修正后的比例积分输出量为比例输出和修正后的积分输出之和；根据修正后的比例积分输出量对电机进行控制，以使电机停止。 【EN】The application provides a motor control method, a motor control device, a storage medium and a robot thereof, wherein the method comprises the steps of obtaining the current given speed of a motor, and judging whether the current given speed is equal to a preset stop value or not; if so, acquiring the current working speed of the motor; judging whether the current working speed is equal to a preset stop value or not; if so, correcting the integral output of the proportional-integral control of the motor to a preset stop value to obtain a corrected proportional-integral output quantity, wherein the corrected proportional-integral output quantity is the sum of the proportional output and the corrected integral output; and controlling the motor according to the corrected proportional-integral output quantity so as to stop the motor.

摘要：【中文】本申请提供了一种电机转子初始位置定位方法、装置、电子设备及存储介质，涉及电机技术领域，该方法应用于电机驱动装置，包括：获取电机的实际电流值；调节所述电机的实际电流值；在所述实际电流值与所述电机的额定电流值相等时，将所述转子的磁场轴的当前位置确定为所述转子的初始位置。本申请能够在不需要通过霍尔器件的情况下通过电机驱动装置得到电机转子初始位置，能够避免霍尔器件成本高且容易损坏的问题，因此本申请能够降低得到电机转子初始位置的成本以及提高得到电机转子初始位置的可靠性。 【EN】The application provides a motor rotor initial position positioning method, a motor rotor initial position positioning device, electronic equipment and a storage medium, which relate to the technical field of motors, and the method is applied to a motor driving device and comprises the following steps: acquiring an actual current value of the motor; adjusting an actual current value of the motor; when the actual current value is equal to a rated current value of the motor, determining a current position of a magnetic field axis of the rotor as an initial position of the rotor. According to the motor rotor initial position detection method and device, the motor rotor initial position can be obtained through the motor driving device under the condition that the Hall device is not needed, the problem that the Hall device is high in cost and easy to damage can be solved, and therefore the cost of obtaining the motor rotor initial position can be reduced, and the reliability of obtaining the motor rotor initial position can be improved.

摘要：【中文】本发明公开了一种基于板壳理论的深海管道屈曲传播压力的计算方法，具体步骤为：测量深海管道的半径R，和壁厚t；测量深海管道材料的拉伸应力‑应变关系，并用线性硬化弹塑性本构关系拟合得到屈服强度σ_s和线性硬化模量E₁；计算屈服影响系数m_y、应变硬化系数m_h和薄膜拉伸因子n；通过屈曲传播压力计算公式计算深海管道屈曲传播压力。本发明基于板壳理论，考虑壳体结构的薄膜拉伸效应在屈曲传播过程中的影响，整体地分析深海管道屈曲传播现象，提出更精确、更合理的屈曲传播压力计算方法。 【EN】The invention discloses a method for calculating deep sea pipeline buckling propagation pressure based on a plate shell theory, which comprises the following specific steps of: measuring the radius R and the wall thickness t of the deep sea pipeline; measuring the tensile stress-strain relation of deep sea pipeline material, and fitting by using linear hardening elastoplasticity constitutive relation to obtain yield strength sigma_sAnd linear hardening modulus E₁(ii) a Calculating yield influence coefficient m_yStrain hardening coefficient m_hAnd a film stretch factor n; and calculating the buckling propagation pressure of the deep sea pipeline through a buckling propagation pressure calculation formula. The invention is based on the plate-shell theory, considers the influence of the film stretching effect of the shell structure in the buckling propagation process, integrally analyzes the buckling propagation phenomenon of the deep sea pipeline, and provides a more accurate and more reasonable buckling propagation pressure calculation method.

摘要：【中文】本发明公开了一种含脱层复合材料层合结构剩余承载强度的计算方法，步骤如下：确定复合材料层合结构的铺层方式以及单层板的材料参数；确定贯穿矩形脱层的脱层发生的位置、大小以及层数；根据脱层X方向的发生位置将层合板划分为若干个子板，根据脱层Z方向的发生位置将子板划分为若干个子区域，计算每个子板中每个子区域的弯曲刚度、拉伸刚度及拉弯耦合刚度；将子板中每个子区域相加等效为一个不含脱层的完整子板；建立用挠度表示的平衡微分方程；将满足平衡微分方程及定解条件的最小解作为该脱层层合板的临界屈曲荷载。该计算方法通过刚度等效原则避免考虑脱层界面的复杂接触性能，解决含多个脱层的复合材料层合结构的剩余承载能力的计算问题。 【EN】The invention discloses a method for calculating the residual bearing strength of a laminated structure of a composite material containing delamination, which comprises the following steps: determining a layering mode of a composite material laminating structure and material parameters of a single-layer plate; determining the location, size, and number of layers of delamination that occurred throughout the rectangular delamination; dividing the laminated board into a plurality of sub-boards according to the occurrence position in the delamination X direction, dividing the sub-boards into a plurality of sub-areas according to the occurrence position in the delamination Z direction, and calculating the bending rigidity, the tensile rigidity and the stretch-bending coupling rigidity of each sub-area in each sub-board; adding each sub-area in the daughter board is equivalent to a complete daughter board without delamination; establishing a balance differential equation expressed by deflection; and taking the minimum solution which meets the equilibrium differential equation and the definite solution condition as the critical buckling load of the delamination laminated plate. The calculation method avoids considering the complex contact performance of a delaminating interface through a rigidity equivalence principle, and solves the calculation problem of the residual bearing capacity of a composite material laminating structure containing a plurality of delayers.