89results about "Mechanical power/torque control" patented technology

The invention relates to the technical field of rehabilitation robot control, and particularly discloses a gait prediction compensation admittance control method and system for lower limb rehabilitation exoskeleton, and the method comprises the steps: inputting a multi-dimensional motion vector into a time sequence prediction model, and outputting a prediction result of a gait phase at a future moment; if the maximum probability output by the time sequence prediction model is lower than a preset threshold value, automatically switching to a pre-constructed rule criterion to carry out gait phase recognition; an admittance control parameter matched with the gait phase prediction result is called from an admittance parameter mapping table, and a main control torque is calculated based on the called admittance control parameter; calculating a compensation torque based on the deviation between the actual human-computer interaction force and the expected interaction force; and the main control torque and the compensation torque are superposed to serve as a final torque driving instruction of the exoskeleton motor. Real-time gait prediction, admittance parameter self-adaptive adjustment and interaction force error dynamic compensation can be fused, and high-flexibility and high-safety man-machine collaborative rehabilitation training is achieved.

The invention relates to the field of mechanical transmission control, and discloses a self-adaptive torsion optimization method and system based on a stress model. The method mainly comprises the following steps: acquiring strain, temperature and vibration data of a transmission system in real time through a distributed sensor network; constructing a three-dimensional dynamic stress field model, and marking a high-risk area; dynamically adjusting a safety threshold based on material fatigue characteristics, and generating a torque control curve by adopting an optimization algorithm; and eliminating response delay through a pre-compensation mechanism. The system comprises an edge calculation unit, a millisecond-level actuator and a grading protection module. According to the method, the tooth root stress concentration is successfully inhibited by 35% in the wind power gear box, the impact load is reduced by 52% in the industrial robot joint, the equipment reliability is remarkably improved, and the service life is remarkably prolonged. The device is suitable for transmission systems of wind power, electric automobiles, industrial robots and the like.

The application discloses a floating wind power roll damping system based on fan-geared coupling and a control method. The system comprises a fan rotor, a tower, a floating platform, a cabin and a double geared roll damping device. A sensor system is arranged on the top of the tower and the floating platform and is used for monitoring multi-degree-of-freedom motion data of the system. The data collected by the sensor is transmitted to a controller through a signal transmission device, so as to realize real-time monitoring and control of the rolling state of the system. The active precession control mechanism controls the rotation of the precession shaft according to the received servo motor driving torque control signal output by the controller, so as to realize the control of the precession motion of the geared rotor. The application further establishes a complete fan-geared coupling dynamic model and designs a control method based on multi-objective optimization. The PSO algorithm is used to simultaneously optimize the roll damping performance and the energy consumption index, and a complete Pareto optimal solution set is established. The method can realize the dynamic balance of the performance and the energy consumption.

The invention discloses a regenerated asphalt mortar dynamic heating control method and device based on torque feedback, and the method comprises the steps: determining a predicted torque change curve in a future preset time period according to the current heating power, and determining the current heating power according to the predicted torque change curve; determining a first heating power adjustment strategy of the heating device in a future preset time period based on a preset first power generation strategy; performing first control on the heating device according to the first heating power adjustment strategy, and continuously obtaining real-time torque values of the recycled asphalt mortar at all moments in the first control process; and determining first torque change rates among the real-time torque values, and correcting the first heating power adjustment strategy by adopting a preset correction strategy according to the first torque change rates to obtain a second heating power adjustment strategy. The torque of the recycled asphalt mortar is monitored in real time and the heating strategy is dynamically adjusted, so that the heating process of the recycled asphalt mortar is accurately and efficiently controlled.

The present application relates to a kind of narrow body vehicle balance control method based on control moment gyro, belong to narrow body vehicle active roll control system field.The dynamics equation of control moment gyro is established, the active roll dynamics model of narrow body vehicle is calculated to obtain the roll angle error and roll angular velocity error of vehicle, then the active roll controller is designed using sliding mode control method to control the roll angle error and roll angular velocity error, and the rotational angular velocity of control moment gyro frame is obtained;Finally, the control moment gyro on narrow body vehicle is adjusted in real time, and vehicle balance is realized.The vehicle roll scheme in the present application uses control moment gyro device, with high control precision, fast response speed, and independent of suspension system, can realize greater balance torque.By controlling the frame angular velocity of control moment gyro, the dynamic balance of narrow body vehicle when steering can be realized, to assist the safe steering of driver.

The invention provides a control method and device based on a digital display torque wrench and electronic equipment, and relates to the field of torque wrenchs.The method comprises the steps that torque output operation acting on the digital display torque wrench is responded, and operation torque corresponding to the torque output operation is obtained; determining a proximity difference value between the current total operation torque and a preset torque according to the operation torque of each time; the response proximity difference value is smaller than the preset difference, and the reset angle limited by the reset operation currently corresponding to the digital display torque wrench is judged according to the current proximity difference value; controlling a reset angle correspondingly limited by the digital display torque wrench to be adjusted to a target reset angle correspondingly limited by the current proximity difference value through a gyroscope and a gradienter so as to prevent the digital display torque wrench from being excessively applied with torque; wherein the gyroscope is used for detecting and limiting a reset position, and the gradienter is used for detecting and limiting a reset angle; the technical problems of overload and precision deviation caused by the fact that an operator mistakenly applies extra torque in the using process of the torque wrench are solved.

The invention discloses a speed reduction and torque reduction control method and system for an automobile executor, and relates to the technical field of automobile executors, and the speed reduction and torque reduction control method for the automobile executor comprises the following steps: S1, obtaining data, and presetting a database; s2, presetting a reference adding label, and forming a data set; s3, preprocessing the data set to extract features, and constructing a matrix; s4, setting a rule according to the characteristics, and defining a hardware physical constraint to obtain a reference value and an adjustment interval; s5, screening the candidate parameter set by a preset model, forming a rule for adjustment, and generating a scheme set; s6, constructing a feedback model to calculate data, and generating a three-dimensional verification report; and S7, judging the qualification of the three-dimensional verification report according to a layering result. According to the method, mechanical data physical characteristics and coupling dynamic data characteristics are captured through composite working condition multi-source data acquisition and coupling interference separation, and the problem of capturing and splitting of physical essence and dynamic coupling association of actuator data is solved.

The invention discloses a force balance voltage modulation method of a Z-axis accelerometer, and belongs to the technical field of MEMS electrostatic driving. The Z-axis accelerometer comprises a mover mass block and a fixed type multifunctional multiplexing polar plate, a variable-spacing differential capacitor structure is formed, and displacement detection, driving force control and rigidity adjustment are achieved at the same time by multiplexing the structure. A PWM driving signal is generated through a dual PWM modulation method, sinusoidal modulation is carried out on the PWM driving signal and bias voltage together, a variable-spacing differential capacitor structure is used as a demodulator, a second-order mechanical vibration system is used as a low-pass filter, and a low-noise closed-loop driving torque is generated to stabilize the position of a mass block at a preset position. And meanwhile, low-noise direct-current static negative stiffness is generated, so that the system stiffness is reduced to a preset value. According to the invention, the variable-pitch differential capacitor structure can maintain the constant elastic coefficient of the system while generating the electrostatic driving torque, can provide sufficient control precision while reducing the leakage of driving signals, and can effectively suppress low-frequency noise.

The invention relates to a multi-joint layered cooperative intelligent control method for a power-assisted exoskeleton, and belongs to the field of robot exoskeletons. Comprising the following steps: acquiring a real-time hip joint angle, updating an adaptive oscillator model based on the real-time hip joint angle, and obtaining a real-time gait phase; segmenting the real-time gait phase to obtain gait phases of a plurality of first sampling points; acquiring the height, the weight, the lower limb joint center and the stride frequency of the user to construct a power-assisted curve of the relation between the lower limb joint power-assisted torque and the gait phase; and acquiring the actual torque of the lower limb joint corresponding to each first sampling point, inputting the gait phase corresponding to each first sampling point into the power-assisted curve for updating to obtain an optimized power-assisted curve, and realizing power assistance of the lower limb joint based on the optimized power-assisted curve. According to the method, the hip joint angle and the moment thereof and the knee joint angle and the moment thereof are associated through the same gait phase, cooperative assistance of the hip joint and the knee joint is achieved, the effectiveness and smoothness of exoskeleton assistance are improved, and the user experience is improved.

The application relates to the technical field of edge computing torque filtering, and particularly discloses a real-time torque filtering and noise reduction method and system for an electric actuator under an edge computing framework, which comprises the following steps: in response to a starting or configuration request of an electric actuator, an industry-level data benchmark issued by a cloud is received, weighted calibration is performed in combination with local test data, and initial filtering parameters are generated; multi-source sensor data of the electric actuator are collected and time sequence alignment is performed, initial linear filtering is performed on a torque signal in the multi-source sensor data by using the initial filtering parameters, and a linear estimation signal is obtained. By introducing a two-way heterogeneous verification mechanism based on a linear shadow predictor, the system can sensitively capture a slight mutation under a pseudo-stationary state during operation of an extremely simple model, and the problem that a lightweight model is prone to over-smoothing and losing transient response details is solved.

The application relates to the technical field of electromagnetic brakes, and discloses an electromagnetic brake high-precision torque adaptive control method and system, the method comprising the following steps: collecting real-time operation parameters of an electromagnetic brake; extracting features of an armature current waveform in the real-time operation parameters to obtain current ripple characteristic values of the armature current waveform; identifying dynamic air gap parameters of the current ripple characteristic values and excitation voltage in the real-time operation parameters to obtain dynamic air gaps of the electromagnetic brake; and compensating and calculating the excitation voltage based on the dynamic air gaps and the vibration impact component to obtain optimized excitation voltage of the electromagnetic brake; through multi-source data fusion and dynamic compensation, the application effectively solves the problems of insufficient torque control precision and stability caused by air gap change perception lag and insufficient vibration impact suppression of the existing electromagnetic brake.

The invention provides a resistance gradual change optimal speed planning method which is applied to the field of automatic driving electric loaders. According to the main scheme, firstly, motor output parameters are discretized, the stroke average resistance within the preset driving duration is calculated, and an initial motor output parameter curve when the system power loss is the lowest is obtained; calculating a current optimal speed curve according to the current optimal motor output parameter curve, and iteratively calculating a next resistance curve and a corresponding optimal motor output parameter curve according to a preset iteration rule until the number of iterations is greater than a preset threshold value; and finally, outputting a final motor output parameter curve and obtaining a final optimal speed curve. According to the method, energy consumption optimization is considered, the energy efficiency of the electric loader is improved, and the operation cost is reduced. Meanwhile, through a gradual iteration mode of resistance, the solving problem caused by coupling of speed planning and a speed curve under the variable resistance working condition is effectively solved, and the accuracy of speed planning is improved.

The invention discloses a transmission system clearance crossing torque control system and method. The system comprises a transmission information obtaining module used for obtaining the driving end rotating speed, the load end rotating speed and transmission system characteristic parameters of a whole vehicle transmission system; the state identification module is used for calculating a transmission shaft rotation angle according to the driving end rotation speed and the load end rotation speed, and judging a gap crossing state of the current transmission system according to the transmission shaft rotation angle and a preset gap crossing angle threshold value; the torque calculation module is used for calculating friction torque, inertia torque and load torque of the transmission system according to the driving end rotating speed and the load end rotating speed of the transmission system and the characteristic parameters of the transmission system; the zero-crossing control module is used for obtaining zero-crossing torque according to the clearance crossing state of the transmission system, the friction torque, the inertia torque and the load torque, applying the zero-crossing torque to the driving end to serve as required torque, and adjusting the clearance crossing torque of the transmission system.

The invention provides a joint torque estimation method and a compliant control method for a rope-driven five-fingered dexterous hand. The estimation method comprises the following steps: constructing an incidence relation model among rope-driven muscle fiber force, motor control signals and motion parameters; and a multivariable Gaussian process regression algorithm is adopted to learn a mapping relation between the input characteristics and the joint torque based on the incidence relation model, joint torque estimation without an external force sensor is realized, and on this basis, compliance control of the five-fingered dexterous hand is realized through a force-position hybrid control method. According to the invention, by using related information of the motor body, force sensing and compliant control without additional sensors are achieved.

The application provides a rotating shaft torque adjusting method and device, electronic equipment and a storage medium. The method comprises: acquiring a first parameter and a preset torque threshold value; the first parameter is used to represent the relationship between the torque change value and the angle of the rotating shaft; determining a first torque value of the rotating shaft; determining whether the rotating shaft needs to be adjusted based on the preset torque threshold value and the first torque value; and in response to the rotating shaft needing to be adjusted, adjusting the first torque value of the rotating shaft based on the first parameter and the preset torque threshold value. In this way, the rotating shaft torque can be intelligently adjusted, and the accuracy and efficiency of the rotating shaft torque adjustment are improved.

A ball screw nut detection device is characterized in that the ball screw nut detection device comprises an operation table, the upper end face of the operation table is provided with a big-end-down taper lead screw in a rotating structure mode, the operation table is connected with a positioning block in a sliding structure mode, the positioning block enables a nut to do reciprocating motion in the axial direction of the taper lead screw, and the taper lead screw penetrates through the nut during reciprocating motion; the positioning block is connected with a distance measuring device, and the distance measuring device is used for measuring and displaying the moving distance of the nut; the power piece is used for enabling the taper lead screw to rotate; whether the grinding size of the nut meets the standard or not can be known by comparing the display moving distance of the magnetic grid digital display meter with the preset distance, so that the nut which does not meet the standard can be detected, and the yield is improved.

The invention provides an intelligent matching oil-saving control method for a pneumatic tyred roller, and belongs to the technical field of energy-saving control, and the method comprises the following steps: based on the actual working condition of the pneumatic tyred roller, dividing the actual working condition into four working conditions of transition, asphalt operation, water stability operation and large climbing; calculating to obtain the total resistance of the pneumatic tire roller under each working condition; calculating a torque value under each working condition according to the calculated total resistance; determining the motor displacement under the working condition; working signals are collected in real time, the actual torque value is obtained, and the controller outputs the set motor displacement; the displacement of the hydraulic pump is adjusted according to the motor displacement input speed, and it is ensured that the engine works in an oil consumption economic area. According to the pneumatic tire roller, the rotating speed of the engine and the displacement of the hydraulic system can be intelligently controlled, so that the engine is always in an economical oil consumption area when the pneumatic tire roller works under different working conditions, the aim of saving oil is fulfilled, and meanwhile, the constancy of the vehicle speed and the consistency of the compaction effect during construction are ensured.

The invention provides an automatic wind-proof curtain spring winding torsion machine and a winding method thereof, and belongs to the technical field of torsion spring winding. The automatic wind-proof curtain spring winding torsion machine comprises a spring winding machine, a PLC control system, a driving device, a turn number encoder and a torsion sensor; the PLC control system is connected with the driving device, the turn number encoder and the torsion sensor through a communication bus, and data interaction and instruction issuing are achieved. The PLC control system is used as a control center, collected data such as the number of turns and torsion are received, the driving device is driven to operate accurately, meanwhile, motor pulse signals and output shaft torsion are collected in real time through the encoder and the torsion sensor, the data are transmitted back to the PLC to form closed-loop control, high-precision control over the number of turns and the torsion is achieved, and the control precision is improved. Error interference of manual and angle conversion is eliminated, the torsion spring winding quality is improved, the product performance consistency is guaranteed, the defective product rate is reduced, the production efficiency is greatly improved, the large-scale production rhythm is adapted, and the productivity bottleneck is broken through.

The invention discloses a friction torque compensation method, a servo system, electronic equipment and a readable storage medium, and relates to the technical field of servo system control, and the friction torque compensation method comprises the steps: judging the size relation between a current rotating speed and a preset positive hysteresis speed and a negative hysteresis speed; when the current rotating speed is between the positive hysteresis speed and the negative hysteresis speed, determining a corresponding target smoothing parameter according to the change condition of the current rotating speed; and determining a target friction compensation torque according to the current rotating speed, a preset positive friction torque, a preset negative friction torque and the target smoothing parameter, and compensating an initial torque instruction of the servo system through the target friction compensation torque. The technical problem that an existing friction torque compensation scheme is poor in effect is solved.

The invention relates to a dragging control method for eliminating the influence of a thin-walled cylinder on a wind power ground test platform. The method comprises the following steps: establishing a shafting model of a full-size wind power ground test platform in a torsion direction and a shafting model of an actual wind turbine generator; on the premise that the generator rotating speeds and torques of the tested wind turbine generator and the actual wind turbine generator are consistent, the reference torque of a dragging motor is calculated by combining a shafting model; and controlling the state of the dragging motor according to the reference torque, and driving the generator of the tested wind turbine generator to rotate, thereby completing the simulation of the full-size wind power ground test platform. Compared with the prior art, control over the output torque of the dragging motor of the full-size wind power ground test platform can be achieved, it is ensured that the operation working conditions of the tested wind turbine generator and the actual wind turbine generator are basically consistent, and the accuracy of the simulation degree in the torsion direction of the full-size wind power ground test platform is improved.

The invention discloses a non-singular tandem pyramid configuration control moment gyroscope and a design method thereof, and belongs to the technical field of control moment gyroscope design, the design method comprises the following steps: step 1, establishing a tandem control moment gyroscope system of a pyramid configuration; step 2, establishing attitude dynamics models of the tandem control moment gyroscope and the spacecraft in the tandem control moment gyroscope system with pyramid configuration; 3, performing singular analysis on the torque output model of the tandem control torque gyro; 4, carrying out anti-saturation characteristic analysis on the torque output model of the tandem control torque gyro; 5, designing the control rate of the tandem control moment gyroscope with the pyramid configuration; according to the method, by increasing the degree of freedom, the designed non-singular tandem pyramid configuration control moment gyroscope can effectively avoid singularity under the condition of minimum energy consumption, and has the characteristics of simple system implementation, low power consumption, high efficiency and saturation resistance.

The utility model discloses a cable tie fastening tool, which comprises a cable tie tightening mechanism and a driving motor, and further comprises a scanning module used for obtaining a target tension value for tightening a cable tie from a bar code in a code scanning mode; the driving motor is in transmission connection with the ribbon tightening mechanism through the torque detection module, and the torque detection module is used for detecting the torque output value of the driving motor; the scanning module and the torque detection module are both in signal connection with a control module of the driving motor. The scanning module and the torque detection module which are in signal connection with the control module of the driving motor are arranged, the scanning module obtains the target tension value for tightening the ribbon in a code scanning mode, the ribbon is effectively tightened according to actual requirements, and the needed target tension value does not need to be manually input.

The invention discloses a screwdriver torque optimization control method based on a neural network. The method comprises the following steps: constructing a contact state diagram of a whole tightening process; node and edge features are extracted by using an isotropic graph neural network, and the clamping force variation is predicted; calculating an energy consistency condition based on a screw tightening physical model and updating edge features; inputting the updated state into the dimension raising dynamic model, and predicting a future state sequence; constructing a model prediction control optimization problem in combination with existing multi-dimensional constraint conditions, and generating an optimal torque instruction sequence; and judging a slip risk based on online gating, and executing a torque reduction and maintenance strategy. According to the method, the physical constraint and the deep learning model are combined, and high precision and high stability of torque control are achieved.

The invention discloses an electric tool, comprising a first motor comprising a first driving shaft rotating around a first axis; a second motor including a second drive shaft rotating about a second axis; torque of the first driving shaft and the second driving shaft is output through the output shaft. The electric tool comprises switchable working modes, and the working modes comprise a self-adaptive mode which is configured to enable the controller to switch the operation state of the motor assembly based on the recognition result of the detector; and the first working mode is configured to enable the controller to respond to an input instruction, and the first motor and the second motor are jointly driven. The electric tool is suitable for more working conditions.

The application relates to the technical field of robots and proposes an underwater mechanical leg admittance control method and system without a terminal force sensor, the method comprising the following steps: acquiring joint torque and motion state information; on-line identifying and updating sealed friction model parameters based on the information, calculating a friction torque estimation value; compensating a sensor measurement value based on the friction torque estimation value to obtain a joint net output torque; mapping the joint net output torque to a foot end space, combining a dynamics model to calculate a virtual terminal contact force; inputting the virtual terminal contact force into an admittance control outer ring to generate a desired net output torque; and finally, combining the desired net output torque and the friction estimation value, and calculating a driving instruction through a motor dynamics model. The method breaks the dependence on the terminal force sensor through on-line friction identification and compensation, virtual force estimation and an admittance control closed loop, effectively suppresses sealed nonlinear interference, and significantly improves the force sensing precision and compliant interaction ability of the underwater mechanical leg in a complex environment.

The invention relates to a vehicle (20) comprising a chassis (22) on which is mounted a mounted unit (24), which includes at least one moving element (26) controlled in motion by a control interface (28); the vehicle further comprises an engine (34), with a transmission mechanism (36) that powers an actuator (32) capable of moving the moving element (26); and an engine controller (38) that controls the engine's rotation. The vehicle includes a computing interface (40) capable of sending and receiving information between the control interface and the engine controller. The computing interface executes a computer program programmed to automatically generate engine speed commands, proportionate to each application of a power command to the actuator. Figure for the abstract: Fig. 2

The invention discloses a wheel-foot robot climbing control method and system based on attitude and torque optimization, and relates to the technical field of robot control. The method comprises the steps that the gravity center of a robot trunk serves as the moment center, and a statics model of a wheel-foot robot on a slope is constructed; quantitatively analyzing the influence of gravity projection, wheelbase and station height of the robot on torque distribution of front and rear wheels, and establishing a torque distribution ratio formula; determining an optimal gravity center projection distance ratio, an optimal axle distance and an optimal station height by taking torque balance as a target; in the actual climbing process of the wheel-foot robot, the projection position of the gravity center of the robot body is obtained in real time, the posture of the wheel-foot robot is adjusted and controlled according to the projection position, the projection position is always located in a safe area of the supporting polygon, and meanwhile the optimal gravity center projection distance ratio, the axle distance and the station height are combined according to the projection position. And torque output of front and rear wheels of the wheel-foot robot is regulated to realize stable climbing. The problem that the wheel-foot robot turns on one side and slips frequently in the process of advancing on the slope can be solved.

The application discloses a kind of dynamic power regulation systems based on resistance component, it is related to power regulation technical field, including setting module, acquisition module, data comparison module, control module and resistance adjustment module: setting module, for determining set power value;Acquisition module, wherein acquisition module includes detection module or data acquisition construction module;Data comparison module is connected with setting module and acquisition module, for comparing output power value with set power value and obtaining difference value;Control module is connected with data comparison module, for if output power value is less than set power value then through controller control resistance component increases resistance.The application is adjusted to resistance component by the difference between output power value and set power value, can make that output power value can be continuously adjusted to same with set power value, meet the consistency of set power value and actual output power value.

A robot may include a torque generator to generate a torque, and a leg system including one or more legs movably coupled to and supporting the torque generator. Each leg of the one or more legs may include a first leg member, a second leg member, a first joint movably coupling the first leg member and the second leg member, and a first linear elasticity element coupled between the first leg member and the second leg member across the first joint. The first linear elasticity element may be disposed to provide a first force when the first linear elasticity element is actuated that, in combination with the torque, facilitates maintaining an upright position of the bipedal robot.