382results about "Mechanical pressure/force control" patented technology

The invention discloses a seeding monomer seeding depth and suppression control method and a control device thereof.The method comprises the steps that control parameter data are obtained, and the control parameter data comprise a seeding mode and / or suppression / pressing parameters; determining an operation mode based on the control parameter data; when the operation mode is a downward pressing mode and a pressing mode, a pressing hydraulic cylinder and a downward pressing hydraulic cylinder are adjusted to stretch and retract in real time based on data collected by a pressing force sensor and data collected by a downward pressing force sensor, so that target pressing force and target downward pressing force are kept; and when the operation mode is a pressing / pressing cooperation mode, data collected by the pressing force sensor and the pressing force sensor are obtained at the same time, and the pressing hydraulic cylinder and the pressing hydraulic cylinder stretch out and draw back at the same time, so that the target pressing force and the target pressing force are kept. According to the scheme, on-demand switching of the pressing mode, the pressing mode and the pressing / pressing cooperation mode can be achieved, and compared with a fixed mode in the prior art, higher adaptability and flexibility are achieved.

The invention relates to the technical field of pressure control, in particular to a dynamic pressure control system and method of a strapping machine. The method comprises the following steps: acquiring information data of an object to be bundled; performing three-dimensional modeling on the to-be-bundled object information data to generate three-dimensional modeling data of the to-be-bundled object; binding mode confirmation is conducted on the binding machine according to the three-dimensional modeling data of the to-be-bound object, binding mode data are obtained, and the binding mode data comprise a single-layer binding mode and a multi-layer binding mode; initial strapping pressure setting is carried out on the information data of the to-be-strapped object based on the single-layer strapping mode, and single-layer strapping initial pressure data is obtained; and carrying out object deformation binding pressure adjustment on the single-layer binding initial pressure data to generate single-layer binding pressure adjustment data. Through three-dimensional modeling, dynamic pressure adjustment and a feedback control mechanism, the intelligence and precision of dynamic pressure control of the strapping machine are improved.

The invention discloses a ground wire multi-machine synchronous traction pay-off scheduling method and system, relates to the technical field of high-voltage transmission line construction, and is used for solving the problem of insufficient multi-machine real-time tension synchronization precision in the existing method. A tension sensor and a speed sensor which are arranged on each traction device collect a tension value, a traction speed value and position coordinate data of a ground wire in real time, and transmit the data to a central scheduling controller; establishing a multi-machine unified time synchronization reference and tension reference model, calibrating a timestamp through a GPS module, and initializing a threshold value based on historical parameters; comparing tension values one by one to calculate a deviation vector sequence; activating a compensation algorithm to execute a speed fine adjustment and tension compensation instruction; iteratively calculating the feedback adjustment value until the deviation is stable; and integrating the synchronous data to the overall paying-off scheduling model to dynamically update the path planning and speed curve. According to the method and the system, the problem of insufficient multi-machine real-time tension synchronization precision in the prior art is effectively solved.

The invention relates to the technical field of control of manufacturing units, in particular to a composite material rod piece winding tension dynamic compensation control method and system. The method comprises the following steps of: calculating an instantaneous linear velocity pulsation quantity caused by the change of a non-circular section contour of a core mold at each moment; according to the dynamic elastic modulus and the equivalent viscosity coefficient, calculating a phase correction factor for representing the viscoelastic response lag of the prepreg tape at each moment; based on the instantaneous linear velocity pulsation quantity and the phase correction factor at each moment, a dynamic compensation torque instruction is obtained, and the dynamic compensation torque instruction is in negative correlation with the phase correction factor; and the dynamic compensation torque instruction is output to the tension unwinding motor, so that the adjustment of winding tension is realized, the accuracy of tension dynamic compensation control is effectively improved, and the product quality is effectively improved.

The invention relates to the technical field of printed circuit board manufacturing, in particular to a PCB lamination parameter control method and system, and the method comprises the steps: receiving a global pressure adjustment instruction; acquiring real-time temperature data of the to-be-laminated sheet, and constructing a surface temperature distribution diagram of the to-be-laminated sheet; the surface temperature distribution diagram is analyzed, and operation areas, with different thermal response attributes, of the to-be-laminated sheet are divided; according to the thermal response attribute of each operation region and the global pressure adjustment instruction, obtaining a region area weight and a response deviation coefficient, carrying out differential decomposition on the global pressure adjustment instruction, and calculating differential pressure adjustment amounts of the plurality of operation regions; and mapping the differential pressure adjustment amount to a multi-partition hydraulic execution mechanism in the laminating equipment, and controlling a target pressure value output by each operation area. The method has the advantages that refined and differentiated pressure adjustment of operation areas with different thermal response attributes in the plate can be achieved, and local defects caused by uneven material response are effectively avoided.

The invention proposes an electromagnetic force compensation method and system based on virtual displacement, and relates to the technical field of electromagnetic force compensation, and the method comprises the steps: constructing an electromagnetic regulation and control system, calculating first electromagnetic force compensation data and second electromagnetic force compensation data, and obtaining a compensation amount ratio and a corresponding compensation amount gradient; respectively analyzing the dynamic item and the constraint condition, triggering a dynamic item gradient corresponding instruction and / or a constraint gradient corresponding instruction according to analysis information, and further obtaining a dynamic item influence ratio and / or a constraint condition influence ratio; according to the method, the compensation amount influence factors are determined through the compensation amount gradient data, the dynamic item influence ratio and / or the constraint condition influence ratio, then influence data adjustment is carried out, classification adjustment can be carried out on electromagnetic force compensation when the electromagnetic force influence factors change, and the accuracy of electromagnetic force compensation is improved.

The embodiment of the invention provides a non-directional force sensor control method and system based on real-time force trend prediction, and the method comprises the steps: collecting a real-time force signal sequence generated when a target mechanical device carries out the contact operation, and inputting the real-time force signal sequence into a pre-trained force trend prediction model; and obtaining a force direction trend prediction result output by the force trend prediction model, generating a multi-dimensional force compensation signal according to the matching degree of the force direction trend prediction result and the current closed-loop control parameter, adjusting a proportion-integral-differential coefficient in the current closed-loop control parameter based on the multi-dimensional force compensation signal, generating an updated closed-loop control parameter, and outputting the updated closed-loop control parameter. The updated closed-loop control parameters are input into an actuator of the target mechanical device, and the contact operation track of the target mechanical device is dynamically adjusted through the actuator according to the updated closed-loop control parameters, so that the multi-dimensional force amplitude data output by the non-directional force sensor are converged to a preset force control target interval. The response speed and stability of the force control system can be improved.

The invention relates to the technical field of information, in particular to a method and system for accurately controlling friction force of a support rotating shaft in the design field of the support rotating shaft, and the method comprises the steps: obtaining the rotating frequency and load size data of the support rotating shaft under different postures as the basis of subsequent analysis; according to the change trend of the wear degree, establishing a mapping relation between the geometrical shape and a friction force value, and fitting a mapping function through geometrical characteristics and friction force experiment data; a multi-objective optimization algorithm is adopted, material performance and a surface treatment process are combined, an optimal parameter combination of the geometrical shape is solved, and an objective function is friction force uniformity and wear rate minimization; generating a rotating shaft geometric structure with uniformly distributed friction force values through the optimal parameter combination, and ensuring that geometric characteristics meet preset friction force and wear requirements; according to the control model and the constraint conditions, the optimal friction value range of the rotating shaft under different working conditions is calculated, and it is ensured that the friction value is within a preset threshold value.

The invention relates to the technical field of tension control in the material processing process. The electromagnetic coil winding tension control method comprises the steps that real-time state information is input into a wire rod type recognition model to obtain wire rod type information, and a corresponding tension adjusting model is called from a tension control model library based on the wire rod type information to adjust the winding tension of the electromagnetic coil. And inputting the real-time state information into the tension adjustment model to obtain tension adjustment parameter information, comparing the tension adjustment parameter information with preset tension safety boundary information to generate limited adjustment instruction information, executing tension adjustment operation according to the limited adjustment instruction information to obtain feedback tension information, and sending the feedback tension information to the server. The feedback tension information and the limited adjustment instruction information are compared and analyzed, a real-time tension adjustment result is obtained, and if the real-time tension adjustment result meets the target tension range, the current tension adjustment state is kept. The wire winding device has the effect of achieving accurate adjustment of the wire in the winding stage.

The invention discloses a self-adaptive grabbing force control system and method of a stamping line blanking manipulator, and relates to the technical field of self-adaptive control, and the method comprises the following steps: extracting a plurality of protection layer types corresponding to a plurality of process nodes; when a grabbing instruction is received, the protection layer type corresponding to the procedure node where the target workpiece is located is determined, and a mechanical arm grabbing strategy is called; the method comprises the steps of collecting a surface image of a target workpiece, recognizing the surface image, collecting protective layer characteristics of the target workpiece, inputting the protective layer characteristics into a manipulator grabbing force control model for self-adaptive recognition, outputting grabbing force control instruction parameters, and controlling a manipulator to execute a grabbing action and carry out force control feedback adjustment. According to the mechanical arm, the technical problems that in the prior art, when stamping workpieces with different protection layers are subjected to precise recognition and matched with proper grabbing force, grabbing is unstable, the workpieces are prone to being damaged or clamping fails are solved, and the technical effect that the mechanical arm precisely recognizes the workpieces with the different protection layers and dynamically controls and adjusts force is achieved.

The invention discloses a stress balance regulation and control device, system and method for a prestress supporting system, relates to the technical field of stress regulation, and can solve the problem that the prestress supporting system carries out targeted stress balance regulation and control on a soil body around a deep foundation pit. The stress balance regulation and control method of the prestress supporting system comprises the steps that the pressure ratios of a plurality of pressure sensor sets are obtained, and a pressure ratio matrix of the pressure sensor sets is constructed; judging whether a pressure unbalance risk area exists or not according to the pressure ratio matrix, if yes, giving an alarm, and if not, repeating the steps; determining a regulation and control node group based on the pressure imbalance risk area; a control signal is issued to the corresponding stress regulation and control unit, and a stress regulation and control action is executed; acquiring a pressure ratio corresponding to the pressure imbalance risk area, and constructing a temporary pressure ratio matrix; and judging whether the pressure unbalance risk area is removed or not, if yes, outputting risk removal display and repeating the above steps, and if not, turning to a regulation and control node group determination step.

The invention relates to the technical field of grain grinding, in particular to a raw material crushing device for grain meal replacement powder and a crushing energy-saving control method. The method comprises the steps of firstly obtaining pressure data and vibration data of a raw material crushing device; further obtaining a change coefficient of each piece of pressure data according to the change characteristics of the pressure data with adjacent time sequences in combination with the offset characteristics of the pressure data and the minimum pressure data; further correcting the pressure data according to the variation trend of the vibration data at the same moment and the difference characteristic of the variation coefficient of the pressure data to obtain corrected pressure data; finally, the feeding depth is adjusted according to the fluctuation characteristics of the corrected pressure data, the problems of uneven pressure and mechanical jamming caused by one-time decompression are avoided, the raw materials are evenly treated in the scattering process, the mechanical load is reduced, energy is saved, and the scattering efficiency is improved.

Systems and methods for controlled-force thermal management device installation that helps thermal management of emerging, next-generation devices are provided. A system includes a mounting assembly for a thermal management device. The mounting assembly includes a fastener and a coupler. The system further includes a compression and locking interface configured to lock with the coupler and compress the mounting assembly to a predetermined loading point using a controlled force. The fastener is installed when the mounting assembly is at the predetermined loading point.

The invention relates to the technical field of wire drawing machine frequency converter control. The invention relates to a control method and device for a frequency converter of a wire drawing machine, computer equipment and a storage medium, and the method comprises the steps: obtaining the tension feedback information of the wire drawing machine, carrying out the tension error calculation of the tension feedback information of the wire drawing machine, according to the real-time tension deviation value, the output frequency of the frequency converter is corrected through a nonlinear correction algorithm, the corrected output frequency of the frequency converter is obtained, and according to the corrected output frequency of the frequency converter, operation control information of the frequency converter of the wire drawing machine is generated so as to adjust operation parameters of the frequency converter of the wire drawing machine. The frequency converter control method has the effect of accurately controlling the frequency converter.

The invention provides a model predictive control-based precursor tension control method in a carbon fiber drafting process, which comprises the following steps of: determining a precursor tension set value in the drafting process according to carbon fiber production process requirements; establishing a nonlinear dynamic model between the driving voltage and the precursor tension in single-stage drafting; based on the dynamic model, constructing a target function taking the combined minimization of the tension tracking error and the driving voltage energy consumption as a target; solving the target function by adopting an optimization algorithm to obtain an optimal driving voltage sequence in a prediction time domain; and selecting a first item in the optimal driving voltage sequence for control, and repeating the steps at the next sampling moment to realize dynamic and stable control of the tension of the precursor. The problems of insufficient model prediction precision and nonlinear coupling of a traditional control mode are effectively solved, and the system control precision is remarkably improved.

The invention relates to the technical field of tension control, and discloses a longitudinal shearing equipment tension fault-tolerant control method based on multi-source information fusion, which comprises the following steps: acquiring detection parameters in each period, evaluating the credibility of each first type of parameters and each second type of parameters, judging whether each first type of parameters and each second type of parameters reach the standard or not according to the credibility, and if yes, judging whether the first type of parameters and the second type of parameters reach the standard or not. If any one of the first type of parameters does not reach the standard, screening out an estimation model corresponding to the first type of parameters from a preset model library according to other standard first type of parameters and second type of parameters, and calculating an estimated value according to the screened estimation model; replacing the corresponding first type of parameters with the pre-estimated values and inputting the pre-estimated values into a preset control algorithm to calculate target tension; and outputting the target tension. When data of a single sensor or multiple sensors are abnormal, an optimal tension control instruction can be given by utilizing residual reliable data and an internal physical relationship thereof.

The invention discloses a servo pressure control method and device, equipment and a storage medium. The method comprises the steps that a pressure part is controlled to move from an initial first preset position to a second preset position; collecting a pressure feedback value of the pressure sensor; after the pressure component reaches the second preset position, inputting a preset pressure value and a pressure feedback value to the closed-loop controller to obtain a target position, and controlling the pressure component to move towards the target position; and when the pressure component moves and the pressure feedback value is detected to be equal to the preset pressure value, the pressure component is controlled to stop pressurizing. According to the method, position control is adopted in the pressing stage, the speed mode does not need to be switched, the closed-loop controller is connected after the second preset position is reached in the pressing stage, and the pressing process is smoother. A closed-loop controller based on an admittance model is adopted, the closed-loop controller outputs a target position, and the precision of controlling the pressure by controlling the target position is far higher than the precision of controlling the pressure through given speed.

The invention relates to the technical field of underneath pass existing station construction, in particular to an underneath pass existing station underground excavation construction pile foundation jack force application control method and system. Information such as the position of a construction pile in an underneath pass construction area, the load of an existing station, existing station bottom plate stiffness and geological information of a stratum where the construction pile is located is collected; and constructing a finite element analysis model by using the information, and simulating stress change sample data generated when the plurality of construction piles are subjected to stress change by using the finite element analysis model. And then fitting the stress change sample data, and constructing a stress relation model reflecting the stress change relation of different construction piles. When pressure analysis is carried out, if the pressure is unbalanced, the stress relation model can be used for carrying out force application adjustment control on the abnormally stressed construction pile, so that the situation that local stress unbalance is aggravated is avoided.

The invention relates to the technical field of compression protection assistance, and provides a compression protection auxiliary control system for a carotid artery puncture point, which comprises a signal integration module, a compression force optimization control module, a transient response module and a real-time monitoring module. The signal integration module is responsible for collecting pressure, displacement, acceleration and electromyographic signals around a puncture point and processing data to generate an image reflecting a mechanical state; the compression force optimization control module dynamically adjusts the target compression force distribution of the positions of the sensors based on real-time monitoring data so as to adapt to the pressure requirements of the patient in different states; the transient response module is responsible for identifying non-autonomous actions of a patient, and by analyzing action types and deviation amplitudes, the compression force is adjusted in real time when the actions occur, so that the influence of transient actions on puncture points is reduced; the real-time monitoring module can upload the patient data to a cloud server, and when the pressure fluctuates or the action frequency exceeds a preset threshold value, early warning information is sent to medical staff.

The invention provides a seed disc pay-off speed control method and device for preventing a seed rope from loosening and tensioning, and relates to the technical field of agricultural production.The method specifically comprises the steps that the advancing speed of a rope sowing machine and a seed rope tension signal are collected in real time, and effective data are obtained after filtering and noise reduction processing; calculating an expected tension reference value based on the traveling speed and the seed disc radius data, and comparing the actually measured tension with the expected tension reference value to obtain a tension deviation value; judging whether the seed rope is in a loose, tensioned or normal state according to whether the deviation value exceeds a preset tolerance range; if the state is abnormal and the deviation is in a controllable interval, calculating a speed compensation amount through a feedback control algorithm according to the size and direction of the deviation and the current speed; the basic pay-off speed is calculated according to the advancing speed and the seed rope winding density, the target rotating speed is generated after the compensation amount is overlaid and sent to the speed control executing mechanism, the seed disc is driven to rotate according to the target speed, the tension deviation is made to return to the tolerance range by adjusting the pay-off speed, and therefore the normal stress state of the seed rope is maintained.

The invention is suitable for the technical field of electric power line construction, and provides a tension machine control system based on tension feedback and a control method thereof, and the method comprises the following steps: obtaining lead parameters, working condition data and environment data of current stringing construction in real time; determining the comprehensive specific load of the wire according to the wire parameters and the environment data; updating a target tension value of the wire in real time according to the comprehensive specific load, the wire parameters, the working condition data and the environment data of the wire; according to the working condition data, the actual tension value of the current wire is determined, and the tension deviation is calculated based on the current target tension value; and based on a digital PID control algorithm, the tensioner is controlled in real time according to the tension deviation. According to the wire parameters, the working condition data and the environment data, the target tension value of the wire can be updated in real time, then the tension machine can be automatically controlled based on a digital PID control algorithm by sensing the actual tension value of the wire in real time, and high-precision control over tension is achieved.

The invention provides a multi-sensor cooperative control method and system for floating support installation. The method comprises the following steps: S1, collecting real-time data from a sensor array; s2, dynamic environment features are extracted from the unified feature sequence, a real-time marine environment model is constructed, and disturbance parameters at the next moment are predicted based on the real-time marine environment model; s3, constructing a real-time mechanical model of the floating support; s4, transmitting the optimal control signal to a floating support execution system, and driving the floating support to carry out dynamic adjustment; and S5, updating the optimal control signal for optimization. According to the method, a complete closed loop from environment perception and attitude optimization to dynamic control in the floating support installation process is achieved, the accuracy and stability of floating support installation are remarkably improved, and meanwhile the method has the high adaptability to the dynamic marine environment.

The invention relates to the technical field of motor stator coil winding machine control, in particular to a micro motor stator coil winding machine and a control method thereof.The control method specifically comprises the steps that the transmission lag value of an enameled wire indirect tension value is determined according to the synchronous fluctuation condition between a tension actual measurement sequence and indirect tension sequences under different moving step lengths; lagging correction is carried out on the indirect tension value, the tension period correlation strength in the running stage of the stator coil winding machine is considered, and the interference distortion degree is evaluated; according to the change trend of the paying-off linear speed and the difference between the tension measured value and the set value, the winding looseness of the enameled wire is obtained; obtaining a weight through the two indexes, carrying out weighted fusion on a measured value and a predicted value to obtain a tension correction value, and carrying out motor stator coil winding machine enameled wire tension control by combining a PID control algorithm; the tension control precision of the motor stator coil winding machine is improved, the tension control effect of the coil winding machine is enhanced, and the tension fluctuation ratio of enameled wires is reduced.

The invention discloses an adaptive control method and system for paying-off tension of a ground wire, particularly relates to the technical field of automatic control, and is used for solving the problem of control misalignment caused by incapability of distinguishing and stripping multi-span coupling vibration interference in an existing tension control method. Firstly, high-frequency fluctuation components are identified by monitoring frequency band energy distribution of tension signals, then state space trajectory similarity and causal network topology of multi-point vibration signals are cooperatively analyzed, and local or global coupling of vibration sources is accurately judged; then, extracting a dominant vibration frequency and a phase difference, and separating a vibration interference component from the original tension signal through a phase compensation adaptive filter according to the dominant vibration frequency and the phase difference; and finally, subtracting the interference component from the original tension to obtain a real tension value for closed-loop adjustment of the output of the tension equipment. Accurate identification and dynamic compensation of vibration interference are achieved, and the control precision of the pay-off tension and the system stability are remarkably improved.

The invention relates to the technical field of intelligent manufacturing and precision machining, and discloses a skylight guide rail clamp clamping force intelligent regulation and control method and system.The skylight guide rail clamp clamping force intelligent regulation and control method comprises the steps that multi-dimensional sensing data of a skylight guide rail clamp is obtained and preprocessed; acquiring a force displacement data pair and identifying a flexibility coefficient of the guide rail; the elasticity modulus is inversely calculated through the flexibility coefficient, and temperature correction is carried out; calculating theoretical stress distribution and a displacement field, and fusing and correcting the theoretical stress distribution and the displacement field with measured data of the sensor; evaluating stress safety, deformation stability and vibration stability; the current clamping force distribution is adjusted; the clamping force adjustment amount is calculated and converted into a control instruction for adjustment, the guide rail is machined, and quality detection is conducted; updating the quality prediction model, predicting tool wear and calculating compensation; according to the invention, through an online learning and adaptive optimization mechanism, the system can continuously learn and evolve and automatically adapt to changes of production conditions.

The invention relates to the technical field of intelligent control, and discloses an optical lens flexible clamping identification control method and system, and the method comprises the steps: constructing a composite supporting structure, adjusting the rigidity of the composite supporting structure, selecting an optimal wave band to calculate the spectral reflectivity, introducing polarization features, constructing an anti-reflection defect detection algorithm, and correcting the spectral reflectivity; a modular clamping unit based on topological structure recognition is constructed, edge feature extraction and shape classification are performed on an optical lens, optimization force distribution is calculated, strategy weight is dynamically adjusted according to a task completion rate by calculating strategy entropy and introducing a loss function in a combined manner, the rigidity of the optical lens is calculated, and force control or position control is adopted in a differentiated manner; based on the rigidity of the lens, constructing a self-adaptive clamping structure, minimizing the deformation energy of the lens, and calculating and predicting the residual life; a three-level heterogeneous computing architecture is constructed based on a self-adaptive clamping structure, state synchronization of a physical system and a virtual mirror image is realized, and a defect detection model in an anti-reflection defect detection algorithm is cooperatively trained.

The invention relates to the technical field of drilling and sampling, in particular to a drilling and sampling method and device for road and bridge pile foundations. Before drilling sampling, ultrasonic detection signals and all detection sub-sections in the ultrasonic detection signals are obtained, the pressure application adjusting speed of each detection sub-section in the corresponding detection process is further analyzed, and a pressure application prediction model is constructed in combination with the pressure application range of a drill bit; then, in the drilling sampling process, the sudden change coefficient and the sudden change continuous coefficient of the drill bit sensing pressure at each moment are analyzed and obtained, and the drill bit sensing pressure and the prediction pressure applying model are further combined to adjust the drill bit pressure applying in real time. According to the method, before drilling and sampling, ultrasonic waves are used for preliminarily detecting the to-be-detected pile foundation, a prediction pressure applying model of the drill bit is analyzed and constructed, then pressure applying is adjusted according to the real-time pressure condition of the drill bit in the drilling and sampling process, and secondary damage to a sampling sample of the to-be-detected pile foundation in the drilling process due to improper pressure applying is avoided; and the drilling and sampling effect on the road and bridge pile foundation is improved.

The invention discloses a blood bag continuous extrusion method and device, a medium and equipment. The method comprises the steps that the blood bag continuous extrusion process is divided into a plurality of extrusion stages; obtaining a target extrusion parameter, and generating a target pressure value corresponding to each extrusion stage; and the current extrusion pressure is collected, the current extrusion pressure is adjusted to the corresponding target pressure value based on the preset control scheme of each extrusion stage, and continuous extrusion is conducted till the preset extrusion ending condition is met. The extrusion process is divided into a plurality of stages, the actual extrusion pressure of a target monitoring point on a mother bag serves as system input, the running speed of a stepping motor is adjusted in real time through a PID algorithm, and therefore the whole extrusion process is controlled to be within a proper pressure range; and after the pressure reaches the target value, the whole extrusion process is subjected to pressure maintaining according to the set small target pressure, so that the preparation efficiency is high, the hemolysis phenomenon is avoided, the quality of the separation process and the product percent of pass are improved, and the risk of abnormal quality is reduced.

The invention discloses a geotextile laying ship movement control method and device, electronic equipment and a storage medium, and is applied to the technical field of ocean engineering.The method comprises the steps that current position information and target position information of a geotextile laying ship are obtained; determining the current tension of each anchor point according to the motor stress corresponding to each anchor point; determining a moving target function of the geotextile laying ship according to the current position information, the target position information and the current tension of each anchor point, and determining the target tension of each anchor point according to a target optimization algorithm and the moving target function of the geotextile laying ship; and for each anchor point, a motor corresponding to the anchor point is adjusted, so that the current tension of the anchor point is modified into the target tension, and the geotextile laying ship is made to move. According to the scheme, the tension of the anchor point is adjusted to be the target tension, control over movement of the geotextile laying ship is achieved, the situation that the geotextile laying ship is manually operated to move is avoided, the manual operation difficulty and the error rate are reduced, the geotextile laying ship moving efficiency is improved, and then the construction progress of seabed engineering is accelerated.

The invention discloses an active tension control device and control method for a unilateral sewing thread of a composite preform, and the device comprises a tension control drive unit, a sensing monitoring unit, a thread guide unit and a thread consumption unit, and the tension control drive unit comprises a tension control motor and a thread roller; the sensing monitoring unit comprises a tension sensor, a laser distance measuring sensor and a sewing action driving encoder, the thread guide unit mainly assists in transferring a sewing thread from a thread releasing area to a working area and comprises a thread guide wheel and a porcelain eye, and the thread consumption unit is a sewing working area. According to the control method, the speed control ring and the tension control ring jointly achieve tension control, the speed control ring combines the rotating speed of a real-time sewing action driving motor and the diameter of a real-time thread roller to achieve coarse adjustment, and then closed-loop real-time tension adjustment is achieved through the controller. By means of the active tension control method and device for the single-side sewing thread of the composite prefabricated body, active control over the sewing tension can be achieved, and the sewing quality of the prefabricated body is effectively improved.