276results about "Speed/accelaration control using electric means" patented technology

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 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 discloses a coaxial unmanned aerial vehicle variable-speed variable-pitch control method and device, an unmanned aerial vehicle and a storage medium. The method comprises the steps of obtaining current flight state data and a target flight instruction of the unmanned aerial vehicle; the deviation between the target flight instruction and the flight state data is determined, and the total lift force requirement and the attitude control torque requirement of the unmanned aerial vehicle are solved based on the deviation; based on the total lift force demand and the attitude control torque demand, according to a pre-constructed rotating speed and propeller pitch cooperative distribution model, the target rotating speed and the target propeller pitch angle of the upper rotor wing and the lower rotor wing are solved with the minimum power consumption of a power motor as the target; and respectively converting the target rotating speed and the target pitch angle into a motor PWM signal and a steering engine control signal, and respectively outputting the motor PWM signal and the steering engine control signal to a power motor and a steering engine of the coaxial unmanned aerial vehicle. According to the scheme, the control precision of the coaxial unmanned aerial vehicle can be improved, the response speed is increased, the complex working condition adaptability is enhanced, the energy efficiency is optimized, and the safety is improved.

The invention relates to a tobacco seedling transplanter, which comprises a rack, and is characterized in that the rack is provided with a tobacco seedling tray; a seat; a control mechanism; the invention relates to a tobacco seedling punching and transplanting mechanism, which comprises a seedling dropping motor, a charging tray, a separated seedling dropping device, a transmission mechanism and a seedling dropping device opening and closing control mechanism, the seedling dropping motor drives the separated seedling dropping device to rotate through the transmission mechanism, so that the separated seedling dropping device punches tobacco seedling planting holes in tobacco ridges, and the seedling dropping device opening and closing control mechanism is linked with the transmission mechanism to control opening and closing of the separated seedling dropping device; an energy mechanism; the water and fertilizer box is used for conveying water and fertilizer into the separated seedling casting device; and the driving mechanism comprises two driven wheels and two driving wheels, and each driving wheel is driven by an independent driving motor. The device has the advantages that tobacco seedling planting is completed while punching is conducted, and the problem that tobacco seedlings cannot be accurately planted into holes is solved; the rotating speed of the motor can be adjusted in real time, and tobacco seedling transplanting is ensured to proceed at a set speed.

The invention provides a method for controlling the operation movement speed of an automatic guide robot, and belongs to the field of PID control optimization, and the method specifically comprises the steps: S1, obtaining the operation path information of the automatic guide robot; s2, dividing the whole path into a plurality of speed control sections according to the path information; s3, according to the type of each speed control section, respectively setting the target speed of the automatic guide robot in the operation movement process; s4, collecting current speed data in real time in the actual operation process of the automatic guide robot, and calculating a current speed error in combination with the speed control section type; s5, the speed PID controller outputs a control speed instruction according to the current speed error, and the automatic guide robot is driven to move according to the target speed and complete the operation task; by means of the method, accurate control over the operation movement speed of the automatic guiding robot is achieved, and the operation efficiency of the automatic guiding robot is improved.

The invention relates to the technical field of servo control, in particular to a rotary table servo compensation method based on wind load prediction, and the method comprises the steps: obtaining the motion state data of a drive end and a load end in real time; obtaining a disturbance torque I and a disturbance torque II based on the driving end motion state data and the load motion state data, and generating an error signal by using the disturbance torque I and the disturbance torque II; inputting the error signal into a self-adaptive compensation model to output a compensation torque; and generating a servo control instruction by using the compensation torque, and controlling a driving end to move.

The invention relates to a rice mill control method and device and rice mill equipment. The rice mill control method comprises the steps that a to-be-milled object is milled according to a first rotating speed; wherein the to-be-milled object comprises cereals and / or brown rice, and the first rotating speed is the rotating speed corresponding to the cereals milled by the rice milling machine equipment; periodically acquiring target image data of the to-be-milled object through a visual sensor arranged on a circular processing channel of the rice mill equipment; determining the real-time type of the object to be ground according to the target image data and the reference image data; and according to the real-time type, the rotating speed of a motor of a grinding assembly of the rice mill equipment is dynamically adjusted until the to-be-ground object is ground into polished rice. According to the technical scheme, visual detection is combined with rotating speed self-adaptive switching, the rotating speed can be automatically switched according to the type of the to-be-milled object, it is ensured that grain husking and brown rice grinding are both in the optimal rotating speed state, and the rice milling effect and the processing quality are improved.

The invention provides an air energy heat pump direct current motor intelligent speed regulation method and system based on self-adaptive fuzzy control. The method comprises the steps of obtaining original operation data; extracting dynamic characteristics of a short-time window from the original operation data set, and calculating to obtain a thermal load trend index; constructing a fuzzy controller, wherein the fuzzy controller comprises fuzzification, rule reasoning and defuzzification output; in the fuzzification, a thermal load trend index is mapped into a five-level fuzzy level by adopting a triangular membership function; combining the thermal load trend index with an operation mode to calculate a target wind speed; and the target wind speed is converted into a control signal, feedback data is collected after each regulation and control period is finished, a performance deviation index is constructed based on the feedback data, and correction parameters are output. According to the invention, a resonance frequency point avoidance mechanism and a voltage margin correction strategy are embedded, so that the system is kept stable, low in noise and high in efficiency under high-speed, low-speed or medium-speed operation conditions.

A mower slope sensing system on a grass mowing machine. An elevation sensor may capture terrain elevation values for each of a plurality of different locations according to a latitude and a longitude of each of the locations on a field. An electronic controller may store the terrain elevation values, latitudes and longitudes, and adjust a mowing blade speed depending on changes in the terrain elevation values from a current location to a next expected location.

The invention relates to the technical field of electric wheelchair control, and discloses an automatic power-assisted control method, system and equipment for an electric wheelchair, and the method comprises the steps: responding to a power-assisted starting instruction sent by a power-assisted switch module, and obtaining the back electromotive force of a motor and the position information of a motor rotor; according to the back electromotive force of the motor and the position information of the motor rotor, the thrust direction of the electric wheelchair is determined; the actual output power of the motor is obtained, the actual output power of the motor is adjusted by combining the thrust direction of the electric wheelchair and the counter electromotive force of the motor, and the preset assistance strength requirement is met. Power is started through the power-assisted switch module, the thrust direction is judged by combining the positions of the motor and the motor rotor, high-price sensors for torque, angle and the like do not need to be additionally arranged, the control structure is simplified, the cost is reduced, and the actual output power is dynamically adjusted by obtaining the actual output power of the motor and combining the thrust direction and the counter electromotive force of the motor.

The invention discloses a speed loop two-degree-of-freedom PI control method and device based on feedforward and a medium, and relates to the technical field of speed loop control methods.According to the method, on the premise that the bandwidth of an inner current loop is higher than that of a speed loop, a PI feedback steady state is adopted, and a disturbance observer is used for load disturbance estimation and compensation; feedforward forming is introduced to a given side, a'given-output 'closed loop is shaped into a first-order or critical damping second-order target model, and a disturbance observer time constant, a target bandwidth and a sampling period are systematically set. The device is composed of an error acquisition module, a PI feedback module, a disturbance observation module, a feed-forward forming module and an execution interface module. According to the scheme, under the condition that hardware is not changed, rapid low-overshoot tracking is achieved, the anti-interference performance is not weakened, parameters can be reused, and the method is suitable for servo scenes such as numerical control, robots and stabilized platforms.

The invention belongs to the technical field of conveyor intelligent speed regulation control, and particularly discloses and provides a conveyor intelligent speed regulation control method based on sensor data, which comprises the following steps: collecting the current speed, load, material flow and running state data of a conveyor in real time; carrying out load trend analysis in combination with historical operation data, and predicting a future load change curve; the running health condition of the equipment is judged according to the state parameters of the key components, a first smooth speed instruction is generated based on a load curve and the current speed if the equipment is healthy, a safe speed threshold value is determined and a second smooth speed instruction is generated if the equipment is not healthy, and finally a driving motor is controlled to execute speed regulation; according to the method, the load change curve of the future set time period is predicted through the material flow data and the historical operation data which are collected in real time, and the smooth speed instruction is generated through the S curve planning algorithm based on the prediction result, so that the look-ahead and smooth regulation and control of the speed are realized.

The invention provides a servo driving speed control method and system based on position feedback, and relates to the technical field of industrial automation control, and the method comprises the steps: firstly collecting a real-time position feedback signal of a servo driving execution mechanism, and carrying out the analysis to obtain position feedback multi-dimensional feature information; a dynamic association model of position feedback and load change is established by fusing real-time load state signals, and a load position association mapping relation is obtained; pre-judging a position change trend according to the mapping relation and historical operation data and generating a predictive speed regulation reference; then dynamically iteratively correcting the reference based on the real-time position feedback signal to obtain a target speed adjusting instruction; and finally, an instruction is transmitted to an execution mechanism, and a real-time operation state signal is fed back to form closed-loop control. According to the invention, high-precision and high-stability servo driving speed control is realized.

The invention discloses a stacking machine anti-swing method and system based on double closed-loop control, and relates to the technical field of automatic warehousing, and the method comprises the following steps: obtaining a disturbance signal in the operation process of a stacking machine, and evaluating the speed deviation change of a motor based on the disturbance signal to obtain a disturbance response feature; recognizing an inner ring speed deviation section based on the disturbance response characteristics, and correcting the inner ring speed based on the inner ring speed deviation section to obtain a speed control signal; based on the speed control signal, carrying out segmented constraint on the speed output by a preset sliding mode variable structure to obtain a speed constraint set; according to the method, the current stacking machine moving trajectory is replanned based on the speed constraint set, the planned stacking machine moving trajectory is obtained, feedback displacement errors of the inner ring and the outer ring are analyzed, and the stacking machine is prevented from swinging according to the analysis result. And the problem of swinging overshoot caused by motor speed fluctuation and external disturbance is solved.

The invention discloses a large-diameter steel pipe sectional type galvanizing speed cooperative control method and a production system, and relates to the technical field of steel pipe hot galvanizing process control. The method is used for solving the problems of uneven coating thickness and deformation risk control of multiple sections of steel pipes under the complex heat flow variable working condition. The method comprises the following steps: firstly, constructing a dynamic coupling model of zinc liquid flow-steel pipe deformation-coating phase change, identifying a high-voltage sensitive section and triggering a speed coordination mechanism; afterwards, in combination with a historical process and a real-time purging state, a multi-dimensional speed-purging cooperative control instruction is generated by utilizing a fuzzy control algorithm, and a segmented control baseline is formed; and then, based on a cross-section cooperative constraint model and a feed-forward-feedback double-loop control strategy, speed transition of adjacent sections is dynamically adjusted, and flow impact and stress concentration are inhibited. And finally, collecting online detection feedback data to perform reverse correction on the boundary condition and the control weight of the model, thereby realizing closed-loop optimization control, and improving the consistency of the plating layer and the robustness of the system.

This invention discusses relevant aspects of the operating principles of bicycles and, from there, devised a method for bicycle-type vehicles (vehicles with front and rear wheels, such as bicycles, electric bicycles, and motorcycles) to travel according to directional requirements in an automatic control mode. [Solution] This replaces the driver's vehicle balance sensing and control actions. In this invention, a straight line determined by the ground contact points of the bicycle's two wheels is used as the axis of rotation, and the rotational motion of the vehicle body relative to this axis is controlled by controlling the change in the steering angle of the directional wheels through the measurement and calculation of related variables. Control requirements for this motion are set in combination with travel direction adjustment requirements, thereby unifying vehicle balance control and travel direction adjustment.

A method comprises: applying, by a motor controller of an electric motor, a bandpass filter to a signal from a sensor on a rotor of the electric motor, the signal indicating rotational speed of the rotor to detect a torsional oscillation or vibration in a driveline of the electric motor to be attenuated; providing the filtered signal to a proportional derivative controller configured for disturbance rejection; generating, by the proportional derivative controller, an attenuation signal for attenuating the torsional oscillation or vibration in the driveline; combining the attenuation signal with a driver torque command signal to produce a combined torque command signal, the driver torque command signal indicating an amount of torque requested from the electric motor; and producing torque with the electric motor based on the combined torque command signal.

The application discloses a strip steel control method, device and equipment, comprising: obtaining the actual thickness of the strip steel; monitoring the actual offset of the strip steel in the cleaning system in real time; if the actual offset is greater than or equal to the first preset offset and less than the second preset offset, and the actual thickness is less than or equal to the preset thickness threshold, then controlling the cleaning system to open the squeeze roller and the brush roller, and controlling the unit to reduce the speed to the first preset running speed. The application monitors the actual offset of the strip steel in the cleaning system in real time, if the actual offset of the strip steel is greater than or equal to the first preset offset and less than the second preset offset, and the actual thickness is less than or equal to the preset thickness threshold, it indicates that the actual offset may cause the strip steel to wrinkle or break, by controlling the unit to run at a reduced speed and opening the brush roller and the squeeze roller, thereby reducing the stress received by the curved part of the strip steel, and further effectively reducing the probability of the strip steel wrinkle or breaking.

The application provides a speed matching debugging device and method for a drive of a fire control system and a motor, the debugging device comprises a socket XS, a box body, and a debugging assembly arranged in the box body, the drive is connected with the socket XS through a cable, and the drive is connected with a servo motor through an armature cable and a feedback cable; the debugging assembly comprises a speed setting switch K1, a drive enable switch K2, a pulse enable switch K3, a double-pole double-throw switch K4, a speed adjusting potentiometer RP1, a first speed setting voltage test interface K5, and a second speed setting voltage test interface K6. The debugging device designed in the application matches the rotation speed of the drive and the servo motor by simulating corresponding control signals of an upper computer, controls the drive to be powered on and operated through the drive enable switch K2 and the pulse enable switch K3, matches the rotation speed of the drive and the servo motor by adjusting the speed adjusting potentiometer RP1, meets the use requirement, and simultaneously provides a detection and debugging means for subsequent maintenance of the drive and the servo motor.

The invention relates to the technical field of air speed control, and discloses an air speed control method and device of an intelligent blower, and the method comprises the steps: obtaining a feature data set and environment data; giving a weight to the feature set to obtain a feature vector; when the hair thickness in the vector exceeds a preset thickness threshold value, calculating an adjustment value to obtain a wind speed adjustment parameter; obtaining a target rotating speed value according to the parameter calculation rotating speed value; calculating a humidity threshold, and when the hair humidity in the feature vector is lower than the humidity threshold, calculating a humidity change rate and generating a protection mode parameter to obtain a wind speed protection parameter; adjusting the wind speed aggregation degree according to the protection parameter and the target rotating speed value to obtain an optimization parameter; a distribution curve is called from a use scene database, and the similarity between the environment characteristic data and the curve is calculated to obtain scene adaptation parameters; and an adjustment instruction is generated according to the adaptive parameters and the optimization parameters, and a final control instruction is obtained. The method can realize intelligent wind speed control.

The invention relates to the technical field of general control or regulation systems, and discloses a remote control method and system for a multifunctional nursing bed, and the method comprises the steps: applying a pair of micro-excitations which are equal in size and opposite in direction to a drive motor before executing a main movement instruction, and synchronously collecting current and voltage signals to generate forward and reverse instantaneous power signatures, according to the method, the conversion of control logic from blind execution to inquiry is realized, the state sensing capability of the control system is improved by utilizing the analysis on the symmetry of the paired excitation response, and the reliability of the control system is improved. According to the method, the immediate suitability of the instruction can be reliably evaluated once before any large-scale physical displacement is executed, so that the potential risk caused by unknown system state is reduced.

This invention discloses a smooth speed control method and system for a laser weeding robot based on predictive feedback, belonging to the field of automation control. The method includes: a prediction stage, in which weeds are identified and an ideal speed is calculated based on a front-facing camera; a time alignment stage, in which the delay is dynamically calculated based on the distance between the camera and the actuator and the current actual speed, and an alignment speed is selected from historical ideal speeds to eliminate spatiotemporal misalignment; a speed smoothing stage, in which the predicted speed after time alignment is frequency-domain stabilized, and high-frequency disturbances caused by visual recognition fluctuations and changes in the number of weeds are suppressed by low-pass filtering to obtain a continuous and consistent predicted speed command; an acceleration constraint planning stage, in which a physically achievable planned speed is generated under the maximum acceleration limit; and a smooth PID dynamic tracking stage, in which the actuator is driven to track the planned speed by a smooth PID controller, and the actual speed is fed back to the time alignment stage to form a closed loop.

The invention relates to the technical field of adjustment control, in particular to an under-pressure pipeline tapping machine and an intelligent control system. The pressure pipeline tapping machine comprises a memory and a processor, and the processor executes computer programs stored in the memory so as to achieve the following steps that different types of sensor data in the operation process of the tapping machine are obtained, and a load factor, a vibration factor and a pressure factor are determined according to residual terms corresponding to the different types of sensor data in the operation process; further combining the load factor, the vibration factor and the pressure factor to determine a stage parameter at the current moment; according to the discrete distribution condition of the residual item corresponding to each type of sensor data in the time neighborhood of the current moment, obtaining a state parameter of the current moment; and the rotating speed of a main shaft of the tapping machine is adjusted according to the stage parameters and the state parameters. The control stability of the rotating speed of the main shaft of the tapping machine during tapping of the pipeline with pressure is improved, and the tapping effect on the pipeline with pressure is improved.

This application relates to a high-precision motion control system and method for a coordinate measuring machine (CMM). The high-precision motion control system includes: a control handle for generating a corresponding target control signal in response to control operations; a motion controller communicatively connected to the control handle and the CMM; the motion controller receives the target control signal, queries a preset control curve based on the target control signal, determines the speed control coefficient corresponding to the target control signal, generates a target control command for controlling the probe based on the speed control coefficient, and sends the target control command to the CMM; wherein the target control command controls the movement direction and speed of the probe for measuring the workpiece. This solves the problems of low efficiency and poor accuracy caused by inflexible speed control in manual operation, improves the flexibility and accuracy of speed control in manual operation of the CMM, thereby enhancing measurement efficiency and reliability.

The invention relates to a distributed intelligent rice transplanter cluster navigation method based on deep reinforcement learning and speed obstacles, which comprises the following steps: acquiring a reciprocal speed obstacle and a speed obstacle vector, inputting the reciprocal speed obstacle and the speed obstacle vector into a BiLTSM network model, and acquiring an environment perception vector; the BiLTSM network model is obtained through training of a training set; and combining the environment perception vector with an ontology perception measurement value to generate an observation space, and setting a reward function for iteratively updating a multi-intelligent-vehicle obstacle avoidance strategy so as to optimize driving control of an individual level in an intelligent vehicle cluster and generate an optimal navigation scheme. The method still faces many challenges in application in the agricultural environment, the defects in the aspects of environment state representation, action mapping and reward design are overcome, and the problem of multi-machine collision avoidance in the complex dynamic environment is effectively solved.

The invention discloses a lithium battery winding control method, device and equipment and a medium, and relates to the field of lithium battery production control, and the method comprises the following steps: determining the current cell diameter based on the current material total thickness and the current winding needle position; wherein the diameter of the battery cell is the diameter of the battery cell formed by winding a material required for winding the lithium battery through the winding needle; determining the current angular velocity of a winding needle according to the current cell diameter and the current expected material winding linear velocity; controlling a winding needle to wind the material according to the current angular speed; wherein the current material total thickness is a numerical value obtained by performing linear regression on the winding needle position and the cell diameter sampled by each sampling point in the current winding process, and the material total thickness reflects the thickness of each material and the superposition thickness of the gap between the materials. Based on the scheme, the winding tension fluctuation can be reduced, and the production quality and production efficiency of the lithium battery can be improved.

The application provides a turnout beam, which comprises a plurality of beam body units connected in sequence, the beam body unit comprises a box beam, an inner lateral transverse rib plate and a side edge assembly, a plurality of inner lateral transverse rib plates and a plurality of side edge assemblies are arranged on both sides of the box beam along the length direction at intervals, and the inner lateral transverse rib plates and the side edge assemblies on both sides of the box beam are symmetrically arranged; the length direction of the side edge assembly is parallel to the length direction of the box beam, a single side edge assembly is connected with a plurality of inner lateral transverse rib plates corresponding to the single side edge assembly, and the upper top surface of the side edge assembly is flush with the upper top surface of the box beam. The structural form of the turnout beam of the application can effectively reduce the driving force required when the line type is switched, compared with the existing turnout beam. The application further provides a high-speed magnetic levitation turnout and a switching control method thereof, the switching time is less than or equal to 24s, the lateral line type precision error is within 2mm per full line length, the line type fitting precision is not less than the existing eight-car arrangement scheme, and the driving force is much smaller than the three-car arrangement scheme.

The application provides a torque control system, a torsional vibration excitation device and a power control module. The torque control system is used for controlling a torsional vibration excitation device. The torsional vibration excitation device has a transmission shaft and is fixedly connected with a machine shaft of a dynamometer via the transmission shaft. An end of the machine shaft of the dynamometer, which is away from the transmission shaft, is connected with a rotating shaft of a test device. The torque control system comprises a control module and a torque sensor. The power control module comprises the torsional vibration excitation device, the dynamometer and the test device. The torque control system, the torsional vibration excitation device and the power control module provided by the application are used for simulating dynamic torque, combining with the output torque of the dynamometer and outputting to the test device, so as to investigate the performance of the test device.

The invention discloses a neutron beam real-time regulation and control method and system based on two parameters, and the method comprises the steps: collecting the two parameters and a target beam current in real time, and obtaining a data set; an LSTM-Attention initial model is constructed; training, verifying and testing the LSTM-Attention initial model by using the training set, the verification set and the test set to obtain a final neutron beam current control model; the deviation between the target beam current and a set value is monitored in real time, a final neutron beam control model is used for inversion to obtain a two-parameter adjusting quantity, and real-time neutron beam regulation and control are achieved; according to the method, the coupling relation between the two parameters and the beam is considered, the current and the air inflow of the ion source can be adjusted in real time, stable operation of the neutron source beam is ensured, the neutron yield stability is improved, and the application effect in practical application can be improved.

The application relates to the technical field of servo control, in particular to a high-precision rate turntable servo control device, system and method. The device comprises a turntable, a motor, an encoder, a current sensor, a servo control unit, a servo driving unit and a power supply; the servo control unit is used for carrying out position loop calculation according to the target position sent by an upper computer and the position information fed back by the encoder at the current time, then calculating the predicted speed at the current time according to the position information fed back by the encoder at the current time, carrying out speed loop calculation according to the calculation result of the position loop, the position information fed back by the encoder at the current time and the predicted speed at the current time, and outputting the calculation result of the speed loop to the servo driving unit; the servo driving unit is used for generating driving current to the motor according to the calculation result of the speed loop and the current fed back by the current sensor, so that the motor directly drives the turntable to rotate. The scheme can greatly improve the rate accuracy of the turntable.