288results about How to "Achieve high precision control" patented technology

The invention relates to an intelligent electric vehicle path tracking model prediction control method, belonging to the technical field of control. The aim of the invention is to adopt the intelligent electric vehicle path tracking model prediction control method, wherein the model prediction control method can take account of the safety constraints of a whole vehicle simultaneously and realizeseclectic optimization among vehicle path tracking performance, safety and whole vehicle performance effectively. The method gives thought to intelligent electric vehicle path tracking model building in limited conditions and yaw stabilization controller design based on model prediction control as well as the tracking performance of the vehicle, the safety of the vehicle, the whole vehicle performance, driving comfort and saving and control of energy in the process of carrying out control strategy deduction, and improves the dynamic performance of the whole vehicle. The method gives thought tothe tracking performance of the vehicle (path following and speed following), the safety of the vehicle (preventing slipping, locking, sideward inclining or drifting), the whole vehicle performance (accelerating and braking performance), driving comfort (the change of torque cannot be too great) and saving and control of energy (saving energy on the premise of meeting the performance). The dynamicperformance of the whole vehicle is improved.

The invention discloses a rope-driven parallel robot motion control method in consideration of elasticity effect and compensation, and relates to a robot. The method comprises the steps of constructing a system dynamic equation for rope pull optimization and controller design; optimizing rope pull distribution according to an expected moving platform motion track based on the system dynamic equation and a constraint condition by adopting a rope pull dynamic optimization model taking maximum rigidity weight as a target function, and calculating the deformation; analyzing a moving platform pose error caused by elastic deformation of a pull rope via kinematic forward analysis according to the actual rope length and the deformation; acquiring the actual motion state of a visual measurement moving platform, and taking the deviation between the actual motion state and the expected motion state as a control quantity; designing a controller; and calculating a control drive torque instruction according to the designed controller, and finally controlling the motion track of the moving platform and the pull of the rope, thereby meeting the requirement of the working condition.

The invention relates to a steering-law singularity avoiding aircraft attitude control system, comprising an attitude task managing unit, an attitude controller, an attitude measuring unit, a gyro group steering-law unit, a frame angle position measuring unit, a control moment gyro group and an aircraft. The gyro group steering-law unit calculates the frame angle rate of the control moment gyro group by cooperating control moment gyro angle momentum table, zero motion algorithm and pseudoinverse steering-law algorithm, and adopts the angle rate value as the set signal of the control moment gyro group to improve the control precision of the aircraft attitude. The steering-law singularity avoiding aircraft attitude control system introduces the steering-law design method that chooses frame angle rate and the initial value of frame angle position based on look-up table, realizes accurate moment output of the control moment gyro group, avoids the singularity problem produced in the process of calculating frame angle rate of the control moment gyro group by the pseudoinverse steering-law algorithm as well as avoids the deadlock problem caused by the control moment gyro steering law when adopting zero motion algorithm and robust pseudoinverse steering-law iterative computations.

The invention relates to a multi-functional and one-stop type remote control design, the simulation system and method thereof wherein the system comprises: a first remote operation control station, a second remote operation control station, a system general control station, a high-dimensional dynamic simulation server, a rigid mechanical arm, a joint control computer, a virtual reality 3D simulation and video acquisition server, a flexible mechanical arm, another joint control computer, a visual system and a circular screen. The invention can work in four modes: mathematic simulation tests based on manual simulation manual remote control, simulation tests based on the manual remote operation control of mechanical arms on real ground, space robot capturing the inserted collision dynamics and control tests, and performance verification of flexible mechanical arms and the flexible parameter identifying tests. According to the invention, one-stop solutions can be provided to the design, simulation and test of remote operation control.

The invention relates to a reconfigurable mechanical arm guaranteed cost decentralized control method based on self-adaption dynamic programming, and belongs to the field of robot control systems andcontrol algorithms. In order to the solve the problems that according to a traditional reconfigurable mechanical arm control method, joint coupling crosslinking items disturb system integral control,energy consumption is generated in the reconfiguration and control process of reconfigurable mechanical arms, and the uncertainty permissible range exists in the motor actual working process, the method constructs a kinetic model of a reconfigurable mechanical arm subsystem, coupling crosslinking items of all joints are singly shown through a reconfigurable mechanical arm inertia item, a coriolisforce and centrifugal force item and a gravity item, and a performance index function and an HJB equation are constructed; the HJB equation is solved through a method based on ADP policy iteration, coupling crosslinking uncertainty items among the joints are compensated through a neural network, and finally the validity of the algorithm is verified through numerical simulation of different-configuration two-freedom-degree mechanical arms; and high-accuracy control over the reconfigurable mechanical arms is achieved.

The invention relates to a rotary speed adaptive robust control system and method for an ultra-high-speed permanent magnet synchronous motor. The method comprises the steps of determining a motor rotary speed estimated value and a motor rotary speed error value by adopting a sensorless rotary speed estimation algorithm; determining a corresponding control amount by adopting an adaptive robust rotary speed control algorithm; determining a stator flux, a torque feedback value, flux error and torque error through motor three-phase current and three-phase voltage; performing voltage vector selection to obtain a basic voltage control signal; determining rotor position information through the sensorless rotary speed estimation algorithm; obtaining a three-phase compensation voltage by adopting a dead region compensation algorithm; combining the basic voltage control signal output by a voltage vector selection module with the three-phase compensation voltage, and performing PWM control on the motor; and repeatedly carrying out the steps until the motor rotary speed achieves the index. According to the rotary speed adaptive robust control method, the rotary speed estimation algorithm, the adaptive robust speed control algorithm, and the dead region compensation algorithm are adopted, so that the rapid, stable and reliable rotary speed control of the ultra-high-speed permanent magnet synchronous motor is effectively realized.

The present invention discloses a multipath high-precision temperature controller, and comprises a port board and a temperature control board, and is applied to the back bonding hot pressing solidification. The temperature control board comprises a collecting module, a driving module, a control module, a communication module, and a power supply module. A process controller sets the hot pressing head working temperature, and the set value is outputted to the control module through the port board and the communication module. The collecting module outputs the hot pressing head temperature value collected by a platinum resistor to the control module, at the same time performs the linearization processing for the temperature characteristic of a sensor. The control module compares the temperature set signal with the collected temperature signal, the difference signal of the temperature set signal and the collected temperature signal is performed by the PID operation to produce the control signal which is outputted to the driving module. The driving module adopts the PWM way to control a field effect transistor for driving the heating element of the hot pressing head. The present invention can realize the temperature control precision with being plus or minus 1 DEG C for the hot pressing head in between o DEG C and 300 DEG C, and realize the temperature control of 2048 hot pressing heads at beast through the expanding port board, the temperature control board, and the hot pressing heads.

The invention discloses a sliding formwork control method used in motion control of a virtual axis machine tool cutter, comprising the following steps: planning the space motion trail of the cutter in the processing procedure of a virtual axis machine tool; determining the expected motion trail of each active pair of the virtual axis machine tool in the processing procedure; then establishing the mathematical models of the controlled objects of each control branch circuit of the virtual axis machine tool; detecting and determining the actual motion state of each active pair of the virtual axis machine tool; calculating the function of the switching surface according to the sliding formwork control theory; determining the motor drive controlled variable of each control branch circuit of the virtual axis machine tool and sending to each motor driver; and finally driving each active pair by the motor drive controlled variable of each control branch circuit so as to drive the virtual axis machine tool cutter to realize the expected motion. In the invention, the precise models of the controlled objects of each branch circuit are not needed to be established, and the high-precision control towards the motion of the cutter can be realized by utilizing the excellent characteristics of the sliding formwork control technology; and the controlled variable of the sliding formwork is constituted by continuous functions with no trembling problems.

The invention discloses a high precision thread trimming device and a high precision thread trimming method for an embroidery machine. The device comprises a plastic cutter driving device and a thread trimming device, wherein the plastic cutter driving device is arranged at the upper side of a faller; the thread trimming device is arranged at the lower side of the faller; the plastic cutter driving device comprises a plastic cutter motor; a position sensor and an eccentric wheel are respectively arranged on the periphery of a drive shaft of the plastic cutter motor; the eccentric wheel is connected with a swing rod with a sliding chute at one end by a pin roller; a stationary shaft connected with a motor base is arranged in the middle of the swing rod; the other end of the swing rod is connected with a pull rod driving a plastic cutter by a connecting rod. The device has the beneficial effects that the exact position of the plastic cutter when going back is determined via the position sensor on the periphery of the drive shaft of the plastic cutter motor, thus achieving high precision control of the thread trimming length and avoiding technical defects caused by main shaft speed fluctuation.

The invention relates to a LTCC substrate component and a eutectic sintering process method thereof. The LTCC substrate component comprises a LTCC substrate (2), a 0.08mm-thickness preforming silver tin soldering sheet (3), a fuzz button installing hole (a CNA8 high temperature protection resistance welding glue coating position) (4) and a LTCC substrate structure component (5). The LTCC substrate component is placed into an elastic positioning tooling (1) so as to form a product component. The component and the method are suitable for multiple sizes of special-purpose elastic tooling and substrate voidage can be increased to over 90% from below 80%; a protection technology of the fuzz button installing hole is designed so as to realize accurate protection to a welding process of different connector installing holes and subsequent connector installation is not influenced; and simultaneously, a silver tin soldering sheet is served as a welding material so that high precision control of a solder amount can be realized and product consistency is increased.

The invention provides a turntable type high-speed reeling machine control method of a cold continuous rolling production line. The method comprises the following steps of: (1) obtaining an actual reeling diameter of a finished steel roll by calculating and correcting; (2) obtaining a precision rotation inert of a reeling machine by measuring and calculating; (3) converting a tension set value into a torque set value according to the actual reeling diameter and the rotation inert and then controlling an output torque of a motor to realize tension control; and (4) switching and controlling positions of two reeling machines, and realizing high-precision control of the cold continuous rolling production line turntable type high-speed reeling machine. The invention also provides a cold continuous rolling production line turntable type high-speed reeling machine control system. The system comprises an actual reeling diameter obtaining module, a rotation inert obtaining module, a band steel tension control module and a double-reeling-machine position switching control module. The invention has the beneficial effects that during high-speed production, the turntable reeling machine is precisely controlled; the actual reeling diameter is accurately calculated; band steel tension can be stably controlled; the fault rate is low; and the production rate is improved.

The invention relates to a double-valve-core double-sealing-surface adjusting valve, and in particular to an adjusting valve. The double-valve-core double-sealing-surface adjusting valve comprises a valve body and a cavity, wherein the cavity is formed by encircling of the valve cover; a valve inlet and a vale outlet communicated with the cavity are formed in the valve body; a valve core and a valve base are arranged inside the cavity; the valve core consists of a main valve core and a secondary valve core; a first sealing surface and a second sealing surface matched with the main valve core and the secondary valve core are respectively arranged on the valve base; the main valve core and the secondary valve core are in adjustable fixed connection; when the relative position between the main valve core and the secondary valve core is adjusted, the secondary valve core can be separated from the second sealing surface when the main valve core is clung to the first sealing surface, or the main valve core is separated from the first sealing surface when the secondary valve core is clung to the second sealing surface. Due to adoption of double valve cores and double sealing surfaces, sealing can be achieved by using a secondary sealing pair if a main sealing pair is invalid, and the service life of the valve is effectively prolonged.

The invention discloses a permanent-magnet spherical motor rotor self-adapting control system based on dynamic friction compensation. The system is characterized in that a permanent-magnet spherical motor rotor servers as a controlled object, and the control system is set to comprise a parameter self-adaptation adjustment module, a dynamic friction state observation module, a dynamic friction feedforward compensation module and a calculation moment module. The parameter self-adaptation adjustment module obtains adjustment parameters of the calculation moment module and the dynamic friction feedborward compensation module by real-time calculation achieved in a self-adaptation algorithm. The dynamic friction state observation module is composed of two state observers with two different dynamic items and is used for calculating state quantity estimation value in a dynamic friction model in real time. The dynamic friction feedforward compensation module calculates in real time to obtain a friction compensation moment tfc. The calculation moment module calculates to obtain a main control moment tc. The total control moment t of the controlled object is set to be t=tfc+tc. According to the control system, dynamic friction compensation of the permanent-magnet spherical motor rotor is achieved, and accordingly control precision is improved, and starting moment is reduced.

The invention discloses a multifunctional automatic applicator of fluorescent powder glue and a control method thereof. The multifunctional automatic applicator of fluorescent powder glue comprises aframe, an upper computer, a lower computer mechanism, and a feeding conveyer belt, an application conveyer belt and a discharging conveyer belt which are connected in sequence. The lower computer mechanism includes a fluorescent powder glue feeding mechanism, a full-automatic adjustable feeding-discharging mechanism, a fluorescent powder glue micro-application mechanism, a fluorescent powder gluethickness measuring system, an electric heating pre-baking mechanism and an automatic cleaning mechanism. The multifunctional automatic applicator of fluorescent powder glue and the control method thereof can provide high-precision control for fluorescent powder glue application thickness; the problem is effectively solved that WLP-LED or CSP-LED modules have difficulty in intelligent micro application of fluorescent powder under high speed and high uniformity.

The invention relates to a linear motion actuator combined by the fluid drive and the lead screw nut device, which comprises a fluid drive cylinder, a lead screw nut mechanism, a motor, a speed reducer, an electromagnetic brake and a photoelectric sensor. Therefore, a linear motion execution and control unit integrating the fluid, optics, machinery and electronic functions is formed, which can conveniently realize the speed and position control of the linear motion of the high comprehensive index precision.

The invention provides a thermal simulation method of thermal-mechanical treatment of high strength automobile steel impact specimen, and belongs to the technical field of thermal simulation. The method comprises the steps of (1) based on the size the a standard impact specimen, determining the simulation specimen size, the simulation specimen comprises a simulation rectangle, two ladder platforms and two clamp ends, determining the high temperature thermal-mechanical treatment process parameters applied in the heat simulation process, (2) welding a thermal couple on the surface of the simulation rectangle of the simulation specimen, (3) installing the simulation specimen on a thermal simulator, (4) conducting heat treatment to the simulation specimen, determining the average temperature area of the post-heated simulation specimen, (5) conducting compression test to the simulation specimen, determining the post-compression average temperature area of the simulation specimen, (6) conducting cooling treatment to the simulation specimen, (7) checking the simulation specimen surface, (8) processing the simulation specimen into a standard impact specimen, and verifying if the impact process is effective. The method can enhance the repeatability of the organization and preparation of the impact specimen of high strength automobile steel and the control precision of process parameters.

The invention discloses a flow polymerase chain reaction (PCR) circulating heating apparatus based on capillaries and a heating method. According to the method, PCR of samples in the capillaries is achieved by adopting a method that the capillaries penetrate through three different constant-temperature areas circularly, and a new process that amplification is achieved in a three-dimensional flow process of the samples under the condition of static temperature control can be formed. In a temperature cycling process, a fluid in each capillary carries sample droplets to flow into one end of a heating device, then penetrates among the three temperature areas along the capillary, and flows out from the heating device after completing a predetermined number of heating cycles to enter a detection device. Compared with a planar micro-chip method, the heating method disclosed by the invention is easily combined with existing biological detection equipment, and meanwhile, because the capillaries with standard batch production are adopted, the capillaries are higher in repeatability of working performance, are very suitable for being used as plugins, and can perform combined operation with the existing high-precision biological detection equipment.

The invention belongs to the technical field of robot control, and specifically discloses a force/position hybrid control method of a multi-mechanical arm system based on command filtering. The methodis based on the Lyapunov function, an anti-step method is used for constructing an intermediate virtual control signal, gradual recurrence is carried out to obtain a control law, and therefore an endeffector of multiple mechanical arms is controlled. A fuzzy logic system is used for processing an unknown nonlinear function in the multi-mechanical arm system, and meanwhile, a command filtering technique is used for solving the problem that a second derivative of the actual position of a desired object does not exist. The method can ensure that a position tracking error and an internal force adjustment error of the object are converged to a sufficiently small neighborhood around an original point. In summary, by means of the force/position hybrid control method of the multi-mechanical armsystem, effectivity under various working conditions is achieved, the object accurately tracks a desired trajectory, and the internal force borne by the object is controlled within a reasonable range.

The invention relates to the technical field of bearingless magnetic levitation motor detection devices and control, and the device comprises a magnetic levitation motor rotor radial position detection array sensor, a motor dsp controller, a stator, and a rotor, the magnetic levitation motor rotor radial position detection array sensor comprises a first eddy current displacement sensor, a second eddy current displacement sensor and a third eddy current displacement sensor, and the first eddy current displacement sensor, the second eddy current displacement sensor and the third eddy current displacement sensor are symmetrically arranged in the same radial plane, the center of the array sensor penetrates through the axis of the rotor. The control method comprises the steps: 1, using an arraysensor for obtaining a suspension displacement component; 2, obtaining a displacement deviation signal through comparison and transmitting the displacement deviation signal to the dsp; 3, outputtinga control instruction by the dsp, and changing the suspension force on the direction component; and 4, carrying out inspection type control to enable the rotor to suspend near the central position. High-speed and high-precision control over the radial displacement of a bearingless magnetic levitation motor is achieved.

The invention discloses a prediction function control method for a PMSM servo system. The method comprises the following steps: firstly collecting rotor position signals theta and motor current signals iq of the PMSM servo system, observing rotor load disturbance through a Kalman filter, so as to obtain a rotor load torque T^L and a rotor rotate speed omega^, then feeding back the rotor load torque T^L and optimal control quantity i*q to a rotate speed predication unit of prediction function control (PFC), so as to obtain a prediction value (omega)m of the rotor rotate speed, inputting the rotor rotate speed omega^ and the predication value (omega)m of the rotor rotate speed into an error predication unit of predication function control, so as to obtain a rotate speed error value e of a rotor, and finally inputting e, (omega)m and omega^ into an optimal control unit of predication function control, so as to obtain optimal control quantity i*q to realize the high-precision control of the PMSM servo system under disturbance influence. The method organically combines the Kalman filter and predication function control, and the complementation of the Kalman filter and predication function control can optimize the control quantity of the servo system and improve the control precision and disturbance rejection capacity of the PMSM servo system.

The invention discloses a vibration compensation control system for a rotor of a bearing-less asynchronous motor based on torque inverse. The system comprises an inverse dynamic decoupling torque control system and a rotor radial displacement separation and unbalanced force compensation control system, wherein the inverse dynamic decoupling torque control system is as follows: a torque inverse system is connected to the front of an original system in series to form two linear subsystems of a rotor flux and rotating speed, and a flux regulator and a rotating speed regulator are respectively correspondingly connected to an output end of the original system and an input end of the inverse system to form a closed loop system; the rotor radial displacement separation and unbalanced force compensation control system decomposes a rotor radial displacement to a random displacement and an unbalanced vibration displacement and then respectively adjusts to obtain random displacement control force and unbalanced force compensation control force, and the random displacement control force and the unbalanced force compensation control force are compared with a unilateral electromagnetic pull compensation signal and are subjected to force/current conversion to obtain comprehensive magnetic suspension control current, the unbalanced vibration compensation control on the inverse dynamic decoupling control of the torque system is implemented, and the rotor suspension operation control precision is improved.

The invention provides chemical vapor deposition equipment for silicon carbide. The equipment comprises a chemical vapor deposition chamber, an inert gas inlet pipeline and a process gas inlet pipeline, wherein the inert gas inlet pipeline is communicated with the chemical vapor deposition chamber; the process gas inlet pipeline is communicated with the chemical vapor deposition chamber and comprises a mixing device as well as first, second, third and fourth process gas inlet pipeline bodies communicated with the mixing device respectively, and the mixing device is communicated with the chemical vapor deposition chamber; a control valve, a volume flow meter and a mass flow controller are sequentially arranged on each process gas inlet pipeline body. The invention further provides a chemical vapor deposition method for the silicon carbide. Firstly, the volume flow meters and the mass flow controllers are successively used for measuring process gas. The high-precision control on the chemical vapor deposition process for the silicon carbide is realized through accurate measurement of the process gas.

The invention discloses an abrasive concentration control system for front mixed abrasive water jet equipment. The system comprises a bypass proportional flow valve, a main way proportional flow valve, a high-pressure water pump, a control module, a high-pressure tank, a ball valve, an ultrasonic concentration detector and a nozzle. Water supply of the high-pressure tank is controlled by the bypass proportional flow valve; water supply of the nozzle is controlled by the main way proportional flow valve; a concentration value of a mixed abrasive is detected through the ultrasonic concentration detector, and is returned to a control module; and the control module performs contrastive analysis for the concentration value and a set value, sends signals to the bypass proportional flow valve and the main way proportional flow valve to adjust the openness, and adjusts the water supply quantity ratio of the bypass proportional flow valve and the main way proportional flow valve to finish closed-loop control of abrasive concentration. The system realizes high-precision control of the abrasive concentration of a front mixed abrasive jet cutting system, improves the abrasive utilization rate and the cutting efficiency, and fills the blank of traditional technology.

The invention discloses an FPGA-based highly-integrated high-precision control system for a micro flywheel, which mainly comprises a direct current power supply, a digital controller, an integrated three-phase bridge drive chip, a permanent magnet brushless direct current motor, a direct current detecting device and a position detecting device. The system takes an FPGA chip which has high reliability and is operated in parallel as a controller, and realizes sequential logic functions of a digital calculating unit, PID control, phase conversion logic, PWM, RS232 serial port communication, rotating speed measurement and A/D sampling trigger of a current and the like on an FPGA through a VHDL language. Compared with other special integrated digital processors, the system has the advantages of programming flexibility, high program reliability and good real-time. Hardware circuits of the invention are highly integrated, which integrates a three-phase full-bridge inverter and a drive circuit thereof in the integrated three-phase bridge drive chip so as to realize highly-integrated high-precision steady-speed control of a brushless direct current motor used for the micro flywheel.

The invention discloses a temperature control method of a high-temperature and high-pressure jigger based on an improved RBF neural network. The method comprises the following steps of: S1, establishing a dye liquor temperature change curve model; S2, calculating a temperature control deviation according to the actual measurement value of the dye liquor temperature and the dye liquor temperature in the dye liquor temperature change curve model corresponding to the sampling moment, and setting a threshold value; and S3, respectively adopting a PD controller, a PID controller and/or a PID controller based on the improved RBF neural network to perform sectional control on the temperature of the dye according to the relation between the temperature control deviation and the set threshold value until the numerical value of the temperature control deviation is zero. According to the method, the characteristic learning method based on the improved RBF neural network and the PID controller are combined to achieve the self-adaptive control and adjustment of the temperature control system of the jigger in a severe application environment, so that the high precision and the high efficiency of the control process are ensured, the control adjustment period is short, and the control efficiency is high.

The invention provides an autonomous underwater vehicle trajectory tracking control method for time-varying dynamics, and belongs to the field of deep reinforcement learning and underwater vehicle intelligent control. The method comprises the following steps: firstly, establishing a trajectory tracking control problem of the autonomous underwater vehicle in a time-varying dynamic environment; then constructing a batch Markov decision process model of the trajectory tracking problem according to the time-varying dynamics of the aircraft; and then constructing a strategy network based on an attention mechanism, training the strategy network by using a meta-reinforcement learning method, and finally optimizing to obtain a control strategy to control the autonomous underwater vehicle to complete a trajectory tracking task in a time-varying dynamic environment. According to the method, the time-varying dynamic characteristics of the autonomous underwater vehicle are considered, so that the provided model-free controller is more suitable for an actual scene compared with a general reinforcement learning model, the control scheme can be better applied to practice, and meanwhile, the control method has high precision and high generalization.

The invention belongs to the technical field of mechanics test devices, and specifically relates to a high-energy accelerator CT rock mechanics test system. The high-energy accelerator CT rock mechanics test provided by the invention comprises a mechanics test machine, a high-energy accelerator CT ray source and a detector, the mechanics test machine is arranged between the high-energy acceleratorCT ray source and the detector, the mechanics test machine comprises a fixed component, a rotary apparatus and a pressure chamber, the rotary apparatus is arranged on the fixed component, the pressure chamber is connected with the rotary apparatus, and when a test is executed, the pressure chamber can rotate relative to the fixed component under driving of the rotary apparatus. The test machine is provided with the rotary apparatus, and when the test is executed, the pressure chamber is driven by the rotary apparatus to rotate, namely, a test sample can be scanned in a process in which a loadtest is executed for the test sample, consequently, CT imaging can completely reflect a structural state of the test sample when the test sample is loaded, and scientific researches are facilitated more.