87results about How to "Guaranteed control accuracy" patented technology

The invention discloses a mechanical arm specified performance high-precision trajectory control method based on an improved super-torsion expansion state observer. The mechanical arm specified performance high-precision trajectory control method comprises the following steps that a dynamic model of an n-joint mechanical arm is established; the kinetic model of the n-joint mechanical arm is re-described as a mechanical arm kinetic model based on total disturbance; an improved super-torsion expansion state observer is designed to estimate the total disturbance in the mechanical arm dynamic model based on the total disturbance; and according to the equivalent control law, the switching control law and the total disturbance estimation value, a recursive integral sliding mode controller based on funnel error transformation is constructed, and trajectory tracking of the mechanical arm is achieved. According to the method, the convergence speed of the system can be effectively improved, the buffeting phenomenon in the system can be effectively inhibited, and meanwhile, the method has good anti-interference performance.

The embodiment of the invention provides a manipulator control method and system, and the method comprises the steps: generating a control instruction, carrying out the compression processing of the control instruction, and transmitting the compressed control instruction to a manipulator through a wireless module; determining a delay index according to the receiving time of receiving the execution result data and the sending time of sending the execution result data by the manipulator; wherein the execution result data is obtained by executing corresponding actions by the manipulator according to the received control instruction and is sent to the control end; determining a synchronization index according to the delay index and the interference index of the detected signal in the transmission process; and when abnormal synchronization is judged according to the synchronization index, optimizing a processing method of a control instruction and / or a transmission method of a wireless module. Through continuous synchronism detection and optimization adjustment, it can be guaranteed that the system keeps a stable and normal working state for a long time, the synchronization performance is improved, and the control precision of the manipulator is guaranteed.

The invention provides a full-size low-temperature medium outflow test system and an outflow test method. The system comprises a control system, an end socket, a storage tank, a conveying main pipeline, a pressure accumulator, a discharge pipeline, a filling pipeline, an air sealing pipeline, a pressurizing pipeline, a pressurizing tank, a liquid nitrogen filling tank car, a flow meter, a filling port, a regulating valve, a stop valve and an air sealing port. According to the system, a full-size test platform is built, low-temperature liquid nitrogen is used for replacing a low-temperature propellant, the working states of the pressurized conveying system under different flows and pressures are simulated, and the requirement that the system obtains the flowing performance closer to the real working condition through test examination under a low-temperature medium is met.

The invention relates to a mechanical arm control information generation method and device and a surgical robot. The method comprises the following steps: determining a target operation position; through kinematics modeling, motion control information of the mechanical arm is determined based on the target operation position; inputting the motion control information into a pre-trained neural network model to obtain a predicted operation position corresponding to the motion control information; on the basis of the target operation position and the predicted operation position, under the condition that it is determined that the predicted operation position does not meet the requirement, the motion control information is adjusted, the adjusted motion control information is input into the neural network model, and the predicted operation position corresponding to the motion control information is obtained till the motion control information is obtained on the basis of the target operation position and the predicted operation position. And under the condition that it is determined that the predicted operation position meets the requirement, the final adjusted motion control information serves as control information of the mechanical arm. By adopting the method, the control precision of the mechanical arm can be improved.

The invention discloses a two-degree-of-freedom movement mechanism and a control device.The two-degree-of-freedom movement mechanism comprises a panel, a support, a driving mechanism and a gear adjusting mechanism, and a first gear and a second gear are arranged on a first rotating piece and a second rotating piece of the driving mechanism correspondingly; a third gear and a fourth gear of the gear adjusting mechanism can be respectively meshed with the first gear and the second gear to rotate and respectively drive a first gear wheel and a second gear wheel to rotate, so that the third gear wheel and the fourth gear wheel are driven to rotate; finally, the regular change of the center distance between the third gear wheel and the first gear wheel and the regular change of the center distance between the fourth gear wheel and the second gear wheel are achieved through a first limiting frame, a second limiting piece, a first spring and a second spring. In this way, an operator can accurately recognize the gear change during rotation, and accurate control is achieved.

The present invention relates to the technical field of condensers, and discloses an integrated temperature control optimized condenser system, comprising an outer tube, a bracket arranged at the bottom of the outer tube, covers arranged at both ends of the outer side of the outer tube, a refrigerant joint arranged at the outer side of the outer tube, a cooling medium joint arranged at the outer side of one end cover, a mounting plate arranged inside the outer tube, a heat exchange tube arranged in the mounting plate, and also comprises an adjustment component arranged on the surface of the mounting plate, and a control component arranged on the surface of the adjustment component. The integrated temperature control optimized condenser system, by setting the adjustment component, controls the movement of a corresponding number of adjustment strips when the temperature needs to be adjusted, so that a certain proportion of the connecting holes are docked with the docking port, and only needs to replace this part of the heat exchange tubes during maintenance, thereby extending the service life of the entire equipment, and thus ensuring the flow rate of the cooling medium in the heat exchange tubes, avoiding the accumulation of impurities in the cooling medium, and ensuring the heat exchange efficiency of the heat exchange tubes.

The invention relates to a valve positioner parameter self-tuning method. The method comprises the steps of positioner control parameter calculation, PID parameter calculation and maximum overshoot calculation. For different valves or executing mechanisms, valve position information is collected in real time, and needed valve position control values are determined to serve as positioner control parameters; pID parameters are calculated through a dynamic step setting method according to the positioner control parameters; in the setting process, a valve position feedback value is obtained in real time, the overshoot amount is calculated, the valve positioner controls the valve to be stabilized within the preset precision range through the PID algorithm and the maximum overshoot amount, control parameters, PID parameters and the maximum overshoot amount needed by the positioner can be rapidly calculated, the parameters calculated through the method are substituted into the algorithm, and therefore the control precision of the valve positioner is improved. And the system can be automatically adjusted and controlled when parameters change or external disturbance influences, so that the stability and the control precision of the system are ensured.

The invention discloses a hydraulic pump driving device of a pure electric motor sweeper, which comprises a bearing seat, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump, a hydraulic pump and a hydraulic pump, and is characterized in that the bearing seat is rotatably provided with a driving shaft through a mounting bearing; the hydraulic pump is fixedly installed on the outer side of the driving shaft, an inserting hole is formed in the end of the driving shaft, a plurality of limiting grooves are formed in the inserting hole at intervals, a fixing key is arranged on a transmission shaft of the hydraulic pump, and the outer side of the fixing key is fixedly sleeved with an elastic compression piece. The transmission shaft of the hydraulic pump is fixedly inserted into the insertion hole of the driving shaft through cooperation of the fixing key and the limiting groove. And the fixed connection mechanism comprises a driving nut in threaded connection with the inner side of a transmission shaft of the hydraulic pump and fixing plates, and butt joint holes are formed in the fixing plates respectively. The transmission shaft of the hydraulic pump can be directly connected to the driving shaft in a transmission mode, so that the structural simplicity degree of equipment can be effectively and greatly improved, and installation and operation of the equipment are facilitated.

The invention provides a humanoid robot complex terrain balance control method based on a state and disturbance observer, and belongs to the technical field of robot application. The problem that the humanoid robot is unstable when walking in a complex environment is solved. According to the technical scheme, the method comprises the following steps that 1, a simplified humanoid robot'spring-damping 'inverted pendulum model is established; 2, designing a state and disturbance observer; step 3, based on the step 2, designing a state feedback controller taking a real-time observation object of the state and disturbance observer as input; 4, selecting an appropriate controller pole and an appropriate controller observation point; and 5, simulation verification of attitude balance control of the humanoid robot under the complex terrain is carried out. The method has the beneficial effects that the robustness of the robot to interference and the task execution capability can be improved particularly in disaster rescue and complex environment operation.

The present application relates to the field of visual recognition technology, and discloses a visual recognition obstacle detection method, device, equipment and storage medium, the method comprising: performing time alignment and spatial registration on image data collected by a visual camera in a walking robot and point cloud data collected by a laser radar to obtain a multimodal data stream; inputting the multimodal data stream into a recursive gated deep convolutional neural network for feature extraction to obtain temporal multimodal fusion features; calculating an inter-modal correlation matrix, and constructing a three-dimensional voxel grid to obtain a three-dimensional environment representation; performing two-stage detection on the three-dimensional environment representation to obtain a comprehensive obstacle representation; performing environmental complexity assessment based on the comprehensive obstacle representation, and generating an adaptive real-time obstacle avoidance control strategy; converting the adaptive real-time obstacle avoidance control strategy into an optimal control problem, and performing rolling time domain optimization to obtain an optimal obstacle avoidance control sequence, thereby improving the accuracy of obstacle detection.

The invention discloses a horizontal low-pressure vibration test moving coil balance control method and device, and the method comprises the steps: obtaining the speed of a moving coil through detecting the displacement of the moving coil, adjusting the opening degree of a vacuum solenoid valve or an air source solenoid valve according to the speed of the moving coil through employing a corresponding linear control function, and enabling the speed of the moving coil to be zero when the moving coil reaches a balance position. And the moving ring can quickly and stably return to the balance position after exceeding the balance position threshold value. According to the horizontal low-pressure vibration test moving coil balance control method, the problem that the moving coil is difficult to accurately reach the balance position is solved, the moving coil can rapidly and stably return to the balance position after exceeding the balance position threshold value, and the control precision in the moving coil position adjusting process is effectively guaranteed.

The invention discloses a fuel cell and lithium battery hybrid unmanned aerial vehicle semi-physical test system and method. The system comprises a hybrid power module used for simulating power output of a fuel cell and a lithium battery; the flight dynamics control module is used for resolving attitude information of the unmanned aerial vehicle; the control instruction sending module is used for sending a motion instruction of the unmanned aerial vehicle to the flight control instruction resolving module; the flight control instruction resolving module is used for resolving a control instruction to obtain motion instruction information; the ground station interface monitoring module is used for recording the flight attitude data of the unmanned aerial vehicle returned by the flight control instruction resolving module; the three-axis flight attitude simulation module receives the motion instruction information and makes attitude response; the real-time simulation module is used for receiving feedback information of the three-axis flight attitude simulation module and simulating the flight state of the unmanned aerial vehicle in a virtual scene; the unmanned aerial vehicle 3D modeling and visual module is used for recording real-time simulation machine data and control information of the flight dynamics control module; according to the invention, accurate and efficient simulation of the unmanned aerial vehicle can be realized.

This application discloses an electronic pre-braking (EBP) pedal release prediction and pre-filling control method and system, relating to the fields of automotive electromechanical braking (EMB), active safety prediction, electronic pre-braking (EBP), and brake-by-wire clearance pre-filling technology. It collects information on accelerator pedal opening, accelerator pedal release rate, vehicle speed, wheel speed, brake pedal status, and vehicle driving conditions. Based on the accelerator pedal release rate and vehicle speed, it sets multi-level threshold intervals to determine the driver's potential emergency braking intention. This application achieves multi-dimensional intention prediction based on accelerator release changes and vehicle speed information, and combines it with electromechanical brake clearance pre-filling control to enable the braking system to enter a ready-to-respond state in advance, improving the vehicle's active safety capabilities. Through multi-condition adaptive adjustment and functional constraint and redundancy control mechanisms, it ensures a smooth and reliable pre-filling process and maintains functional continuity under abnormal conditions, making it suitable for applications using brake-by-wire systems without hydraulic pressure.

The utility model discloses full-electric-drive ultrasonic vibration-infrared heating energy field assisted multi-station precision glass mold pressing equipment, which comprises a control box, a feeding assembly, a pressure forming execution unit, a discharging assembly and an electric control cabinet, and adopts an infrared radiation heating mode to carry out rapid non-isothermal heating on a glass prefabricated part. And an ultrasonic vibration element and a pressure sensing element are arranged in the lower mold base of the mold pressing station, and when the prefabricated part is heated to a softening point, the ultrasonic vibration element is started to cooperatively work with an infrared heating technology, so that the filling speed and quality of glass mold pressing forming are improved. The full-electric driving technology is used, the control precision and the die pressing forming efficiency are high, in addition, compared with a traditional glass die pressing machining mode, the infrared heating element and ultrasonic vibration cooperative work machining technology achieves precise and efficient machining of a glass prefabricated part, the problem of interference of heating and vibration in traditional die pressing is solved, and the production efficiency is improved. And the forming precision and efficiency of the product are improved.

This invention discloses a BUCK circuit with precisely adjustable current and its adjustment method. The circuit includes a time loop control circuit and a BUCK constant current circuit. The input terminal of the time loop control circuit is connected to the output terminal of the BUCK constant current circuit to obtain the output current Iout of the BUCK constant current circuit. The output terminal of the time loop control circuit is connected to the input terminal of the BUCK constant current circuit to adjust the output current Iout of the BUCK constant current circuit. The time loop control circuit includes a sampling circuit I0, a comparator I1, a control calculation module I2, and an AND gate I3. The BUCK constant current circuit includes a driver circuit I4, an NMOS transistor Q0, a freewheeling diode D0, an energy storage inductor L0, a current sensing resistor R0, a filter capacitor C0, a light-emitting diode D1, and a power supply. The adjustment method includes: obtaining the sampling voltage Vsns and calculating the output current Iout; if the output current Iout is adjusted to a high current adjustment, it enters the analog adjustment mode; otherwise, it enters the mixed analog-digital adjustment mode. The output current of the BUCK circuit can be precisely adjusted.

The utility model provides a nitrogen flow control system which comprises a plurality of control valves, an inlet of each control valve is connected with an outlet of a nitrogen buffer tank, and outlets of all the control valves are connected to a gas outlet gathering end. Wherein the at least two control valves have different flow ranges; the different purging branches execute purging operation under different working conditions, and an air inlet of each purging branch is connected with the air outlet gathering end; the PLC is connected with the controlled end of each control valve; and the PLC controls different control valves to act so as to control the nitrogen flow of the gas outlet gathering end. According to the scheme, nitrogen flow control of various working conditions in the gasification process can be more accurately achieved, the control precision of the small-flow use working condition can be guaranteed, the continuous nitrogen use amount during normal operation of the gasification furnace can be met, the control precision of the large-flow use working condition can be guaranteed, and the purging nitrogen use amount under different shutdown working conditions can be guaranteed.

The application discloses a three-level coordinated production line body intelligent control method and system, and belongs to the technical field of intelligent manufacturing. The method comprises the following steps: establishing a global task planning layer, performing semantic analysis and logical disintegration at a first preset frequency, and generating an atomic action sequence; establishing a local space perception layer, receiving the atomic action sequence at a second preset frequency, constructing a dynamic local map by using sensor data, determining a workpiece pose by point cloud registration, and mapping the atomic action sequence into a continuous motion trajectory flow; establishing a real-time action execution layer, receiving an instantaneous target pose at a third preset frequency, calculating a theoretical driving torque by combining a Lagrange dynamics equation, switching to an impedance control mode at a contact moment, and driving an execution mechanism to complete work; and establishing an asynchronous coordination layer, realizing three-layer asynchronous communication through an industrial network, and controlling the three-layer frequencies to be distributed in a ladder type in an increasing manner. The application has the effects of improving the flexibility, precision and safety of a production line.

This invention provides a train operation method, medium, and equipment based on dual-loop adaptive sliding mode control, relating to the field of rail transit train operation control technology. The method involves an outer-loop displacement control subsystem controlling the train to track a target displacement; and an inner-loop speed control subsystem controlling the train to follow the speed curve generated by the displacement control subsystem at the desired speed. The output of the speed control subsystem is the resultant force of traction and braking. The control law is determined based on the integral sliding surface of the speed control subsystem and the train kinematic model. The additional resistance in the train kinematic model is simulated using an RBF neural network algorithm. The basic resistance parameters, total train mass, ideal weight matrix of the RBF neural network, and approximation error in the train kinematic model are determined using the adaptive control law of the integral sliding surface of the speed control subsystem. This method can solve the control problems of divergent speed tracking control deviations and low convergence efficiency under complex operating conditions.

The invention relates to the field of control, in particular to a multi-sensor data fusion slip form construction closed-loop control method and system, and the method comprises the steps: collecting the pressure and displacement data of each jacking fulcrum of a slip form device in real time; calculating a pressure compensation weight coefficient of the absolute value of the sliding mode variable in the previous period through an exponential attenuation function, weighting a pressure mean value and a reference pressure difference, multiplying the weighted pressure mean value and reference pressure difference by a pressure-displacement conversion coefficient to obtain an equivalent displacement compensation amount, adding the two values to obtain a comprehensive deviation, constructing a sliding mode surface function, and calculating the sliding mode variable; calculating a second norm of the time change rate of the pressure data, and determining the actual boundary layer thickness; the sliding mode control law comprises an equivalent part and a switching control part, when the absolute value of a sliding mode variable is larger than the thickness of a boundary layer, switching control is a fixed gain sign function, otherwise, switching control is a proportional term, and a global jacking speed reference instruction is generated; according to the difference value between the real-time pressure of each fulcrum and the pressure mean value, the speed differential adjusting amount is calculated through proportional-integral adjustment, and the speed differential adjusting amount and the global reference instruction are superposed to obtain the jacking speed control instruction of each fulcrum.

The present application relates to the technical field of general control system of nonlinear feedback and precision process control, disclose a kind of construction and accurate water distribution execution system of soil moisture nonlinear response model, including characteristic perception module, infiltration damping observation module, pulse width modulation module and actuator module, module calculates the derivative term of porous medium controlled object characteristic parameter, extracts the instantaneous slope of trajectory vector in infiltration dynamic phase plane, and utilizes determination logic to trigger duty cycle constraint when second derivative term is negative and instantaneous slope absolute value exceeds threshold, and the medium flow rate is adjusted by actuator, the present application utilizes trajectory curvature feature to characterize the nonlinear evolution of internal damping of controlled object, realizes the pre-judgment to infiltration stall point, eliminates the physical phase lag of control loop, suppresses the adjustment overshoot, and ensures the operation of system under complex damping working condition.

The invention provides a four-steering-wheel chassis motion control method and system. The method belongs to the field of steering wheel chassis control, and comprises the following steps: calculating the total traction required by a chassis based on the required acceleration, the whole vehicle mass and the chassis and environment interaction force information obtained by the feedback of a sensor; according to the total traction force, target torques of the four motors are calculated and output through a preset torque distribution method; calculating a target steering angle of each steering wheel based on the turning radius and the chassis advancing direction angle; according to the difference value between the target steering angle and the actual steering angle of each steering wheel, the acceleration required by each motor is calculated and output in real time; and synchronously outputting the target torque and the acceleration required by the motor to the corresponding motor controller, and collecting the speed, steering angle and IMU data of each steering wheel encoder to form closed-loop feedback for updating the calculation of the next control period. According to the invention, the control mode is smoother, the anti-interference capability is stronger, and the control is more synchronous.

The application relates to the technical field of motor control, in particular to a control method and device of a motor controller, a vehicle, a medium and a program product, wherein the method comprises the following steps: in response to an adaptive modulation instruction of the vehicle, the motor controller is controlled to switch to an adaptive modulation working mode; an operating state parameter of the motor controller is collected, and a frequency offset of the motor controller is determined according to the operating state parameter; a carrier frequency offset value is calculated according to the frequency offset and a preset reference carrier frequency, and the motor controller is controlled based on the carrier frequency offset value, so that the motor control meets a preset performance condition. Therefore, the problems that in the related art, the SVPWM fixed frequency causes harmonic concentration, electromagnetic noise, resonance and common-mode interference, influences NVH and reliability, the RSVPWM random number quality is poor, harmonic diffusion is insufficient, excessive randomness reduces precision and dynamic response, the fixed strategy has poor adaptability, and calibration is complicated and engineering implementation is difficult are solved.

The utility model discloses a high-precision low-flow-resistance stop valve, belongs to the technical field of valves, and provides the following technical scheme for solving the problem that the flow pressure adjusting precision is reduced due to vibration of a valve clack of a traditional stop valve: the valve clack is connected with a valve rod through a plurality of groups of supporting assemblies which are uniformly distributed in the circumferential direction, and an inner rod and an outer rod form an axial telescopic structure; and the turntable is in running fit with the valve rod through the L-shaped connecting ring. An annular communicating groove is formed in the top of the valve clack, an annular connecting groove is formed in the corresponding position of the bottom of the valve clack, the two grooves are communicated through communicating holes in an annular array, and a sealing ring capable of being embedded into the connecting groove is arranged in the corresponding position of the inner wall of the valve cavity. When the valve is opened, fluid can directly penetrate through the valve clack through the communicating hole to reduce impact force, the supporting assembly counteracts lateral acting force of the fluid on the valve clack through the axial bearing structure, and bending deformation of the valve rod is prevented. According to the valve, the fluid control precision and the operation stability are effectively improved while the sealing performance is kept by optimizing the fluid channel shape and the valve clack supporting structure.

The application relates to the field of automobile braking technology and discloses a full-decoupling brake-by-wire system and a control method thereof, which comprises a control unit, various isolation valves, various pressure relief valves, a servo cylinder piston and a servo motor; the control unit dynamically divides a certain interval and a tentative interval based on the real-time position of the servo cylinder piston; when a braking request is not acquired, the servo motor is controlled to drive the piston to retreat and execute a mechanical zero-finding process; when a braking request is acquired in the zero-finding process, the mechanical zero-finding process is interrupted, the servo motor is preferentially controlled to drive the piston to move forward and build pressure to respond to the braking request; in addition, the control unit adopts different motor control modes to match corresponding actions when the piston is in the certain interval or the tentative interval. The application solves the conflict between finding a mechanical zero point and a sudden braking action, guarantees the preferential execution of a braking instruction and the safety of system operation.

The invention discloses an efficient distributor for a refrigeration house, which comprises a main body, the sealing cover is fixedly arranged at the top end of the main body, the branching disc is fixedly arranged at the bottom end of the main body and used for sealing the bottom end of the main body, the liquid distribution needle column is fixedly inserted into a disc body of the branching disc and used for achieving coolant liquid distribution, and the liquid supply pipe is fixedly arranged in the middle of the branching disc and penetrates through the branching disc. The liquid supply pipe is arranged in the main body and used for supplying a coolant into the main body, the flow dividing cover is arranged in the main body and fixedly connected with the liquid supply pipe, the content of flash evaporation gas of the refrigerant discharged out of coolant liquid is reduced to a certain extent, and the discharge amount of the coolant liquid is more uniform through the liquid discharge mode; the influence on the refrigerating system caused by uneven distribution of the coolant liquid is reduced, the influence on the effect of the evaporator is reduced through even distribution of the coolant liquid, and the control precision of the refrigerating system and the adjusting range of the refrigerating capacity are guaranteed.

This invention discloses a method and system for segmented acquisition of measured values ​​at a measuring station based on a self-learning model. The method includes acquiring preset strip data at the entry and exit points of the finishing mill; segmenting the strip at the finishing mill exit according to the preset strip data; acquiring measured values ​​for each segment using a measuring device; and inputting the measured values ​​into a preset self-learning model for learning to obtain the resulting data. This solves the problems in existing technologies where different thickness specifications cannot meet the requirements of different sampling segments, and where poor uniformity affects the acquisition of measured values. It improves the accuracy of the finishing mill model and avoids the influence of intermediate billet temperature non-uniformity on the sampling point temperature.

The present application relates to the technical field of infrared radiation treatment parameter control, in particular to an infrared light irradiation parameter optimization system for neuropathic pain after spinal cord injury. The system monitors stress events in real time based on the spasm starting impact and the peripheral perfusion index. The vagus-sympathetic response delay of the patient is quantified, and the most unstable moment of the heart rate dynamics in the time period of the event to be analyzed is analyzed to quantify the response-unstable time difference. The event category is accurately identified according to the response-unstable time difference and the vagus-sympathetic response delay. Then, accurate control instructions are fed back to the event category. The present application converts two cause identification problems which are not clear in macro physiological data representation into deterministic problems with clear time sequence, and then accurately and effectively identifies the stress events by combining the time domain features obtained, thereby ensuring the control accuracy in the infrared light treatment process and reducing the risk of medical accidents.

The invention discloses a control system of a self-lifting profiling taper transfer printing machine, and relates to the technical field of industrial automatic control and precise transfer printing. And the pressure compensation module is used for carrying out PID (Proportion Integration Differentiation) operation according to the theoretical pressure value of each point on the taper transfer track and the real-time pressure value fed back by the pressure sensor to generate a dynamic pressure compensation instruction so as to keep the transfer pressure constant at different diameters of the conical workpiece. Through the dynamic pressure adjusting module, a pressure planning value is inquired in real time according to the curvature radius of a transfer printing point, PID closed-loop control is carried out in combination with feedback of a pressure sensor, and dynamic self-adaptive constant adjustment of transfer printing pressure at different diameters of a conical workpiece is achieved; therefore, the process problems of different transfer printing depths, local loss or ink overflow and the like caused by pressure fluctuation are effectively solved, and the uniformity and consistency of transfer printing quality are remarkably improved.

The invention discloses a multi-degree-of-freedom mechanical arm trajectory tracking control method and system based on decomposition type Q learning. According to the method, a drifting dynamic matrix and an input dynamic matrix of the mechanical arm system do not need to be known in advance, online learning and optimization can be carried out by directly utilizing input and output data through the Q learning algorithm, and the dependence of a traditional adaptive dynamic programming (ADP) method on an accurate mathematical model is effectively overcome. According to the method, a Q function is innovatively decomposed into three independent components, and three sub neural network channels are used for approximation respectively. Compared with a direct approximation integral Q function, the distributed design has the advantages that the complexity of a single network is reduced, the fitting capability of the neural network to a nonlinear system is fully utilized, and the convergence speed and learning efficiency of the algorithm are improved. In conclusion, high-precision trajectory tracking can be achieved, the error curve convergence is rapid and stable, the speed and position change of each joint is smooth, no obvious jitter exists, and the method has good engineering application value.

The utility model discloses a pole piece waste treatment device. The pole piece waste treatment device comprises an adsorption assembly, a laser assembly and a side suction port assembly, the adsorption assembly comprises a negative pressure pipe, a cutting cavity, an adsorption block and an adsorption plate, the adsorption plate is installed on the adsorption block and located in the cutting cavity, and the adsorption block is connected with negative pressure through the negative pressure pipe, so that the adsorption plate can adsorb a pole piece; the laser assembly comprises a laser module arranged towards the adsorption assembly, the laser assembly is used for cutting the pole piece so as to form a pole lug on the pole piece and obtain a sheet-shaped waste material, and the laser assembly is also used for chopping the sheet-shaped waste material into a crushed waste material; the side suction port assembly comprises a side suction port negative pressure pipe, and one side of the side suction port negative pressure pipe communicates with the adsorption assembly and is used for sucking the broken waste. By means of the arrangement, the pole piece cutting stability, the pole lug forming quality and the production efficiency are improved, a vacuum belt assembly and a lower waste collecting opening adopted in the prior art are omitted, the equipment production cost is reduced, and meanwhile waste of the pole piece is avoided.