790results about How to "High control precision" patented technology

The invention discloses a permanent magnet synchronous motor sensorless control method based on a dynamic position error. A transition stage is provided, per-unit estimation position errors between a first position error signal obtained based on a high-frequency signal injection method and a second position error signal obtained based on a sliding mode observer are compared, an optimal switching speed point is dynamically determined, smooth fusion is carried out on the two position errors by using a nonlinear weighting function, and the optimal switching speed point is obtained. And finally, the estimated position and rotating speed are obtained through a phase-locked loop. And finally, position tracking is carried out by adopting different error signals according to the estimated rotating speed. According to the method, the problem of estimation value pulsation and jump caused by the fact that a traditional method depends on fixed experience switching points is solved, smooth and self-adaptive switching of the two estimation methods in the full-speed domain range is achieved, the control precision and operation stability of the system are remarkably improved, the structure is simple, and engineering implementation is easy.

The intelligent sensing and pressure self-adaption support pile system comprises a plurality of support pile bodies, a sensor network, a hydraulic servo adjusting system and an intelligent control unit. The support pile body is of a conventional foundation pit support pile structure, is prefabricated by reinforced concrete or is formed by cast-in-place, provides a basic support function and resists soil pressure; the sensor network is embedded into the support pile body and monitors the strain condition of each pile body in real time; the intelligent control unit calculates support parameters according to monitoring data of the sensor network and outputs a control instruction; and the hydraulic servo adjusting system automatically adjusts the contact pressure between the pile and the soil according to the control instruction. The system can monitor the stress state of a pile body in real time and automatically adjust supporting parameters through the hydraulic servo system, so that the safety and reliability of foundation pit engineering are remarkably improved.

The invention relates to the technical field of fluid control, and discloses a drip-proof self-adaptive fluid dispensing control method and system. The method comprises the following steps: acquiring an image sequence, pressure data and viscosity change data when fluid is disconnected; positioning an abnormal disconnection moment, extracting a corresponding picture, and extracting a necking diameter and a necking length from the picture; calculating the real-time change rate of the necking diameter based on the necking parameters, obtaining the state identification that the fluid is about to be disconnected, and predicting the disconnection opportunity; integrating the cut-off opportunity predicted value and the viscosity data to obtain a comprehensive data set, and calibrating core parameters to generate an adaptive signal waveform; acquiring a real-time flow velocity data correction waveform, and generating an optimization control signal; and extracting a key intervention point, applying pulse intervention, calculating the colloid residual quantity, performing iterative optimization if the colloid residual quantity exceeds a preset threshold value, and performing no intervention if the colloid residual quantity does not exceed the preset threshold value, thereby finally obtaining a non-leakage control sequence. According to the method, the necking characteristic of the fluid can be accurately captured, the working condition is dynamically adapted, non-dripping dispensing is realized, and the control precision and stability are improved.

The invention discloses an arch bridge tensioning method and system based on a physical constraint space-time diagram attention network, and the method comprises the steps: constructing a dynamic topological graph of an arch bridge cantilever construction structure, taking a structure initial state parameter, a control force system parameter and a real-time environment parameter as node input features, and taking a structure state response parameter as an output label, generating a training data set based on finite element model simulation; designing a deep learning network model combined with space diagram attention and time sequence causal convolution, and modeling a space-time dependency relationship; defining a mixed loss function of the data fidelity item and the physical residual loss item of the structural mechanical control equation; and training the model through a back propagation algorithm and deploying the model to a field decision control system. According to the method, through graph structure abstraction, spatio-temporal joint modeling and physical constraint embedding, multi-source monitoring data driven structure state online prediction and tension control strategy intelligent optimization are achieved.

The invention relates to an array electric tracing band heating control method and system, and the method comprises the steps: an array construction and control circuit construction step: arranging and fixing a heating unit array on a supporting body, and configuring one-to-one voltage regulation and control links; a temperature value obtaining step: calculating resistance by collecting voltage and current of the heating unit, and obtaining the real-time temperature of the heating unit in combination with the resistance-temperature reference curve; a compensation voltage calculation step: establishing a model based on the bearing body partition temperature difference, the heating unit temperature and the multi-dimensional influence parameters, and calculating a compensation voltage; a temperature regulation and control step: superposing the compensation voltage and the real-time voltage to regulate the heating power so as to realize the precise temperature control of the bearing body partition; the system comprises a main control module, a power drive and control module, a sensor module and a power supply module, and all the modules cooperate to complete control logic. According to the invention, the bearing body partition temperature control precision and the reliability of the system are improved, and the system adapts to various bearing body forms.

The invention discloses a curved surface film covering flatness self-adaptive control method based on machine vision, and relates to the technical field of mechanical arm control. The system comprises a machine vision sensing module, a robot end effector, a composite controller and a distributed clamping jaw array. The method comprises the following steps: acquiring a fringe projection image sequence and dynamic trajectory data of an end effector; performing phase calculation and three-dimensional reconstruction on the image sequence, constructing a digital elevation model and calculating flatness error data; inputting the dynamic trajectory data into a feedforward controller to generate a compensation instruction, inputting the flatness error data into a feedback controller to generate a correction instruction, and superposing to obtain a comprehensive correction instruction; and acquiring a strain sensitivity matrix, distributing the comprehensive correction instruction into displacement execution parameters of each clamping jaw by utilizing pseudo inverse operation, and issuing and executing the displacement execution parameters. According to the method, real-time sensing and active intervention of dynamic deformation are realized, and the yield and batch consistency of curved surface film coating are remarkably improved.

The invention discloses an intelligent backpack multifunctional control system and method based on AI voice, and relates to the technical field of intelligent wearable equipment and AI interaction. The method comprises the steps of collecting a user voice instruction and multi-dimensional state data of the intelligent backpack, performing AI semantic analysis on the voice instruction to obtain an instruction intention, and performing fusion processing on the multi-dimensional state data to obtain a comprehensive state of the backpack; generating a target control strategy based on the instruction intention, the comprehensive state of the backpack and the user portrait; and driving an execution unit of the intelligent backpack to complete corresponding function actions according to the target control strategy, and feeding back an execution state to a user in real time. The system comprises a voice interaction unit, a sensor unit, a control unit, an execution unit and other core modules. According to the invention, the voice recognition accuracy and the control precision are remarkably improved, dual safety verification and a dynamic energy consumption optimization mechanism are combined, the use safety and the cruising ability are enhanced, and the personalized and intelligent travel requirements of the user are comprehensively met.

The invention discloses a gas-liquid atomization rotational flow mixing reaction device which comprises a mounting bracket, the mixing reaction chamber is detachably mounted on the mounting bracket through a bolt; the communicating chamber is detachably mounted at the top of the mixing reaction chamber through a bolt; the gas-liquid separation chamber is detachably mounted at the top of the communicating chamber through a bolt; the atomizing nozzle is fixedly connected to the mixing reaction chamber; the driving unit and the indicating unit are installed on the pressure regulating unit, and one end of the gas feeding pipe is fixedly connected to the atomizing nozzle. By adopting a gas-liquid atomization and rotational flow self-stirring structure, the problems that traditional mechanical stirring is slow in mixing, poor in uniformity and unbalanced in local proportion are fundamentally solved, the phenomena of back mixing and short circuit are eliminated, the reaction is more sufficient, crystallization is more uniform, the yield is higher, meanwhile, a stirring mechanism is omitted, the device is simplified, energy consumption is reduced, parameters such as pH and temperature are fed back more timely, and the production efficiency is improved. And the control precision is greatly improved.

The invention provides a pipeline welding real-time feedback control method and system based on machine vision. According to the method, multi-modal data such as a three-dimensional point cloud, a temperature field and a welding seam image are synchronously collected, and key characteristics such as a pose deviation gradient, a cooling rate curve and a welding seam size sequence are extracted after time sequence alignment, filtering and correction fusion. And a CNN and LSTM mixed adaptive deep learning model is utilized to analyze the welding quality state in real time, and sub-optimal parameters are dynamically optimized based on a reinforcement learning strategy, or a three-level response mechanism including heat reduction input, expert knowledge base matching and precise repair is triggered to process defect early warning. The system has an incremental learning capability and can be self-optimized along with a control period. The full-flow intelligent monitoring, real-time feedback and self-adaptive accurate control of the welding process are achieved, and the welding quality and the automation level are remarkably improved.

The invention provides a trajectory tracking control method and system for a high-load omni-directional AGV, the omni-directional AGV is driven by a plurality of steering wheel mechanisms which are independently steered and driven, and the trajectory tracking control method is characterized by comprising the following steps: acquiring vehicle state information and expected trajectory information of the omni-directional AGV in real time; on the basis of the vehicle state information and the expected track information, core parameters of a model prediction controller are optimized online through a chaos simulated annealing algorithm, and the core parameters comprise a state weight matrix, a control increment weight matrix, a prediction time domain and a control time domain; wherein the model prediction controller performs state prediction based on a longitudinal-transverse decoupling dynamic model adaptive to a high-load working condition; performing rolling horizon optimization through the model prediction controller by utilizing the optimized core parameters, and solving to obtain an optimal control increment; and converting the optimal control increment into a driving instruction for a multi-steering-wheel mechanism, and controlling the omnidirectional AGV to track an expected trajectory.

The invention discloses a sensorless motor control method based on self-adaptive NT-SMO. The method comprises the following steps: acquiring phase current and phase voltage of a motor; based on the phase current and the phase voltage, a self-adaptive NT-SMO model is adopted to determine the rotating speed of the motor and the position of a rotor; performing first coordinate transformation on the current of the motor according to the rotor position to obtain d-axis and q-axis feedback current; obtaining a q-axis reference current through a sliding mode controller based on the error between the motor rotating speed and the reference rotating speed; according to the d-axis feedback current, the q-axis feedback current and the reference current, a PI controller is adopted to determine d-axis reference voltage and q-axis reference voltage; and performing second coordinate transformation on the d-axis reference voltage and the q-axis reference voltage to obtain a control voltage, and driving an inverter to control a motor to operate by adopting an SVPWM modulation mode based on the control voltage. According to the method, the rotating speed and the position information are estimated by directly utilizing the phase current and the phase voltage of the motor in combination with the self-adaptive NT-SMO model, so that the operation of the motor is controlled, and the control precision and the stability in high-temperature, high-humidity, strong-vibration and electromagnetic interference environments are improved.

The invention discloses a totem-pole PFC circuit control method and device based on an improved SOGI-PLL, and belongs to the technical field of totem-pole PFC circuits, and the method comprises the steps: collecting the input voltage, input current and bus voltage of a totem-pole PFC circuit; synchronous phase information of the power grid voltage is obtained through an improved second-order generalized integral phase-locked loop; generating a current amplitude reference signal, and combining the current amplitude reference signal with the synchronous phase information to synthesize a current reference signal; generating a pulse width modulation signal for controlling a high-frequency switching tube; and a switching signal of the power frequency switching tube is generated based on the synchronous phase information, and the power frequency switching tube and the high-frequency switching tube are driven in combination with the pulse width modulation signal, so that the action time sequence is synchronous with the phase of the power grid voltage, and therefore, waveform tracking of the input current is realized, and current distortion at the zero crossing point is suppressed. Precise phase synchronization is realized based on the improved SOGI-PLL, totem pole PFC zero-crossing current distortion is effectively suppressed, and the power factor and waveform quality are improved.

The invention discloses a prestress tension control method and system based on a multi-parameter coupling loss law, a medium and a processor, and relates to the technical field of prestress tension control. Common and specific parameters of a bridge and a tunnel are collected and preprocessed, and a scene-divided multi-parameter coupling loss law model is constructed; friction resistance, retraction, aging and environment loss rate are accurately quantified; determining a tension control force sequence in combination with an effective pre-stress target value, and constructing by adopting a hierarchical regulation and control strategy; and through post-construction effective prestress detection and deviation verification, parameter iteration and closed-loop management are realized. The problems that in the prior art, multi-parameter coupling loss quantization is insufficient, scene adaptability is deficient, and construction-detection closed loop fracture occurs are solved, the tensioning control precision is greatly improved, the method is adaptive to multiple scenes of bridges and tunnels, and the safety and stability of an engineering structure are guaranteed.

The invention discloses a wave pitching motion control method and system for an offshore floating type wind turbine generator, and belongs to the technical field of offshore wind power equipment control. The method comprises the following steps: signal acquisition: acquiring unit operation state, marine environment and pitching motion state parameters in real time; wave load prediction: predicting a future wave load based on the improved LSTM neural network model; evaluating a pitching motion state, pre-judging a motion trend through a kinetic model, and judging whether the motion trend exceeds a safety threshold value or not; cooperative control instruction generation: generating cooperative control instructions for fine tuning of a variable pitch angle, a generator torque and a cabin yaw angle based on an MPC algorithm; and control execution and feedback correction: driving an execution mechanism to act and dynamically correcting a control instruction. By accurately predicting the wave load, cooperatively adjusting multiple controllable components and dynamically correcting, efficient and accurate suppression of pitching motion is achieved, and the unit operation stability, the wind energy capturing efficiency and the equipment safety are improved.

This invention provides a method and system for intelligent load control in ammonia synthesis production based on wind and solar forecasting, relating to the fields of energy and chemical production technology. The method includes collecting wind and solar data and ammonia synthesis process data; using a dual-current variational autoencoder combined with a residual connection mechanism to predict power generation curves and process parameter trends; determining process parameter constraints and safety boundaries; establishing a process parameter safety constraint model; obtaining the load adjustment space; generating optimal load commands based on optimization algorithms; and achieving intelligent load control through cascaded PID control. This invention achieves precise dynamic control of the load on ammonia synthesis units, improving wind and solar energy absorption capacity and production efficiency.

The present disclosure provides a workpiece clamping force monitoring system for a clamp, belonging to the technical field of tooling clamps. The workpiece clamping force monitoring system for the clamp comprises a plurality of sensor modules for monitoring the pressure information of the workpiece when the clamp clamps the workpiece in real time and transmitting the pressure information to a data processing module. The data processing module can transmit the processed pressure data to a central control module through a first communication module. The central control module can transmit the data information to a display module to display the pressure fluctuation curve, and can also intelligently analyze the plurality of pressure information to determine a target adjustment strategy. When the pressure information is abnormal, the first alarm module is triggered, an alarm is given and emergency shutdown measures are taken. The workpiece clamping force monitoring system for the clamp provided by the present disclosure can improve the control accuracy, accuracy and anti-interference of the clamping force of the clamp, and based on the abnormal pressure information, an alarm is given to avoid causing greater losses, ensure the stability of the machining process and improve the production efficiency.

The application relates to a proportional valve control method, system, device and storage medium, which comprises the following steps: obtaining the opening degree of the proportional valve; judging whether the opening degree change of the proportional valve belongs to a critical stage based on the change trend of the opening degree of the proportional valve, wherein the critical stage is a stage in which the opening degree of the proportional valve changes between being closed and being critically opened or a stage in which the opening degree of the proportional valve changes between a maximum opening degree and a critical maximum opening degree; when the opening degree change of the proportional valve belongs to the critical stage, a preset fixed duty ratio and a frequency change signal are used to control the opening degree of the proportional valve; and when the opening degree change of the proportional valve does not belong to the critical stage, a preset fixed frequency and a duty ratio change signal are used to control the opening degree of the proportional valve. The application can solve the problem of reduced control precision caused by flow hysteresis difference in the opening degree control of the proportional valve in the prior art.

This invention relates to the field of humanoid robot technology and discloses a humanoid robot torso waist rotation linkage adjustment device, including a torso lower mounting plate, a central rotation axis, an intermediate connecting bracket, a left hip connecting seat, and a right hip connecting seat. The torso lower mounting plate is horizontally disposed at the bottom of the robot torso. The central rotation axis is arranged vertically and its upper end is coaxially fixedly connected to the lower surface of the torso lower mounting plate. The intermediate connecting bracket is fitted into the middle of the central rotation axis and rotatably connected to the central rotation axis. The left hip connecting seat and the right hip connecting seat are symmetrically arranged on both sides of the lower end of the intermediate connecting bracket. This invention achieves synchronous adjustment of torso waist rotation and lower limb posture through a mechanical linkage structure, which can adjust the lower limb posture in time during waist rotation, effectively counteract the center of gravity shift caused by torso rotation, and improve the robot's balance stability in dynamic motion scenarios.

This invention discloses a valve control device and system for extraction pipelines and its usage method, including a valve drive motor, a valve drive linkage, a trolley, and a track. The valve drive linkage is fixed to the rotational power output shaft of the valve drive motor, and the valve drive motor is fixed to the trolley via a motor frame. The trolley can slide along the track. The trolley drives the valve drive motor to move, and the valve drive linkage controls the valve status of each borehole pipeline. This invention controls the valve drive motor to rotate the valve drive linkage, thereby driving the valve wrench to rotate, achieving valve control of the extraction pipeline. Furthermore, by moving the trolley, the valve drive motor and valve drive linkage are moved and positioned, enabling valve control of multiple extraction pipelines. Compared to previous methods using explosion-proof electric three-way valves and explosion-proof electric check valves, this invention offers advantages such as low cost, small size, light weight, easy installation, no need for significant modifications to the extraction pipelines and valves, and a simple control system.

This utility model relates to an intelligent water temperature control module, characterized by comprising a flow regulation module, a pressure balancing module, and a temperature control module. The flow regulation module includes a first valve seat and a flow regulating valve core. The first valve seat has a first cold water inlet channel, a first hot water inlet channel, a flow regulating valve core mounting cavity, a first cold water outlet channel, and a first hot water outlet channel. The pressure balancing module includes a second valve seat and a balancing valve core. The second valve seat has a second cold water inlet channel, a second hot water inlet channel, a balancing valve core mounting cavity, a second cold water outlet channel, and a second hot water outlet channel. The temperature control module includes a third valve seat and a temperature control valve core. The third valve seat has a third cold water inlet channel, a third hot water inlet channel, a temperature control valve core mounting cavity, a mixing chamber, and a mixed water outlet channel. Each module exists independently and is independently controlled, simplifying the control method, reducing control and manufacturing difficulty, improving the control accuracy of water flow and temperature, and allowing for selection and combination of different modules.

The utility model discloses a low and small-sized steering wheel structure which comprises a bearing plate, a containing groove is formed in the upper surface of the bearing plate, and a driving wheel capable of intruding into the containing groove and a walking motor controlling the driving wheel are arranged on the lower surface of the bearing plate. The driving wheel part is arranged in the containing groove of the bearing plate, meanwhile, the steering motor is installed on the bottom face of the bearing plate, so that the whole steering wheel structure is more compact in the height direction, the overall height of the steering wheel is reduced, and the steering wheel is suitable for occasions with strict limitation on the height, such as a submerged AGV; moreover, even if large bearing capacity needs to be provided, the structure can guarantee the lower height of the AGV steering wheel driving device, and the characteristics of low height and compactness of the AGV steering wheel driving device are not affected.

The application provides a method for preparing paint by homogenization dispersion, probe system construction is realized by specific molecular docking and ultrasonic cavitation, hydration kinetics characteristics are extracted by using a fiber array and time-resolved analysis, shear and low-frequency pulse shear processes are intelligently triggered, and interface particle ordered assembly and directional arrangement of fluorinated polymer side chains are induced by a non-steady shear field; finally, through micro-vibration assisted annealing and phase domain optimization, a dispersion with uniform particle size distribution, stable potential and double continuous nano-phase separation characteristics is obtained, and the application realizes synergistic regulation of microstructure and macroscopic performance, and significantly improves film forming compactness and storage stability of the paint dispersion.

The application discloses a V-shaped groove weld deviation detection method based on a YOLO model and groove reconstruction in the field of welding. First, a single YOLO model is trained to synchronously identify and intercept the left and right edge windows of a groove and the center window of a welding torch in a globally collected image of a welding area. Second, the groove edge window image is subjected to a gray scale transformation and a local adaptive threshold method, and the left and right edges of the groove are reconstructed in combination with a random sample consensus algorithm and a multi-level rollback mechanism. Then, the center of the groove is located by a midpoint recursion method based on the reconstructed groove edge, and the center of the welding torch is determined according to the center window of the welding torch. Finally, the deviation between the center of the groove and the center of the welding torch is calculated, and a two-level filtering mechanism combining Kalman filtering and moving average filtering is adopted to obtain a stable weld deviation value. The synchronous positioning of the double groove edges is realized by a single model, the arc light interference is effectively inhibited by combining the local adaptive threshold and the reconstruction method, and the robustness and precision of the weld deviation detection are improved.

The application discloses a kind of no-load tap changer switching device and control method thereof, including main controller, gear control module and gear verification module;Gear control module according to the instruction issued by receiving main controller, no-load tap changer is carried out gear shifting action, and feedback gear shifting execution state;Gear verification module according to the instruction issued by receiving main controller, complete the verification of electricity and discharge work before gear shifting operation;After gear shifting is completed, the gear state is verified;The application automatically completes the whole process operation of verification of electricity, discharge, gear shifting execution and gear shifting verification etc., and realizes no-load tap changer gear shifting operation automation.Compared with the traditional manual field gear shifting mode, operation process can be significantly simplified, power outage operation time is shortened, gear shifting controllability and reliability are improved, and manual operation and maintenance cost is reduced.

This invention belongs to the field of adaptive control technology and discloses a collaborative optimization method for rewinding and straightening parameters of cold-hardened strip steel. The rewinding and straightening process is divided into three independent calculation units: an unwinding tension section, a multi-roll straightening section, and a coiling tension section. Based on elastoplastic bending mechanics and the tension-stretch deformation mechanism, constitutive equations for the force and energy of each unit are established. Combined with the work hardening evolution law of strip steel, multi-unit coupled solutions are achieved through tension transfer equations and bending curvature iteration equations, quantifying the mapping relationship between five types of core process parameters and export quality indicators. Coupled with a material correction coefficient and a mechanism-data dual-model prediction architecture, it can adapt to the deformation characteristics of strip steel of different grades and specifications, avoiding unqualified strip shape problems caused by insufficient straightening, suppressing excessive elongation, surface scratches, and increased roll wear caused by over-straightening, and improving the accuracy of process parameter matching and the level of control over the straightening process.

The invention discloses an unmanned aerial vehicle attitude estimation method and system based on cooperation beacon and re-projection optimization, and the method comprises the steps: carrying out the reverse calculation of a pixel position of a camera target surface of a cooperation beacon in a current unmanned aerial vehicle attitude estimation state through a re-projection mode, and comparing the re-projection pixel position with an actual imaging pixel coordinate, calculating to obtain a re-projection error; based on the re-projection error, the attitude estimation problem is converted into a nonlinear least square optimization problem, an objective function is constructed, and a variable to be solved in the objective function is an unmanned aerial vehicle attitude estimation state vector; iteratively solving the attitude estimation state vector of the unmanned aerial vehicle by adopting an L-M algorithm, and obtaining the attitude estimation state vector of the unmanned aerial vehicle when the target function is minimum as the optimal estimation of the attitude angle of the unmanned aerial vehicle; the method has the advantages that the problem of optimal attitude angle high-precision estimation under the condition of strong magnetic interference or incapability of acquiring accurate attitude information by an attitude angle measurement sensor is effectively solved, and data support is provided for effectively improving target positioning precision.

The application discloses a large-angle variable stiffness flexible joint, which is composed of a plurality of flexible joint modules stacked together; the flexible joint module comprises a lower chassis, a spiral winding type driver, an elastic main bone and an upper chassis, one end of the elastic main bone is connected with the upper chassis, and the other end is connected with the lower chassis; N spiral winding type drivers are connected between the upper chassis and the lower chassis, and N is greater than or equal to 3; the lower chassis is provided with a buckle mounting groove; the upper chassis is provided with a buckle; the spiral winding type driver is provided with a metal wire; the metal wire is connected with a control system; the elastic main bone is of a space groove type structure; the space groove type structure is provided with one or more symmetrical notches on the elastic main bone; and the stiffness of the elastic main bone is adjusted by adjusting three parameters of a groove height H, a groove inner diameter D and a groove spacing AH. The application adopts modular design and the elastic main bone is adjustable, and large-angle bending and variable stiffness of the flexible joint are realized.

The application belongs to the field of material grabbing devices of optical storage equipment, and more particularly to the field of optical disc taking and placing, and discloses an optical disc taking and placing device and method, which comprises a supporting cylinder, a through hole is formed in the bottom of the supporting cylinder, a shaft rod is fixed in the through hole, a permanent magnet claw arm is rotatably connected to the outer side of the shaft rod, the permanent magnet claw arm penetrates through the through hole and is connected with a hook block, a fixed ring is fixed to the bottom of the iron core, a hydraulic mechanism is fixed in the bottom of the supporting cylinder, the hydraulic mechanism penetrates through the fixed ring and is connected with the permanent magnet claw arm, a pressing and fixing mechanism is fixed to the bottom of the supporting cylinder, and the pressing and fixing mechanism is connected with the hydraulic mechanism through a first connecting pipeline. The optical disc taking and placing device controls the action of the three permanent magnet claw arms through the magnetic pole interaction of the permanent magnet and the electromagnet, has the advantages of no friction loss and high control precision compared with the traditional mechanical driving, and solves the reliability problem caused by mechanical wear in the prior art.

The invention discloses a compound control method for improving the current control performance of a three-phase LCL type grid-connected inverter. The method comprises the following steps: establishing a system loop gain based on digital control delay; composite control is realized by adopting a mode of combining a capacitance current sampling modification mode and a delay compensation link, and the capacitance current sampling modification mode is used for shortening capacitance current sampling delay and comprises the steps of sampling grid-connected current at a wave trough of a triangular carrier wave, sampling capacitance current at a wave crest of the triangular carrier wave, and carrying out delay compensation on the grid-connected current. A modulation signal is loaded at the next grid-connected current sampling moment, and capacitance current sampling delay is shortened by half beat; the delay compensation link is used for compensating the influence of digital control delay, the influence of digital control delay is reduced by embedding a lead phase compensator in a capacitive current feedback loop, and the stability of the system and the quality of grid-connected current are improved. According to the invention, composite control is realized by adopting a mode of combining a capacitor current sampling modification mode and a delay compensation link addition mode.

This invention relates to a method for solving the inverse kinematics of a robotic arm based on autonomous planning of redundant parameters, comprising: Step 1, the rotation axes of joints 1 to 3 of the robotic arm intersect at point Ps and are designated as the shoulder joint; the rotation center of joint 4 is Pe and is designated as the elbow joint; the rotation axes of joints 5 to 7 intersect at point Pw and are designated as the wrist joint; Step 2, the "shoulder-elbow-wrist" structural parameters are determined as: l bs l se l ew l wt Step 3: Solve for θ in the base coordinate system to find the vector of line PsPw. 1_0 θ 2_0 θ 3_0 θ 4_0 Step 4: Define the angle between the PsPePw plane and the reference plane as the redundancy angle; establish the functional relationship between θ1, θ2, θ3 and θ5, θ6, θ7 and the redundancy angle; Step 5: Solve for the initial inverse joint combination; Step 6: Solve for the optimal redundancy angle; Step 7: Substitute the optimal redundancy angle into the relational expression to finally solve for θ1, θ2, θ3 and θ5, θ6, θ7; Step 8: Use the calculated θ1~θ7 as the desired trajectory. This invention improves the control accuracy of the robotic arm and the operating efficiency of the controller.