110results about How to "High precision of position control" patented technology

A sliding means with built-in moving-magnet linear motor is provided, realizing high-speed operation and much response ability of a table to a stationary bed, and also accurate position control of the table to the bed. With the sliding means of this invention, armature windings carry a three-phase current while a driving circuit is transferred to the external driver to make the bed slim in construction. Thus, the sliding means is reduced in overall height. A field magnet of rare earth permanent magnet is effective in raising flux density, thereby providing high propulsion for the table. An encoder to monitor a position of the table is an optical encoder having an optical linear scale, which contributes to improvement in accurate monitoring. The construction in which the armature windings connected to cords, lines, and so on are placed on the stator side has no fear of causing dust and dirt, thus realizing clean environment.

The invention discloses a 2-DOF (Degree of Freedom) robot remote operation device with force immediacy. The remote operation device is characterized by mainly comprising a box body, a handle, motors, an integrated circuit board, and a liquid crystal display module and a control panel arranged on an upper plate of the box body, wherein an operation handle structure has sphere pair characteristics; semi-circular ring bodies are processed on the middle parts of two rotating bent shafts; three axes of the handle and the two bent shafts are arranged in a bracket shaft hole in the box body in a way of spatially intersecting in the circle centers of the semi-circular ring bodies of the bent shafts; a switch button is arranged on the operation handle; the motor is arranged at one end of each bent shaft; an angular displacement sensor is arranged at the other end of each bent shaft respectively; an incomplete hollow spherical shell which has a largest sphere diameter and is transparent longitudinally is processed at the middle position of the upper plate of the box body. A movable connection way which is similar to a sphere pair is integrated into the handle, so that the operating smoothness is enhanced, the position control accuracy is increased, and the fidelity of force feedback is increased.

The invention discloses a rotational position control method of a switched reluctance motor as well as a control device, and the method comprises the following steps: A1. receiving a control command for rotating the switched reluctance motor to a specific position; B1. comparing the specific position in the control command with an initial position of the switched reluctance motor, if consistent, executing the step C1, or else, executing the step D1; C1. not executing the control command of the switched reluctance motor; and D1. calculating the pulse number of PWM waves required to be output according to the initial position of the switched reluctance motor and driving the switched reluctance motor to rotate according to the calculated pulse number of output PWM waves. The method and the device adopt the switched reluctance motor as a P gear of an automobile to lock up the motor, and adopt the control means of counting the walking pulses by the output specific PWM pulse number, and can compensate the desynchronizing of the motor when in control, thereby improving the position control precision of the switched reluctance motor.

The invention discloses a system method for servo motor position control. The system method for the servo motor position control includes following steps: firstly, using an orthogonal encoder to follow a rotor of a servo motor to rotate coaxially with the rotor of the servo motor, and generating an A phase pulse and a B phase pulse which are orthogonal and of the same frequency, wherein a phase position difference between the A phase pulse and the B phase pulse is 90 degrees; and then collecting the two pulses in real time by using an FPGA (field programmable gate array) chip and using an HDL (hardware description language), performing phase demodulation and add and subtraction counting on four change states in a period of the A phase pulse and the B phase pulse, and figuring out a rotation speed value through a counting value; and finally, using the FPGA chip to return the counting value and the rotation speed value which are figured out into a DSP (digital signal processor) chip through three buses, and using the DSP chip to perform comparison calculation on a rotation pulse number sent to the servo motor and the actual count value of the servo motor, returned through the three buses, so as to compensate actual rotation error of the servo motor and achieve close loop control for the servo motor. Accordingly, a forward transmission position or an inversion position of the servo motor is controlled, and the system method for the servo motor position control improves position control accuracy of the servo motor.

The embodiment of the application discloses an automatic control method for a tower crane. The automatic control method comprises the following steps of obtaining position information and real-time GNSS direction finding information of a lifting hook position point A, a material loading position point B and a material loading position point C relative to a reference station position point O; according to the obtained direction finding information and position Information, calculating azimuth included angle information; calculating an elevation difference and a level difference; and adjusting arotation azimuth angle of a cross rod of the tower crane by using the calculated azimuth included angle information, and adjusting the lifting height of the lifting hook position point A and the horizontal movement distance of a lifting hook on the cross rod of the tower crane by using the calculated height difference and level difference.

The invention provides an automated automobile driving device. The automated automobile driving device comprises a gear shift manipulator, a gear shift manipulator control module, an accelerator pedal mechanical leg, a braking pedal mechanical leg, a clutch pedal mechanical leg, a mechanical leg control module, an automobile speed detection module, an engine rotation speed detection module and a vehicle-mounted computer control system. The automated automobile driving device can adapt to various models of automobiles and is simple in structure and small in size, the normal driving space for a driver is not occupied, the automated automobile driving risk and the automobile experiment risk are reduced, and the automobile experiment transfer and transportation cost is reduced; high-precision servo motors and high-precision motor state sensors are adopted for driving motors of the mechanical legs and the gear shift manipulator, the driving motors are in real-time communication with the vehicle-mounted computer control system, and thus control precision and stability are improved; a spatial parallel-connection four-bar mechanism forms a gear shift device of the gear shift manipulator, multiple degrees of freedom in space are achieved, and high-efficiency gear shift operation can be performed on a gearbox.

The invention discloses a multi-position automatic north-seeking method for a uniaxial laser north seeker. The multi-position automatic north-seeking method comprises the following steps: after receiving a north-seeking instruction, performing real-time error compensation on a gyroscope and an accelerometer; performing motor drive control according to a set target angle, sampling with an instrument after reaching the target angle; using a multi-position sampling result for resolving a attitude and an azimuth angle of the uniaxial laser north seeker; performing motor control and resolving repeatedly to realize the continuous multi-position automatic north-seeking of the north seeker. According to the invention, the automatic north-seeking method is high in reliability, low in hardware cost, reasonable and efficient in control process, can provide omnidirectional attitude and azimuth information for a carrier, and achieves an uninterrupted continuous north-seeking mode.

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 provides an AC servo motor based on a position feedback structure. According to the AC servo motor based on the position feedback structure, a motor shaft is directly connected with the screw of a machine table workbench to drive the screw of the machine tool workbench to move; a speed and position detecting device is coaxially connected with the AC servo motor and composed of a speed detector and a position detector, wherein the position detector can directly detect the angular displacement of rotation of the motor shaft of the AC servo motor; the detecting signals of the speed detector is fed back to a speed servo mechanism through a speed feedback device; the detecting signals of the position detector are fed back to a position adjusting mechanism. The AC servo motor based on the position feedback structure also comprises an error detecting device, which is used for detecting the practical displacement of the machine tool workbench and sending the detecting signals to an error compensating device connected with a memory and a numerical control machine tool; error compensation values are prestored inside the memory; the numerical control machine tool corrects control instructions according to the practical displacement and the error compensation values to reduce actual position errors.

The invention discloses a method for real-time compensation for disturbance force on a rotor in a magnetic suspension bearing system, and belongs to the technical field of numerically-controlled machine tools. The method includes the steps of arranging rotor vibration acceleration on-line detection devices on the rotor of the magnetic suspension bearing system, establishing a disturbance force on-line compensation control module, and acquiring displacement data collected by displacement sensors and vibration acceleration data collected by acceleration sensors. The technical purposes of accurately detecting the real-time vibration acceleration of the rotor and rapidly compensating for interference force in real time to reduce the influence of external interference force on the vibration displacement of the rotor are achieved. By means of the method, unbalanced centrifugal force on the rotor can be stably compensated for in real time to eliminate the influence of unbalanced force on thevibration displacement of the rotor and improve the position control accuracy of the rotor. According to the method, after the magnetic suspension bearing system loses stability, a suitable control strategy can be selected based on rotor vibration displacement and acceleration signals to rapidly suppress rotor vibration, and rapid resuspension is achieved without reducing the rotor speed.

The invention mainly belongs to the technical field of antennas and relates to a fast agile multi-functional planar and quasi-three-dimensional antenna, in particular to a reconfigurable multi-functional antenna. The multi-function antenna is composed of the semiconductor plasma and the fast, large current, simple TFT matrix driving technology distributed direct drive arrays integrated into silicon, glass, sapphire, silicon carbide and other planar or curved dielectric substrates, the multi-function antenna can quickly, dynamically control the shape, size and the correct position to be in of the radiating elements constituting the planar array, the antenna frequency is reconfigurable, polarization reconfigurability, beam control and gain agility reconfigurability, sidelobe position and relative level reconfigurability, and combinations of these, like a two-dimensional printer, rapidly and agilely change the antenna from one function to another, transforming a planar or quasi-three-dimensional antenna into a multi-function planar or quasi-three-dimensional antenna.

The invention discloses a high-accuracy electromagnetic force controlled linear motor and a control system thereof, which relate to the linear motor and the control system thereof and aim to solve the problems of the conventional linear motor that the requirements of high driving forces in acceleration and deceleration are conflicted with the requirements of weak driving forces and high resolution in uniform motion or positioning control and that the motor has low disturbance resistance and easily produces oscillation and overshooting under the condition of acceleration abrupt change or external disturbance. An air gap is reserved between a primary part and a secondary part. The secondary part consists of a plurality of permanent magnet units with the same structure, an upper magnetic permeable yoke and a lower magnetic permeable yoke. The primary part is a multi-phase armature winding, wherein each phase of armature winding consists of a plurality of coils which are connected in series; and the two active sides of each of inner coils and outer coils are positioned between main permanent magnets which are arranged opposite in the permanent magnet units respectively. The control system consists of the linear motor and a plurality of drive control units. The linear motor has the advantages of high disturbance resistance and low oscillation and overshooting rate under the condition of the acceleration abrupt change or external disturbance.

The invention discloses a magnetic suspension ball position prediction control method based on an RBF-ARX model and a Laguerre function. Through the adoption of historical input and output data of a magnetic suspension ball system, according to a system identification principle, the RBF-ARX model of the system is established to describe nonlinear dynamic characteristics of the input voltage of anelectromagnetic winding and the position of a steel ball. In order to meet the requirements of the system for fast response characteristics and high control performance, the local linear and global nonlinear RBF-ARX model is converted into a non-minimum state space model with integral links, on this basis, a prediction controller based on input parametrization of the Laguerre function is designed,a prediction control system can solve a quadratic programming problem with constraints online at a short sampling interval, and a given reference signal can be accurately tracked. By means of the method, a solution is provided for prediction control over the fast response nonlinear system, and the method has high application and popularization value.

The invention discloses an integrated electric actuator for an unmanned aerial vehicle, which is specifically applied to the field of control surface control for unmanned aerial vehicles. According to the scheme, a brushless direct-current motor is used as a power source, and due to the scheme of serially connecting the brushless direct-current motor, a planetary reducer and a hollow angular displacement sensor, the actuator is compact in structure, and the spatial dimensions thereof are reduced, the working life thereof is prolonged, and the reliability thereof is improved; a shell of the actuator adopts a sealed structure design, and is high in dustproof and waterproof capacities, and adaptive to bad working environments; a control driver adopts the control strategy of a position and two-stage current limiting, a current-limiting ring is mainly used for limiting an excessive current occurring in a system under abnormal conditions, and protecting the safety of the electric actuator and the unmanned aerial vehicle; and with regard to a square-wave position angle instruction, real-time acquisition for the angle instruction is realized by means of interrupt capture, and the accuracy of acquisition for the angle instruction is improved by adopting the control strategy of angle amplitude-limiting filtering and instruction compensation, therefore, the accuracy of the flight attitude of the unmanned aerial vehicle can be greatly improved, and can achieve 0.1 degrees.

Provided is an endoscope device and a method of operating the endoscope device. The endoscope device includes: a knob driving part configured to be driven in a mode selected by an operator from either of an automatic mode and a manual mode; a bending part connected to the knob driving part and configured to change a position of a distal end of the endoscope device by driving of the knob driving part, a power generating part configured to provide power to the knob driving part; and a power transmitting part configured to drive the power generating part according to a manipulation of the knob driving part.

The invention relates to an overall assembling system achieving multi-vehicle free switching, and the overall assembling system is used for adapting to fixed welding of body-in-white of different vehicles. The device comprises a positioning control assembly and overall assembling subsystems which are arranged on the two sides of a main dock in the Y direction, and each overall assembling subsystem comprises a storing containing table, a storing positioning device and a combining positioning device, wherein the storing containing table comprises multiple clamp storing positions used for containing combining clamps corresponding to different vehicles, a clamp bottom connector is installed on each combining clamp, the storing positioning device is used for grabbing the combining clamps from the clamp storing positions of the storing containing table through the clamp bottom connectors, conveying the combining clamps to predetermined grabbing positions and returning replaced combining clamps to original positions, and the combining positioning device is used for grabbing corresponding combining clamps from the predetermined grabbing positions, conveying the combining clamps to the main dock and returning the replaced combining clamps to original positions. Compared with the prior art, the overall assembling system achieving multi-vehicle free switching has the advantages of being wide in use range, safe, reliable, capable of achieving module design and saving front-end investment, small in occupied space and the like.

The invention belongs to the metallurgical equipment field, especially relating to a hydraulic lift-turn mechanism. The invention is characterized in that three sets of expansion connecting rods (3) are arranged around a hydraulic cylinder (12) with the interval of 120 degrees. The terminational cylinder lever of the hydraulic cylinder (12) and the terminational connecting rod of the three sets of expansion connecting rods (3) are fixed on a load platform (1). An upper support guide board (4) and a lower support guide board (2) are arranged on the hydraulic cylinder (12) and the expansion connecting rods (3). The three sets of expansion connecting rods (3) have a main support platform (5) which is connected with the hydraulic cylinder (12) by a bearing (6). A hydraulic motor (9) is fixed by a bracket (11). The output shaft end of the hydraulic motor (9) is provided with a gear, a gear pair (10) and a limit ring (7) which is fixed on the hydraulic cylinder (12) by a binding bolt. The hydraulic motor (9) rotates the gear of the output shaft end to be meshed with the gear pair (10). The invention has the advantages of good reliability, easy maintenance and operation, high control precision, strong carrying capacity and broad application range.

The invention discloses a halbach permanent magnet synchronous servo motor which comprises a stator 1 and a rotor 2, wherein a stator iron core 3 is formed by stacking iron core punching sheets; stator slots 4 are asymmetric about central lines of the stator slots; a concentration winding is used as a stator winding; and the rotor 2 comprises a rotating shaft 5, a rotor iron core 6 and permanent magnets 7 with halbach structures and can supply a permanent magnet flux density waveform in a sine regular distribution. The permanent magnets 7 with the halbach structures can supply a permanent magnet air-gap magnetic field in the sine regular distribution, so that stator inclined slot, rotor inclined electrode and stator overlapping winding distribution is not adopted; and by the asymmetric structures of the stator slots, a tooth socket torque of the motor is effectively reduced. Furthermore, the motor with the structure is high in power density; and the size of the motor is reduced, and the manufacturing cost of the motor is reduced.

The invention discloses a verticality adjusting device for latticed column construction and a using method. The verticality adjusting device comprises an upper platform, a lower platform and a plurality of screw rods, wherein the upper platform and the lower platform are overlapped, and the screw rods are arranged on the upper platform and the lower platform. The screw rods on each platform are located in the same plane and evenly distributed on the periphery of the platform. A hoisting hole used for placing a latticed column is formed in the center of each of the upper platform and the lower platform. A leveling mechanism used for adjusting the horizontal degree of the upper platform is further included. The screw rods on the upper platform are used for conducting plane positioning on latticed columns to prevent severe plane position deviation, and meanwhile, the screw rods on the lower platform are used for conducting verticality adjustment on the latticed columns; due to the double-layer platform structure of the verticality adjusting device, the verticality is controlled more directly compared with a traditional single-layer platform, the adjusting precision is higher, operation is more convenient, one-time construction quality of the latticed columns is ensured, waste caused by rework is avoided, construction efficiency can be improved, and the construction cost is lowered.

The invention discloses a driving magnetic bearing system based on intelligent material controllable shafting radial vibration, and relates to the technical field of electromagnetism. The system comprises an outer shell, an intelligent material actuator, an iron core, a magnet exciting coil, a position sensor, a rotor, a vibration sensor, a signal acquiring module, a driving controller, a first power amplifier, a magnet exciting controller and a second power amplifier; an intelligent material is radially distributed in the shell, and are directly connected with the iron core; the magnet exciting coil is wound on the iron core; the position sensor is between the iron core and the rotor; the driving controller controls the shafting radial vibration and the rotor position; the first power amplifier drives the intelligent material actuator; the second power amplifier drives the magnet exciting coil; and the magnet exciting controller controls magnet exciting current. The position of the rotor is directly controlled through control of the displacement output of the intelligent material, so that the control mode is simple and reliable; and the vibration sensor is combined to effectivelycontrol the shafting radial vibration through the intelligent material actuator to reduce the impact on a base.

The invention discloses a magnetostriction coefficient measuring device comprising a gas floating platform, a laser vibration measurement instrument, an excitation unit, a reflective sheet self-adhering unit, a sliding unit and a sampling unit. The sliding unit includes one pair of guide rails and a U-shaped guide rail installed on the guide rails in a sliding manner. The sampling unit includes amechanical gripper installed at the U-shaped guide rail in a sliding manner, a front sucking disc arranged at one end of the mechanical gripper, a rear sucking disc arranged at the other end of the mechanical gripper, a sample to-be-tested frame, a sample measuring frame, and a sample recycling frame, wherein the sample to-be-tested frame, the sample measuring frame, and the sample recycling frameare arranged between the guide rails. The reflective sheet self-adhering unit includes an electric turntable disposed beside the sample to-be-tested frame and an electromagnetic chuck mounted on themechanical gripper. According to the magnetostriction coefficient measuring device, the reproducibility of measuring a magnetostrictive strain amount and a noise level value of an oriented electricalsteel sheet can be controlled to be less than 3%; and the measurement accuracy exceeds the control requirements of the laboratory. Besides, the non-contact measurement of the magnetostriction coefficient of the electrical steel sheet is realized and the efficiency is high.