2results about How to "High speed control accuracy" patented technology

The utility model relates to the technical field of hollow fiber production, and discloses a drafting mechanism for hollow fiber production, which comprises a rack, a drafting mechanism is arranged on one side of the top end of the rack, a guide mechanism is arranged on the other side of the top end of the rack, and the rack comprises two bases which are symmetrically arranged front and back. The drafting mechanism comprises a set of sliding frames fixedly connected with one side of the top end of the base, and the two sliding frames are symmetrically arranged. The high-precision motor and the driver are adopted, an advanced speed control system is matched, the driving motor is a servo motor, a high-precision speed monitoring and control mechanism is configured, the speed of the roller can be monitored in real time and subjected to feedback adjustment, the speed control precision can be improved, automatic adjustment and optimization of drafting parameters are achieved, and the production efficiency is improved. And stable performance of products in different batches is ensured.

The application discloses a real-time speed regulation method based on jerk constraint, comprising the following steps: obtaining a planning trajectory and current motion state information; determining a constraint condition of a time scaling function based on the planning trajectory, the current motion state information and preset speed, acceleration and jerk constraints; constructing a system state equation represented by the time scaling function and its derivative, and defining a deviation between a current state of the time scaling function and a target state of a reference time function based on the equation; solving a group of control parameters according to the deviation in the coordinates of a characteristic plane based on a geometric figure search strategy; and generating control input according to the control parameters to adjust the time scaling function in real time, so that the joint motion of the robot satisfies the jerk constraint, and online smooth speed regulation satisfying the jerk constraint is realized for any given reference trajectory.