10results about How to "Prevent chatter" patented technology

This invention relates to the field of machine tool error compensation technology, and discloses a real-time thermal deformation compensation system and method for machine tool slides and spindle boxes. The system includes: a temperature acquisition module that acquires one-dimensional temperature data of the machine tool and its environment; an image acquisition module that acquires two-dimensional thermal images of the machine tool surface; a data processing module that reduces noise in the data and generates multi-source thermal field data through time stamping and perspective mapping to achieve spatiotemporal alignment; a prediction module that uses a multimodal deep learning algorithm to perform feature fusion calculation and outputs a thermal error prediction vector; and a motion control module that converts the prediction vector into a coordinate correction compensation amount after low-pass filtering and smoothing limiting, and sends it to the CNC system to instruct the feed mechanism to perform reverse displacement compensation. This invention integrates contact and non-contact temperature measurement, supports online fine-tuning to address model error drift, and prevents high-frequency vibration of the CNC feed axis by setting tolerance limits in closed-loop control, thereby improving the machining accuracy and operational stability of the machine tool under complex temperature variations.

The utility model relates to the technical field of rocker arm tools, and provides a rocker arm machining tool which comprises a tool base, a fixing support and a supporting block, the fixing support is installed on the top of the tool base, a rocker arm body is arranged at the front end of the fixing support, a supporting assembly is arranged at the rear end of the rocker arm body, and an upper pressing assembly is arranged at the lower end of the rocker arm body. The rocker arm body is arranged on the clamp core rod in a sleeved mode, primary fixing is achieved through the opening baffle and the tightening screw, and then the rocker arm body is matched with two-way pressing of the limiting pin with the adjustable position and the pressing rod. According to the rocker arm clamping tool, accurate positioning and stable clamping of a rocker arm body can be achieved, it can be guaranteed that the rocker arm is kept stable in the machining process, displacement or shaking of the rocker arm is effectively prevented, the rocker arm clamping tool can be suitable for clamping operation of rocker arms of different sizes, and the applicability of the rocker arm clamping tool is improved.

The present invention discloses an inverter control method based on a double-layer adaptive super-helical back-stepping sliding mode. The double-layer adaptive super-helical back-stepping sliding mode controller includes a stability function, a sliding surface, a rated model, a super-helical algorithm, and a double-layer adaptive law. A system dynamics model is established for a three-phase inverter, and a system back-stepping sliding mode controller model is designed by introducing a stability function, a virtual error, and a sliding surface, and the system is corrected layer by layer; on this basis, a super-helical algorithm is also introduced to make the control continuous in time, thereby improving the jitter phenomenon; finally, a double-layer adaptive law is added on the basis of the super-helical algorithm, and by reconstructing equivalent control, the equivalent value of the uncertain term is estimated in real time, the output of the controller is obtained, and the full-bridge switch of the three-phase inverter is controlled by signal through SVPWM. Compared with the prior art, the present invention further improves the jitter phenomenon and has stronger robustness and adaptability to parameter changes and load disturbances in the system.

The invention provides a cooperative network connection vehicle control method considering the influence of model uncertainty. According to the invention, longitudinal vehicle tracking and transverse lane keeping control targets are realized by using a sliding mode control method. A longitudinal controller is designed in combination with an RBF neural network and a sliding mode control theory, and uncertain items in a vehicle model are processed by using approximation characteristics of the RBF neural network. By designing an auxiliary sliding mode surface, the chattering phenomenon existing in the transverse lane keeping controller is suppressed. Then, the internal stability and queue stability of the proposed controller are analyzed. Finally, the effectiveness of the algorithm is verified through a SIMULINK simulation experiment and an intelligent network connection vehicle platform experiment.

The invention relates to a measurement noise suppression method of a permanent magnet synchronous motor speed regulation system, and belongs to the field of synchronous motor speed regulation system control. A nonlinear extended state observer is designed by utilizing a dynamic equation of a permanent magnet synchronous motor speed regulation system, so that the motor rotating speed and external disturbance can be estimated in real time; a continuous terminal sliding mode controller is designed according to a motor rotating speed observation value and an interference observation value, a rotating speed containing measurement noise is replaced by the rotating speed observation value, and feedforward compensation disturbance is performed in real time, so that the influence of the disturbance on system output is effectively counteracted; meanwhile, the high-frequency switching function is hidden in the high-order derivative of the sliding mode variable, and the chattering phenomenon of traditional sliding mode control is avoided; compared with traditional active disturbance rejection control, the method provided by the invention has higher control precision, smaller rotating speed fluctuation and better measurement noise suppression performance; and after load disturbance, the adjustment time is shorter, the anti-interference capability is stronger, the current pulsation is smaller, and long-time stable operation of the motor is facilitated.

The invention discloses a multi-unmanned-ship periodic dynamic event triggering hunting control method based on an estimator, and belongs to the field of hunting control of multi-unmanned-ship. Comprising the following steps: establishing a multi-unmanned ship system model, and acquiring a target speed and a position estimation value by using a target estimator; designing a first controller according to an estimated value obtained by the target estimator and the hunting mathematical model to calculate an expected speed required by the multiple unmanned ships to realize target hunting; and a second controller is designed according to the expected speed calculated by the first controller, the second controller is provided with a periodic dynamic event triggering mechanism, control input is calculated by the second controller, and a control input signal is transmitted to the multi-unmanned ship motion model at the event triggering moment. The periodic dynamic event triggering hunting control method based on the estimator is provided for multiple unmanned ships under the condition that network resources are limited, fluctuation of tracking errors is controlled within a small range, and a key foundation is laid for the fields of ocean monitoring, safety and the like.

The invention relates to an asynchronous undisturbed switching control method for safe operation of a sewage treatment system. The asynchronous undisturbed switching control method comprises the following steps: establishing a random semi-Markov jump state space model of the sewage treatment system; constructing a sewage treatment system mode and control mode asynchronous hopping framework; according to the semi-Markov jump state space model and the asynchronous jump framework, designing an asynchronous undisturbed switching control scheme under safe operation of the sewage treatment system; constructing a closed-loop system of the sewage treatment system by combining the established model and the designed asynchronous undisturbed switching control scheme; and based on the asynchronous hopping framework and the closed-loop system, determining asynchronous undisturbed switching controller parameters for safe operation of the sewage treatment system, and controlling the sewage treatment system by using the controller. Compared with the prior art, the method can effectively solve the undisturbed switching finite time control problem when the system mode and the controller mode are asynchronous under the complex working condition of the sewage treatment system, and the safe operation problem under the network attack.

The application discloses a high-precision PID trajectory tracking control method for a space manipulator, and relates to the technical field of spacecraft control. The method first establishes a dynamic model of the rotating motion of the manipulator containing system uncertainty; a nonlinear disturbance observer is constructed to estimate the unmodeled dynamics and external disturbances of the system in real time; a PID compound controller is designed in combination with the uncertainty estimation value; a PID parameter optimization problem is established with the minimum trajectory tracking error as a target and the joint angle, angular velocity and control torque as physical constraints; the physical constraints are converted into finite-dimensional constraints by using a constraint transcription method, and the gradient of the objective function and the constraints with respect to the PID parameters is calculated, and the optimal PID parameters are solved by an iterative optimization algorithm. The application realizes high-precision trajectory tracking of the free-flying space manipulator by using the compound control architecture and parameter optimization, effectively suppresses system uncertainty, and ensures strict satisfaction of multiple physical constraints, and has good engineering generality.

The utility model provides a high-stability straight fluted stepped reamer which comprises a reamer body, the reamer body is composed of a front-section cutting edge and a rear-section reamer handle, the cutting edge comprises a plurality of circumferential cutting edges and end cutting edges, and the circumferential cutting edges comprise a first circumferential cutting edge and a second circumferential cutting edge. The first circumferential blade is connected with the end blade, and the end blade, the first circumferential blade and the second circumferential blade are sequentially arranged. The end edges are arranged at the end, away from the cutter handle, of the cutter body, and the end edges are arranged in a staggered tooth mode. The cutter body is provided with a cold water hole which is arranged along the axis of the cutter body. The first circumferential blade and the second circumferential blade are used for reaming a stepped hole at the same time, the end blade is used for machining the bottom face of the stepped hole, cooling liquid is directly fed into a machining area through the cold water hole, the cooling liquid flows outwards from the bottom of the stepped hole, cuttings are helped to be removed, machining heat of a cutting area is taken away, and built-up edges are prevented from occurring on a cutting edge. The end edges are arranged in a staggered mode, cutting force is effectively dispersed, resonance is avoided, better surface smoothness is obtained, and machining quality is guaranteed.

The application discloses a kind of sprocket production manufacturing automated polishing equipment, belong to drive chain production technical field, the polishing equipment includes polishing workbench, the upper end of polishing workbench is equipped with clamping mechanism, the bottom of polishing workbench is detachably connected with first servo motor, the rotating end of first servo motor is detachably connected with the base portion of clamping mechanism, the upper end of polishing workbench is symmetrically arranged with two groups of swing mechanism, swing mechanism is rotatably connected with swing plate, second servo motor is detachably connected with polishing wheel by passing swing plate and being detachably connected with the rotating end of second servo motor, by swing type floating structure replacing traditional linear guide rod telescopic structure, polishing wheel is self-adapting swing with tooth profile around first rotating rod with swing plate, polishing reaction force is transmitted along swing arm axial in polishing process, eliminate lateral component force perpendicular to the direction of motion from the source, avoid the continuous eccentric wear caused by one-side contact of slide and guide rod.