4results about How to "Reduce speed fluctuations" patented technology

This invention relates to the field of CNC machining and motion control technology, specifically to a method, system, and storage medium for interpolation connection processing of S-shaped speed curves. This method addresses the speed fluctuations and uneven machining marks caused by the asynchronous connection points between segments and the interpolation cycle in existing global S-shaped speed planning by proposing a reverse extension compensation mechanism. The steps include: when entering a new curve segment for interpolation, if there is residual motion and the motion stage is continuous, the current motion stage is extended backward by one interpolation cycle in the time domain; by solving the displacement equation, the historical time point corresponding to the residual motion in the current stage is accurately calculated; and the system's time state is corrected accordingly, thereby achieving smooth and accurate connection between segments. This invention effectively eliminates the deviation between interpolation commands and speed planning, solves the speed fluctuation problem caused by toolpath deflection, makes the tool marks more uniform, and improves machining quality.

The invention relates to the technical field of medical instruments, and discloses a constant-speed medicine feeding device which comprises a machine bin and a medicine feeding mechanism arranged in the machine bin, a machine cover is arranged at the top of the machine bin, and a handrail is arranged on the machine cover; the two medicine feeding mechanisms are installed in the machine room, and each medicine feeding mechanism is used for installing an injector and driving an injector core rod. The medicine feeding mechanism comprises a guide seat, a driving assembly arranged on the guide seat and a push block matched with the injector core rod, and the driving assembly is used for driving the push block to move along the guide seat so as to drive the injector core rod to move. A connecting seat is arranged at one end of the guide seat, a motor is installed on the connecting seat, the output end of the motor is connected with a lead screw, the lead screw is in threaded transmission fit with the push block, the lead screw is driven by the motor to rotate to enable the push block to move, and therefore an injector core rod is pushed to achieve liquid pumping or medicine feeding operation.

The application belongs to the technical field of working machines, and relates to a control method and a control device for linear walking of a working machine and the working machine. The control method comprises the following steps: obtaining a first rotating speed of a left walking motor and a second rotating speed of a right walking motor; determining a first to-be-adjusted parameter of the left walking motor and a second to-be-adjusted parameter of the right walking motor in the case that an absolute value of a difference between the first rotating speed and the second rotating speed is greater than or equal to a preset difference threshold value; introducing the first to-be-adjusted parameter and the second to-be-adjusted parameter into a PID algorithm module respectively to output a first adjustment current value and a second adjustment current value; and adjusting input currents of a left hydraulic pump and a right hydraulic pump according to the first adjustment current value and the second adjustment current value respectively to adjust the rotating speeds of the left walking motor and the right walking motor until the absolute value of the difference is less than the preset difference threshold value. The control method can accurately adjust the rotating speeds of the left and right walking motors, and the working machine can keep linear walking operation.