78 results about "Angular displacement" patented technology

The invention discloses a compact five-degree-of-freedom teleoperation hand of a series-parallel structure and a control mapping method of the compact five-degree-of-freedom teleoperation hand. The teleoperation hand comprises a base, a wire guiding device, a fixing sleeve, a rotary encoder, a driving arm, a spherical hinge butt joint device, a driven arm, a torsional spring, a movable platform, a front-end operation series connection platform and two angular displacement sensors. The rotary encoder is fixed to the wire guiding device through the fixing sleeve and used for measuring the rotation angle of the driving arm in real time. One end of the driving arm is fixedly connected with a rotor of the rotary encoder, and the other end of the driving arm is hinged with one end of the driven arm; the other end of the driven arm is hinged to the movable platform, and the two angular displacement sensors are used for measuring the pitch angle and the yaw angle of a handle of the front-end operation series platform. The front-end operation series platform is hinged to the movable platform and used for adjusting the posture of the teleoperation hand. The device is simple and compact in structure, low in cost and small in size; through combination of series connection and parallel connection, the rigidity requirement is guaranteed, and meanwhile the flexibility of the device is guaranteed.

The invention relates to a constraint-driven five-axis machining singular area tool path local deformation optimization method. In order to solve the problem that the machining quality is reduced due to the fact that a cutter shaft vector enters a singular area to cause abrupt change of rotation shaft motion, the method comprises the steps that based on an A-C double-turntable five-axis machine tool kinematics model, a singular phenomenon mechanism is revealed through a differential motion relation, and the singular area is defined as a conical area meeting the condition that a cutter shaft vector component Tk is larger than or equal to epsilon k (epsilon k = cos5 degree is approximately equal to 0.9962); identifying a cutter axis vector point set entering a singular region in a cutter path, and expanding transition points along the path to construct a sequence to be optimized; interpolating the rotation angular displacement of the sequence by adopting a B spline curve; establishing an optimization model taking a minimum angle jerk integral square norm (guaranteeing motion stability) and a minimum cutter axis vector deviation (maintaining machining precision) as double targets; and solving an optimal B spline control point through a sequential quadratic programming (SQP) algorithm under a non-singularity constraint machine tool kinematics constraint (angular velocity / acceleration limitation) and a motion continuity constraint (C2 continuity at a connection point), and generating a smooth optimized tool path avoiding a singular region. By means of the optimization method, smoothness optimization of the tool path and stability of machine tool movement are achieved, machining errors are effectively controlled, and the method is suitable for five-axis high-precision machining of complex curved surfaces in the fields of aerospace, mold manufacturing and the like.

The utility model relates to a compound hinge corrugated pipe compensator, which comprises a protective sleeve sleeved on the periphery of a corrugated pipe, and is characterized in that the protective sleeve comprises a first shell and a second shell, the first shell and the second shell are sleeved on the periphery of the corrugated pipe, one end of the first shell is connected with an end pipe at one end of the compensator, and the other end of the first shell is connected with an end pipe at the other end of the compensator. The second shell is connected with an end pipe at the other end of the compensator, the other end of the first shell is rotationally connected into the second shell, and the outer side wall of the first shell is attached to the inner side wall of the second shell. Due to the adoption of the technical scheme, when the compound hinge corrugated pipe compensator disclosed by the utility model is used for carrying out angular displacement compensation on a pipeline, soil does not easily reach the space between the concave parts of the corrugated pipe, so that the possibility that the corrugated pipe is difficult to bend normally due to the fact that the soil is propped against the concave parts is reduced to a certain extent.

A calibration assembly for a guided vehicle. The calibration assembly includes an orientation marker that operably engages with a first guidance apparatus of the guided vehicle. The calibration assembly also includes an imaging assembly that operably engages with and is in electrical communication with a second guidance apparatus of the guided vehicle. When the imaging assembly captures the orientation marker at a translated position for at least one cycle, the imaging assembly calibrates a rotational displacement between a first guidance direction of the first guidance apparatus and a second guidance direction of the second guidance apparatus based on an angular displacement of the orientation marker measured between a zeroed position denoting the first guidance direction and the translated position.

The invention provides a magnetoelectric angular displacement sensor, and belongs to the technical field of design of steering engine system sensors for airborne missiles. The sensor comprises a rotating shaft connected to an output shaft of the steering engine through threads, a magnet pressed at the rear end of the rotating shaft, a front shell fixed to a shell of the steering engine, a control panel assembly pasted to the front shell, a rear end cover fixed to the front shell and heat insulation cotton arranged between the rear end cover and the control panel assembly, one end of the front shell is provided with a cavity used for containing the rear end of the rotating shaft, the control panel assembly is used for detecting the magnetic force of the magnet, and the distance between the control panel assembly and the magnet is not larger than 0.5 mm. The sensor is high in precision, small in size, strong in anti-interference capability, good in environmental adaptability and long in service life.

The invention relates to the technical field of mechanical equipment monitoring, in particular to a rotary machinery gear transmission system kinetic parameter identification method, which comprises the following steps: step 1, based on a gear dynamics theory, considering meshing rigidity and meshing damping of a time-varying gear pair, and establishing a transmission chain torsional vibration kinetic model of rotary machinery; step 2, based on the transmission chain dynamic model established in the step 1, respectively establishing parameter identification objective functions of rotational inertia and meshing rigidity; 3, data of angular displacement, angular acceleration and torque of the transmission chain are continuously collected, and data preprocessing is completed; 4, reconstructing a target function of rotational inertia under the reference of the rotor coordinates, and solving the rotational inertia; step 5, based on the rotational inertia identified in the step 4, solving a meshing stiffness objective function; according to the method, the problem that the stability and the reliability of the gear transmission system cannot be accurately predicted by an existing identification method is solved.

The invention discloses a method and a device for measuring the motion idle stroke and the overall flexibility of a flapping-wing aircraft mechanism, and relates to the field of miniature aircrafts, and the method comprises the steps: loading an aircraft wing rod on a high-speed camera measurement platform, and recording an image of the wing rod in a motion period; after the recorded image is optimized and denoised, an optical flow method is used for capturing a moving wing rod, a sub-pixel edge detection method is used for recognizing a gray level image of wing rod movement, then the edge is optimized and corrected based on the geometrical characteristics of the wing rod, and edge calibration is carried out on the gray level image of wing rod movement; then, the angular displacement of the wing rod is recognized according to the wing rod motion gray level image after coordinate calibration is completed, meanwhile, the distribution load of the wing rod is reconstructed, and inversion is conducted on the bending moment of the wing rod through recognized coordinate information and a Tikhonov regularization method; and finally, drawing an angular displacement-bending moment curve graph of the wing rod and extracting the idle stroke and the overall flexibility of the aircraft. According to the method, the motion idle stroke and the overall flexibility of the mechanism on the flapping-wing air vehicle are effectively extracted with high precision, and the method has great guiding significance in design, test and function research of the flapping-wing air vehicle.

The invention discloses a high-precision plane mirror pose precision adjusting device, which comprises a base, an orientation adjusting mechanism, a pitching adjusting mechanism, a mirror chamber and a three-point gap eliminating mechanism, and is characterized in that each of the orientation adjusting mechanism and the pitching adjusting mechanism comprises a driving assembly and a linear sliding block; the linear sliding block is connected with the execution component through the three-point type gap eliminating mechanism, and the three-point type gap eliminating mechanism comprises an adapter, a fisheye bearing connecting lead screw, a plug screw, a locking nut and an adjusting gasket and is used for eliminating radial and axial gaps at the connecting position at the same time. According to the invention, the high-performance transmission chain is combined with the three-point gap elimination mechanism, and the standard plane mirror is used as an optical function carrier of the system, so that the micro-arc-level angular displacement adjustment precision is realized. Theoretical calculation verifies that the azimuth adjustment resolution and the pitching adjustment resolution are both superior to 0.5 mu rad. The device has the excellent characteristics of gapless transmission, motion decoupling, micro-vibration resistance, long-term stable work and the like.

The invention relates to a meat block enzyme powder uniform spraying device which mainly comprises a reciprocating motion rack, an enzyme powder storage hopper borne on the reciprocating motion rack, a discharging part, a flow adjusting part and an end restraining part. The flow adjusting part is configured to sense inertia force and generate angular displacement relative to the rack through a movable adjusting piece with an eccentric mass center when the rack generates acceleration, so that the geometric coincidence area of the discharging port and the discharging port is dynamically adjusted, and self-adaptive dynamic coupling of the discharging flow and the running speed of the rack is achieved. The movable adjusting piece is provided with a constant-speed opening position and a swing locking position, and when the rack is located at the stopping position of the end of the running path, the end restraining piece is in limiting fit with a pressed part on the movable adjusting piece, the movable adjusting piece is forcibly driven to be kept at the locking position, and the gravity falling path of the movable adjusting piece is blocked. The phenomenon of powder accumulation in the acceleration and deceleration stages is avoided, the problem of enzyme powder leakage in the shutdown intermittent period is solved, and the uniformity of enzyme powder spreading and the process stability are improved.

The invention provides a part continuous self-adaptive detection method and device, a medium and a product. The method comprises the following steps that a to-be-detected part is driven to rotate along with a transparent rotating disc at a preset initial angular speed; determining a first reference rotation time delay and a second reference rotation time delay respectively by combining the angular displacement and the initial rotation angular velocity of the sensing position on the transparent rotating disc and the upper and lower surface imaging positions; when the part rotates and passes through the sensing position, the double timers are synchronously started; acquiring correction parameters in real time in the rotation process to correct the two reference time delays to obtain corresponding correction time delays; when the timers reach the correction time delays respectively, images of the upper surface and the lower surface of the part are collected in sequence; and combining the upper surface image and the lower surface image, processing by a preset analysis method, and generating a detection result. According to the method, self-adaptive correction at the imaging moment can be achieved in the continuous rotation process of the part, the influence of rotating speed fluctuation and mechanical errors on synchronous imaging is eliminated, it is guaranteed that the image position is accurate, the quality is stable, and the detection precision and reliability are improved.

The invention discloses a device and method for measuring the rotational inertia of a rigid body through a high-precision self-adaptive torsional pendulum method, and belongs to the technical field of rigid body mechanical parameter measurement. The self-adaptive clamping module comprises a U-shaped frame, a bearing table and a suspension rod, and the U-shaped frame is installed above the base and the damping unit; the first end of the suspension rod is connected with the bearing table, and the second end is rotatably connected with the U-shaped frame; the torsional pendulum driving module is positioned in the opening of the U-shaped frame; the power output end of the torsional pendulum driving module is in transmission connection with the suspension rod; the dual-sensing measurement system comprises a fiber grating angular displacement sensor and an MEMS acceleration sensor, and the fiber grating angular displacement sensor is installed in the middle of the suspension rod; the MEMS acceleration sensor is mounted on the base and the damping unit; and the intelligent data processing module is electrically connected with the fiber grating angular displacement sensor and the MEMS acceleration sensor. The device is adaptive to rigid bodies with different masses and shapes, and one-key calibration and rapid high-precision measurement can be realized.

The present application relates to a kind of infrared equipment with rotary eccentricity compensation device, belong to infrared equipment technical field, solve the single function of multiple buttons of infrared equipment in prior art, lead to the problem of inconvenient operation.The present application includes: lens assembly, encoder, eccentricity compensation device, driving device, circuit mainboard and infrared module;Eccentricity compensation device can output linear displacement and rotational angular displacement;Circuit mainboard is as the controller of infrared module and driving device;Encoder is used to monitor the size of the rotational angular displacement output by the eccentricity compensation device;Encoder is connected with circuit mainboard, and then can control driving device by the circuit mainboard;The driving device is used to adjust the lens spacing of the lens assembly;When eccentricity compensation device outputs linear displacement, the button of the circuit mainboard can be triggered.The present application realizes multiple functions by a button, simplifies structure, and is easy to operate.

The invention relates to a motion parameter verification method and device, computer equipment and a storage medium. The method comprises the following steps: applying at least one calibration driving instruction to an anti-shake execution mechanism of to-be-tested equipment, and acquiring image data corresponding to each calibration driving instruction acquired by the to-be-tested equipment; matching the reference point displacement feature in each piece of image data with a preset target displacement feature, and determining a target driving instruction; the preset target displacement feature is obtained by calibrating the to-be-measured equipment and / or equipment identical to the to-be-measured equipment according to a preset angular displacement; calculating a gain coefficient of the gyroscope according to the target driving instruction and the preset angular displacement; and determining a motion parameter verification result according to the gyroscope gain coefficient. The method can reduce the cost and improve the verification efficiency.

The present application relates to the technical field of vehicles, and particularly relates to a virtual kingpin steering angle module, comprising: a wheel assembly; a steering knuckle, the upper part of the steering knuckle being provided with an upper mounting seat; a steering mechanism, the output end of the steering mechanism being connected with the upper mounting seat through a three-ball-pin universal joint, the steering mechanism driving the wheel assembly to rotate through the steering knuckle; an upper control arm, the upper control arm comprising an integral lifting lug and an upper cross arm; wherein the three-ball-pin universal joint comprises a ball cage and three ball pin heads which are arranged in the ball cage and uniformly distributed in the circumferential direction, forming a virtual kingpin axis with the center of the three-ball-pin universal joint as a reference, and realizing load decoupling of the steering torque and the ground vertical force. The present application has the advantages that through the spatial arrangement of the three groups of spherical pairs, the torque can be reliably transmitted, the redundant constraints can be reasonably released, the small angular displacement and the adaptive swing around the central axis are allowed, the rigid conflict is avoided, the internal additional stress is significantly reduced, and the load and wear of the bearings and transmission parts are reduced.

The utility model discloses a spatial positioning and pointing mechanism. The mechanism comprises a structure supporting piece, a stepping motor, a harmonic reducer, a Hall angular displacement sensing device and a controller, wherein the structure supporting piece comprises a bearing seat and an output shaft; the stepping motor is used for driving a rotor of the stepping motor to rotate according to the pulse signal; a flexible gear of the harmonic reducer is connected with the output shaft, and a rigid gear is connected with the bearing seat; the wave generator is connected with a rotor of the stepping motor; the Hall effect sensor is installed at the fixed end of the output shaft, and the magnetic steel is installed at the rotating end of the output shaft. The controller is used for receiving the output voltage of the Hall angular displacement sensing device and calculating the position of the spatial positioning pointing mechanism according to the angular displacement and the angular velocity. The mechanism adopts the Hall effect sensor, so that the structure is more compact, the weight and the size are obviously reduced, and the assembly difficulty is reduced; the harmonic reducer is adopted to improve the angular displacement resolution, the output torque is larger, and the application range is wider.

The utility model relates to the technical field of belt conveying, in particular to self-adaptive online monitoring equipment for a roller automatic deviation corrector, which comprises a support. A rotating shaft is fixedly connected to the center of the support, a rotating frame is fixedly connected to the other side of the rotating shaft, central rollers distributed front and back are installed on the upper portion of the rotating frame, fixing frames are fixedly connected to the two sides of the rotating frame, and rotating shafts are rotationally connected to the upper portions of the fixing frames. The outer side of the rotating shaft is fixedly connected with a side edge roller, and one side of the rotating shaft is further fixedly connected with an angular displacement encoder. Once the angular displacement encoder detects that the rotating speeds of the side rollers on the two sides are inconsistent, it shows that the belt deviates, the rotating shaft drives the rotating frame to rotate, the rotating frame drives the fixing frame to rotate, at the moment, the side rollers can rotate under the action of the rotating shaft, advanced deviation correction is achieved, meanwhile, automatic, flexible and accurate actions can be achieved, and the working efficiency is improved. And the belt always runs on the normal belt rail.

The utility model discloses a switch angular displacement potentiometer with an adjustable switch starting position, which comprises a shell, a rotating shaft, a detection assembly, a switch assembly, a glass bead screw, a switch torque sleeve and a locking screw, the rotating shaft penetrates through a corresponding through hole of the shell, and the detection assembly and the switch assembly are respectively arranged in the shell and are respectively connected with the rotating shaft. A protruding strip is arranged on the outer wall of the switch torque sleeve, the switch torque sleeve is arranged on the rotating shaft in a sleeved mode through a center through hole of the switch torque sleeve, a radial screw hole is formed in the wall of the switch torque sleeve, and the locking screw is installed in the radial screw hole and abuts against the outer wall of the rotating shaft. The glass bead screws are installed in corresponding screw holes in the shell, balls of the glass bead screws are close to the outer wall of the switch torque sleeve, and the axial direction of the glass bead screws is perpendicular to the axial direction of the switch torque sleeve. According to the utility model, the switch starting position adjusting function is realized, the switch starting position can be changed according to the actual needs of different users in the final assembly process of production, and the application is convenient.

The invention relates to a system for determining a torque applied between two rotating members. The system includes a test body with a deformable structure arranged to transmit the torque while enabling an angular displacement according to the applied torque. The system includes two encoders each on a different rotating member and each capable of emitting a periodic signal representative of the rotational displacement of the corresponding member.

Turning cutting tool (10), comprising: a tool body (11) comprising a flute section (18) having a plurality of helical flutes (22) separated from each other by teeth (23); and an adjustable vibration absorber arrangement (60) arranged within a cavity (25) formed in the clamping groove section (18), the adjustable vibration absorber arrangement (60) comprising at least two adjustable absorber masses (62), an elastic material (64) between the at least two absorber masses (62) and the cavity (25), and one or more connecting elements (66) arranged between the at least two absorber masses (62) to prevent a relative angular displacement between the at least two adjustable absorber masses (62) about a central longitudinal axis (12) of the rotary cutting tool (10), wherein the one or more connecting elements (66) are not in contact with the tool body (11) to allow the at least two adjustable absorber masses (62) to be held only by the elastic material (64), which enablesthat the adjustable vibration absorber arrangement (60) is set to a desired frequency in order to suppress torsional vibrations of the rotary cutting tool (10) during a cutting operation.

The invention relates to the technical field of aircraft hydraulic systems, in particular to an anti-deflection rotating joint with a hose, which comprises two rotating pairs, the rotating pairs comprise connecting seats and inlets and outlets, the rotating pairs are provided with circulation channels, fluid circulates through the circulation channels and the inlets and outlets, the hose is mounted on the inlets and outlets, and the hose is connected with the connecting seats. The hose assembly is used for communicating the circulation channels of the two revolute pairs, the hose can deform according to deviation of the revolute pairs and keep the circulation channels of the two revolute pairs communicating with each other, the damping sleeve is provided with a hollow cavity, and a traditional metal pipeline is replaced with the hose assembly; axial, radial and angular displacements generated by offset load are absorbed and compensated by utilizing the flexibility characteristic of the hose, meanwhile, progressive limiting is realized by matching with the damping unit, and before the radial offset of the revolute pair is close to the maximum deformation value of the hose, the damping force is increased along with the increase of the offset, so that the influence on the sealing property of the joint of the hose and the revolute pair is avoided; and the effects of uniform stress and smooth rotation of the sealing surface are achieved.

The utility model discloses a kind of backlash detection clamps of robot joint speed reducer, belong to robot precision transmission technical field.The fixture includes bottom plate, fixed mechanism, input end locking mechanism, output end loading mechanism and detection mechanism.Fixed mechanism is used to install measured speed reducer.Input end locking mechanism is used to lock speed reducer input end.Output end loading mechanism is connected to output end, for applying preset torque of clockwise and counterclockwise.Detection mechanism is also connected to output end, for measuring the angular displacement difference of output end according to above-mentioned torque, to obtain backlash value.The utility model directly locks input end and quantitative loading by mechanical structure, directly measures in combination with high-precision angle sensor, effectively eliminates the hunting and transmission error in measurement process, realizes high-precision, high repeatability fast detection to speed reducer backlash under low-cost premise, structure is solid, easy to operate, especially suitable for batch inspection in production site.

The method comprises: - a step of applying a mechanical brake to fix the sun gear (20) in position, - a step of applying an alternating torque to the rotor (16), - a step of measuring an angular displacement of the rotor (16) with respect to the stator (14), and - a step of converting the measured angular displacement of the rotor (16) into a value of involute spline wear.

The invention provides a self-adaptive angular displacement measuring device. The self-adaptive angular displacement measuring device comprises an adapter plate, a connecting block, a shell, an end cover, a rotating shaft, a magnetic nest, magnetic steel, a first deep groove ball bearing, a second deep groove ball bearing, an elastic element and a circuit board. According to the device, the open spherical joint is adopted and is in interference fit with the mounting groove, the elastic connection mode is adopted, repeated use can be achieved, the floating eccentric joint is adopted, under the eccentric condition, the joint can float automatically, unconstrained angular displacement measurement can be achieved, and high adaptability is achieved; a split type connection mode is adopted, coarse adjustment during zero alignment of the angular displacement measuring device can be achieved, the flange plate at the bottom of the adapter plate is provided with a plurality of identical annular installation grooves, the annular installation grooves can be matched with different interfaces, and fine adjustment is achieved.

The invention discloses a device for inhibiting the rotation of an aviation medical rescue hanging basket, which is characterized in that the rotation of a near-end sling is reduced through a rolling bearing, the angular displacement generated by the rotation of a far-end hanging basket is conducted to a rotating shaft of a stepping motor through a transmission device, and a controller is activated after a detector detects the angular displacement of the rotating shaft; and then the stepping motor is driven to reversely rotate to rotate opposite to the far-end hanging basket. Through the semi-linkage device, the far-end rotation restraining device can sleep when the hanging basket does not bear load or the rotation range does not trigger the upper limit. The invention solves the problem of rotation of the single-sling aviation medical rescue hanging basket, and is also suitable for the suspension operation of cranes, tower cranes and the like.

This utility model relates to the field of bridge technology and discloses a damping and vibration-damping multi-directional displacement comb-plate bridge expansion joint, including the main bridge side and the approach bridge side. This damping and vibration-damping multi-directional displacement comb-plate bridge expansion joint is equipped with a fixed frame, a fixed box, a disc spring assembly, a wear-resistant sleeve, a sphere, threaded holes, a mounting groove, a pad, and fixing bolts. Through the cooperative design of the wear-resistant sleeve and the sphere, the sphere can rotate freely within the wear-resistant sleeve. The threaded holes on its inner wall facilitate connection with the fixing bolts. When the fixed comb plate undergoes angular displacement, the rotation of the sphere and the elastic deformation of the disc spring assembly work together to effectively disperse stress and avoid localized stress concentration in the comb plate. Compared to existing technologies that rely solely on the elastic deformation of the disc spring assembly to achieve angular displacement, this device can better adapt to the longitudinal, lateral, and vertical composite deformations generated by bridges under complex working conditions, greatly reducing the risk of component damage.

The application discloses a high-speed rotary table rotation angle measuring device and a measuring method thereof, and belongs to the technical field of optical sensing measurement. According to the technical scheme of the application, rotary table angular displacement is linearly converted into optical path variation; a rotating interference pattern is generated by using conjugate vortex light interference; a double-mode detection system in which a high-speed photoelectric detector and a camera work synchronously is adopted to perform high-speed counting on the whole period number of the interference pattern and high-precision analysis on the non-integer period rotation angle, and finally, the rotation angle is calculated by fusing data. According to the application, the angular displacement-linear displacement conversion mechanism is adopted, so that the large-angle measurement range far exceeding the traditional method is realized. Secondly, the double-mode detection scheme perfectly solves the contradiction between high-speed measurement and high-precision requirement. Finally, the conjugate light interference design effectively suppresses common-mode noise, and significantly improves the anti-interference ability and measurement stability of the device. The high-speed, high-precision, wide-range and high-robustness test of the high-speed rotary table precision is realized.

This invention discloses a control method for an underwater electro-manipulator based on model predictive control. The method includes: establishing a nonlinear dynamic model of the underwater electro-manipulator; establishing a predictive model of the underwater electro-manipulator using model predictive control; inputting the angular displacement and angular velocity of each joint of the underwater electro-manipulator into the predictive model in real time, and outputting the driving torque of each joint of the underwater electro-manipulator in real time, thereby controlling the continuous operation of the underwater electro-manipulator and realizing real-time control of the underwater electro-manipulator. This invention improves the control accuracy of the manipulator in underwater scenarios by utilizing model predictive control. It can promptly compensate for model mismatch when dealing with time-varying disturbances, thus exhibiting good robustness for nonlinear underwater manipulator systems under actual constraints such as torque, angular velocity, and angular acceleration. Specifically, it achieves relatively smooth control output at the procedural level under underwater transient disturbances, demonstrating good anti-disturbance performance.

The application relates to the field of switches, in particular to a self-resetting endless sliding adjustment controller, which comprises a sliding part which performs a linear sliding action in a first direction; a rotating part which is configured to rotate around an axis and is in transmission connection with the sliding part so as to convert the linear displacement of the sliding part into continuous angular displacement of the rotating part; an angular displacement signal detection module which is configured to collect the angular displacement signal of the rotating part in real time; and an elastic part which is configured to apply a reset elastic force to the sliding part. The application converts the linear displacement of the sliding part into continuous angular displacement of the rotating part, realizes the continuous gearless adjustment function through the angular displacement signal of the rotating part, and the self-resetting structure enables automatic resetting to the initial position and different force values during operation. The application replaces the resistance value change scheme of the original sliding rheostat, solves the problems that the stroke of the sliding rheostat is short and the stroke cannot be changed at will, and saves the period and cost of development of different stroke configurations.

The invention relates to the technical field of precise instruments and control, in particular to a small angle generation system and method based on magnetorheological fluid and a fine adjustment motor. The device comprises two capacitance angular displacement sensors which are used for measuring the relative rotation angle between an inner shaft and an outer shaft; the angle sensor signal acquisition module is used for acquiring relative rotation angles measured by the two capacitance angular displacement sensors, subtracting the two relative rotation angles and transmitting an angle difference value to the feedback controller; the feedback controller is used for comparing the angle difference value with a preset target angle and calculating an angle error, and the signal processing and analyzing unit is used for analyzing and processing the angle error through a closed-loop control strategy so as to control the motor driving control unit and the magnetic field control unit according to the angle error. And the relative rotation angle between the inner shaft and the outer shaft is stabilized within the target angle. The characteristics of motor micro-step subdivision driving and magnetorheological fluid damping vibration suppression are combined, and high-accuracy micro angle generation is achieved.

The invention provides an electronic jacquard shedding device which comprises a jacquard machine mounted above a supporting floor frame, a weaving machine mounted at the lower part of the supporting floor frame, a servo motor, a cam transmission mechanism, a griffe assembly and a lifting needle assembly, and further comprises a servo motor encoder, a cam angle sensor, a griffe and a lifting needle displacement sensor, the servo motor encoder is installed at the shaft end of the servo motor and monitors the rotating speed and angular displacement of the servo motor in real time. The cam angle sensor is installed on the cam shaft side and collects the cam swing angle. The griffe displacement sensor and the lifting needle displacement sensor are installed on the griffe assembly and the lifting needle assembly respectively, and the actual displacement of the griffe and the actual displacement of the lifting needle are monitored in real time. According to the invention, a dynamic phase self-tuning model is established through multi-sensor fusion. In the aspect of control, a feedforward compensation and gain scheduling self-adaptive PID strategy based on inverse dynamics is adopted, cooperative adjustment of a servo motor, water flow and the lubrication amount is achieved, mechanical abrasion and temperature drift are effectively compensated, and the weaving precision and the resource utilization rate are improved.