145 results about "Control complexity" patented technology

The invention discloses a flexible bionic muscle complex and a control method thereof, a driving module and a robot, and belongs to the technical field of bionic robots. The complex comprises a plurality of strip-shaped components, and the deformation behavior of the strip-shaped components at least under the excitation of an electric field has anisotropy; comprising a first component set and a second component set, and the axial rigidity of the first component set is higher than that of the second component set; the first component group and the second component group are coupled through a preset force transmission structure, and during electric field excitation, a first driving force which is generated by the first component group and comprises first deformation and a second driving force which is generated by the second component group and comprises second deformation cooperate with each other in space so as to realize motion output conforming to biological muscle motion characteristics. According to the method, a cooperative working mechanism of fast muscles and slow muscles in biological muscles is simulated by presetting different modulus component groups, endogenous synergy of contraction and bending is achieved on the premise that a complex control algorithm is not needed, the control complexity is reduced, and the bionic performance is improved.

The utility model discloses a multi-stage compression gas compression system which comprises a hydraulic driving unit with fixed displacement, a multi-stage compression cylinder, a gas storage device, a gas pressure detection unit and a control unit, the multi-stage compression cylinder comprises a plurality of compression cylinders which are sequentially connected in series from the first stage to the last stage through gas conveying pipelines. The signal output end of the air pressure detection unit is connected with the signal input end of the control unit. The air pressure detection unit is used for detecting air pressure signals of the multi-stage compression cylinder and sending the air pressure signals to the control unit. And the control unit is used for controlling the working states of the other stages of compression cylinders except the first-stage compression cylinder in the multi-stage compression cylinders according to the air pressure signal, so that the other stages of compression cylinders except the first-stage compression cylinder in the multi-stage compression cylinders are put into compression work or quit compression work. According to the utility model, the cost and the control complexity of the gas compression system can be reduced, and the efficiency improvement and consumption reduction of the gas compression system can be realized.

The invention relates to a denial environment air-ground cooperative control method and system based on multi-modal bionic perception, belongs to the technical field of unmanned system control, and solves the problems of high complexity and poor reliability of denial environment air-ground cooperative control in the prior art. Comprising the following steps: acquiring unmanned system information, an initial environment map and path information based on task information; wherein the task information comprises a target area which needs to be reached, and the unmanned system information comprises the number of selected unmanned platforms of various types; based on the unmanned system information, dividing each unmanned platform into an unmanned aerial vehicle group and an unmanned vehicle group; wherein the unmanned aerial vehicles and the unmanned vehicles can sense environment information; the environment information comprises a local map and a position; based on the obtained initial environment map and path information, the unmanned aerial vehicle group and the unmanned aerial vehicle group respectively use a bionic formation method to travel from the initial area to the target area; and when the unmanned vehicle group and the unmanned aerial vehicle group both travel to the target area, each unmanned platform blocks and attacks the target.

The invention provides a distributed photovoltaic grid-connected converter low-voltage ride-through control method based on sum-difference coordinate transformation, and solves the problems of insufficient synchronism, poor stability, insufficient reactive power support potential excavation and the like existing in collaborative response under power grid voltage drop during distributed photovoltaic grid connection. According to the method, impedance modeling and equivalent symmetry transformation are carried out on the distributed photovoltaic inverter, and a coupling multi-dimensional matrix equation is established; an original coupling system is decoupled into a sum current channel and a plurality of difference current channels, the control complexity is simplified, and an open-loop output impedance expression and a closed-loop output impedance expression are deduced; secondly, formulating a refined active / reactive current collaborative distribution strategy for different voltage drop depths, dynamically calculating the minimum reactive current during voltage drop, preferentially meeting the national standard, and maximizing active output or balancing loss under the limit of rated current; and finally, through sum-difference coordinate transformation, the total current demand and distribution are efficiently decoupled and issued to a current loop controller of each inverter, so that rapid, synchronous and stable cooperative operation of multiple inverters is realized.

The invention relates to the technical field of space electric propulsion, in particular to a high-integration-level radio frequency ion electric propulsion system and a control method thereof. The system comprises an upper computer, a bus power supply, a working medium gas storage and supply unit, a power supply processing and control unit, a thruster impedance matcher, a radio frequency ion thruster, a neutralizer impedance matcher and a radio frequency neutralizer. According to the radio frequency ion electric propulsion system, the application requirements and the working characteristics of the radio frequency ion electric propulsion system are combined, all the single machines form a complete high-integration-level system, the problems that all the single machines are distributed in a scattered mode, and the system compatibility is poor due to interface conversion are solved, and the application reliability is enhanced; a pure radio frequency excitation scheme is adopted, so that the task response rate can be improved; the thruster impedance matcher and the neutralizer impedance matcher are used as an independent single machine, so that the control complexity of the system can be reduced.

The utility model relates to the technical field of telescopic rods, in particular to a differential screw rigid-flexible coupling electric telescopic rod. In order to solve the problems that an existing posture adjusting platform is complex in control, rod piece stretching and retracting control depends on material heating, heat influences are generated on other structures, and the stability and accuracy of a system are interfered, the following technical scheme is provided: the posture adjusting platform comprises a mounting seat which is arranged in a square shape; the driving mechanism is mounted in the mounting seat; the two sets of synchronous plates are arranged on the two sides of the mounting base correspondingly, and a moving frame is jointly mounted on the two sets of synchronous plates; the positioning plate is arranged on one side of the mounting seat; and the adjusting assembly is connected with the synchronous plate and the positioning plate and is used for finely adjusting the distance between the synchronous plate and the positioning plate. According to the utility model, high-precision adjustment of postures can be realized, the control difficulty is simplified, the stability and accuracy of system operation are improved, and the application range of related technologies in practical engineering is expanded.

The invention belongs to the technical field of VSG network construction active support, and particularly discloses a transient support power coordination control method and system for a network construction type optical storage system, and the method comprises the steps: building an equivalent mathematical model of the network construction type optical storage system, and obtaining key control parameters of a virtual synchronous generator control link of the optical storage system based on the equivalent mathematical model; constructing an internal energy flow characteristic analysis model of the network construction type optical storage system based on key control parameters of a control link of the virtual synchronous generator, and further obtaining a core defect of passive participation of energy storage in transient response; and based on the core defects, designing an energy storage driving control strategy based on VSG transient response power decomposition to control an energy storage subsystem to charge and discharge, and completing transient support power coordination control of the network construction type optical storage system. The problems that in the prior art, due to the fact that energy storage passively participates in frequency modulation, response timeliness and accuracy are insufficient, and due to the fact that VSG transient control complexity is high, large-scale engineering application adaptability is poor are solved.

The invention relates to the technical field of hardware acceleration, and provides a convolutional neural network hardware acceleration method and system, and the method comprises the steps: obtaining a convolutional neural network instruction which comprises an img2col instruction, a systolic array multiplication instruction and a col2img instruction; analyzing an operation instruction code and a function code field of each instruction, determining a target register, a source register and calculation parameters, determining an instruction function and generating a control signal; data to be operated are taken out from the source register and transmitted to the corresponding operation module together with the control signal and the calculation parameter to be calculated, and then the data are written back to the target register; through hardware optimization strategies such as multi-level address superposition, systolic array data multiplexing, double-buffer window construction and a parallel comparison tree, extra power consumption caused by multiple times of data loading and storage and intermediate result calculation is reduced, and data handling overhead, calculation delay and control complexity are greatly reduced.

The invention belongs to the technical field of inverters, and discloses a three-phase four-leg optical storage converter and a control method and application thereof. According to the three-phase four-bridge-arm optical storage converter, the boost inductor is connected to the midpoints of the three-phase bridge arms through the three switching tubes respectively, device multiplexing of a bidirectional Buck / Boost converter and a three-phase full bridge is achieved, the converter can achieve boost / buck and inversion control at the same time, and then single-stage power conversion among the photovoltaic port, the storage battery port and the load port is achieved; the conversion efficiency and the integration level are improved, and the system cost is low. According to the converter, an SPWM and PWM hybrid control strategy is adopted, the high voltage utilization rate which is the same as that of traditional 3D-SVPWM control is obtained, but a large amount of sector judgment and vector selection are avoided, the calculation burden is remarkably reduced, and the system control complexity is reduced.

The invention relates to the field of robots, and discloses a chain-driven double mechanical arm which comprises two groups of forking arm structures arranged on a support, and each group of forking arm structure sequentially comprises a forking large arm, a forking small arm arranged at the tail end of the forking large arm and a fork hand arranged at the tail end of the forking small arm; by arranging a three-stage chain linkage system of the chain wheel a, the chain wheel b and the chain wheel c, precise cooperative control between the small arm and the fork hand is achieved. Compared with a traditional structure which depends on multiple servo direct driving, according to the scheme, the number of redundant motors is reduced, the control complexity is lowered, real-time matching of the forearm posture and the end executor can be achieved through unified chain driving, and the response speed and synchronous stability of the multi-joint mechanism in the high-speed dynamic state are effectively improved.

The invention discloses a three-axis modulation inertial navigation decoupling control method which comprises the following steps: establishing a three-axis modulation inertial navigation dynamic model which comprises inter-axis coupling torque and equivalent rotational inertia disturbance torque; obtaining the rotational inertia of the inner ring, the middle ring and the outer ring of the three-axis modulation inertial navigation along each axis; the rotation angles of the inner ring, the middle ring and the outer ring are obtained in real time, and angular acceleration is obtained through differential; according to the dynamic model, the rotational inertia, the rotation angle and the angular acceleration, inter-axis coupling torque and equivalent rotational inertia disturbance torque are obtained through calculation; compensating the calculated inter-axis coupling torque and equivalent rotational inertia disturbance torque, and changing the dynamic model into a first-order linear model, so that the three-axis modulation inertial navigation system is changed into a decoupling linear system; and finally, carrying out closed-loop control on the three-axis inertial navigation through a position loop-speed loop-current loop three closed-loop control structure. The control complexity can be reduced, and the system stability can be improved.

The application provides a miniaturized single-axis rotation modulation inertial navigation system and a rotation method thereof. The system comprises a MEMS inertial measurement unit, a direct drive servo motor, an angle encoder, a conductive slip ring, a navigation solution board, a power supply board, an external interface, a mounting part and a device shell. The rotation method comprises: controlling a rotation mechanism to perform modulation movement according to a double-position four-sequence scheme; constructing a unit vector to perform integration, simulating constant error accumulation; detecting the integral modulus of the vector at half-cycle and integral-cycle time, introducing an additional sequence when the modulus exceeds a threshold, solving the optimal stop position and stop time; and performing the additional sequence to complete adaptive compensation of the carrier angular motion disturbance. The application effectively weakens the influence of the carrier heading motion on the rotation modulation, improves the precision of long-time navigation under motion disturbance, shortens the continuous running time of the rotation mechanism compared with the existing motion isolation scheme, reduces the control complexity, and makes the system more stable.

The invention belongs to the technical field of land-air amphibious unmanned aerial vehicles, and particularly relates to a driven-type land-air amphibious unmanned aerial vehicle which comprises a four-rotor unmanned aerial vehicle structure and a control module used for controlling the four-rotor unmanned aerial vehicle structure, and the four-rotor unmanned aerial vehicle structure comprises a four-rotor unmanned aerial vehicle and a connecting shaft installed on the four-rotor unmanned aerial vehicle. And driven wheels are assembled at the two ends of the connecting shaft. The driven wheel is connected to the four-rotor unmanned aerial vehicle through the carbon fiber pipe, the structure does not need additional land driving devices, the mass of the land-air amphibious unmanned aerial vehicle is reduced, the adjustment freedom degree is high, part of nonlinear factors in system dynamics can be eliminated through structure adjustment, and the control complexity is reduced; according to the structure, unified power driving devices are adopted in the land-air mode, mode switching can be rapidly carried out, carbon fiber materials are used, the safety of the unmanned aerial vehicle is improved, and the service life of the unmanned aerial vehicle is prolonged.

The application provides a spacecraft collision avoidance method and device, belonging to the field of space navigation technology, which can control the spacecraft to avoid a collision object while controlling the spacecraft to avoid other collision objects. The method first predicts the distance between the spacecraft and multiple potential encounter objects when they are closest, then screens the multiple potential encounter objects to obtain multiple collision objects, and finally determines a target collision optimization model for controlling the spacecraft to avoid the target collision object and other collision objects according to the control complexity of the spacecraft avoiding the multiple collision objects.

The invention discloses a distributed discharge-bypass pressurization coupled wide-area ramjet engine and a working method thereof, and belongs to the field of wide-area ramjet engines, the distributed discharge-bypass pressurization coupled wide-area ramjet engine comprises a bypass pressurization flow channel and a dual-mode ramjet combustion chamber flow channel, and the dual-mode ramjet combustion chamber flow channel comprises a fixed geometric air inlet channel; the bypass supercharging flow channel comprises a distributed drainage hole communicating with the compression face side of the fixed geometric air inlet channel, and a drainage cavity, a first Laval nozzle, a bypass supercharging chamber, a second Laval nozzle and a bypass exhaust nozzle which communicate with the distributed drainage hole in sequence. According to the distributed discharge-bypass supercharging coupled wide-area ramjet engine and the working method thereof, by arranging the bypass supercharging flow channel, the problem of structure and control complexity and difficulty caused by adjustable parts in integrated adjustment of the engine is solved, meanwhile, the starting capacity and thrust gain under the low Mach number are increased, and the starting efficiency is improved. And the engine has the wide-speed-range working capacity.

The invention discloses a wind power generation and energy storage integrated system based on an open winding motor and a control method of the wind power generation and energy storage integrated system. The system comprises an open winding permanent magnet synchronous wind driven generator, a controller, an energy storage device, a machine side converter, a network side converter, a three-phase diode rectifier bridge, a capacitor, a three-phase power grid and a filter. Compared with a traditional direct-drive type permanent magnet synchronous wind power generation system, the wind power generation system has the advantages that the structural characteristic of double-end feed of the open winding motor is utilized, the capacity of the system for absorbing wind energy can be brought into full play, and the problem of low electric energy quality caused by intermittent wind power generation and generated power fluctuation is solved. The invention can effectively reduce the cost of the open winding permanent magnet synchronous wind power generation system, improve the energy utilization rate, reduce the system control complexity and improve the power quality of the power grid.

This disclosure provides a data processing method, apparatus, and computer device based on butterfly networks, relating to the fields of artificial intelligence and hardware acceleration technology. The solution is as follows: In a switchable data processing architecture including an inverse butterfly network, a preprocessing module, a post-processing module, and a control signal generation module, when switching to aggregation operation, the preprocessing module inputs the first input data into the inverse butterfly network, the control signal generation module outputs the first control signal to complete data processing, and the post-processing module directly outputs the aggregation result. When switching to distribution operation, the preprocessing module performs input position mapping and filling on the second input data to obtain the third input data, the control signal generation module outputs the adapted second control signal to complete data processing, and the post-processing module performs rearrangement on the intermediate results to output the distribution result. This reduces hardware resource consumption, lowers control complexity and processing latency, and improves the hardware deployment adaptability of neural network sparse computing while ensuring functional integrity.

The utility model relates to the technical field of laser equipment, in particular to a multi-wavelength laser, which comprises a control box comprising a main control board and at least one driver, and the input end of the at least one driver is electrically connected with the main control board; the laser box comprises a first shell, a light outlet and a control interface which are exposed out of the first shell, and a laser box control panel, a mounting plate, a light path switching output assembly and at least two laser sources capable of emitting laser beams with at least two wavelengths which are arranged in the first shell, and the at least two laser sources are integrally arranged on the mounting plate; the output end of the at least one driver is electrically connected with the input end of the laser box control panel through a control interface, and the output end of the laser box control panel is electrically connected with each laser source and the light path switching output assembly respectively; the light path switching output assembly can move relative to the mounting plate so as to be switched to light paths of the laser sources. According to the invention, the multi-wavelength laser source and control integration can be realized, and the equipment structure complexity and the control complexity are reduced.

A vision language model (“VLM”) generates text captions from video content. Innovations in controlling the complexity of captioning that uses a VLM are described. For example, a training tool updates a training set so that text captions are more concise, then fine-tunes a VLM using the updated training set. Or, as another example, a generative artificial intelligence model such as a VLM dynamically adjusts the probability of an end-of-sentence (“EOS”) token so that the probability of the EOS token increases in successive iterations of output token generation, which tends to make generated text captions more concise. Or, as another example, a captioning tool identifies and ranks representative units (such as keyframes) of video, then selectively applies captioning (using a VLM) to representative units of the video based on ranking information. Together or individually, the innovations can improve the computational efficiency and accuracy of captioning that uses a VLM.

The invention provides a feeding device and a working method, relates to the field of feeding tools, and aims at solving the problems of plate inclination and gap difference caused by magnetic separation through secondary positioning of a positioning table at present, ensuring that the position of a plate fed to a follow-up station is accurate, guaranteeing the machining precision and improving the machining efficiency due to the synchronous linkage design of double clamps of a transfer assembly. An independent transfer assembly does not need to be additionally configured while a transfer relocation function is realized, so that the system control complexity is reduced; and one set of driving system is shared, so that the occupied space is reduced, and the compact layout of equipment is facilitated.

A kind of connecting rod type semi-active space docking mechanism buffer system and method, including connecting rod drive buffer mechanism, docking ring, docking frame.Each group of connecting rod drive buffer mechanism is driven by motor two branch chains, while single branch chain contains spring rod and damper.When two spacecrafts are ready to dock, control motor to drive docking ring to push out to the ready docking position.In buffer stage, spring rod and damper are passively buffered to consume collision energy, motor actively generates reaction force according to preset program, drives docking mechanism, extends the buffer stroke of docking mechanism as a whole to realize buffer function;Passive spring rod, damper and active motor jointly complete the buffer of collision load and the balanced alignment of docking ring.Semi-active weak impact docking between two large spacecrafts in space is realized, impact load in docking process is reduced to some extent, direct impact on motor is reduced, with lower mechanical mechanism complexity and control complexity, good environmental adaptability.

The invention discloses a holding type variable-curvature gripper based on a logarithmic spiral curve and an operation method of the holding type variable-curvature gripper. The cable-embracing type variable-curvature gripper comprises a variable-curvature gripping arm and a driving rope. When the variable-curvature grabbing arm grabs an object, the variable-curvature grabbing arm is pulled by the driving rope to be bent in the direction of the grabbed object, the grabbed object is pushed, and by means of the gradually-increased bending curvature of the variable-curvature grabbing arm, the front end of the variable-curvature grabbing arm is curled to catch the object, and the grabbed object is gradually bound to the position with the moderate curvature. Grabbing force closing is formed at the contact point of the variable-curvature gripper and the grabbed object through the pulling force of the driving rope, and enveloping of the grabbed object is achieved. The mechanical arm is composed of a rigid structure, a variable-curvature holding type grabbing mode based on the logarithmic spiral curve is adopted, the mechanical arm has the advantages of being high in grabbing stability, adaptability and accuracy and low in structure control complexity, and objects of different sizes and shapes can be grabbed.

This application provides a hierarchical cascaded collaborative control method, apparatus, and system for truck platoons, applicable to business scenarios such as ports, border crossings, road freight, urban distribution, mines, and airports. The method includes: firstly, logically dividing a large-scale truck platoon into a global lead group and at least one secondary platoon group; secondly, a first lead vehicle generates control commands and distributes them to all sub-group lead vehicles and vehicles within that group; and thirdly, each sub-group lead vehicle forwards the commands to its following vehicles, thereby achieving coordinated driving of the entire platoon. This invention introduces a hierarchical cascaded information flow topology, decomposing the control complexity of large-scale platoons. It effectively solves the error accumulation problem of traditional lead-following topologies and the communication load and single-point-of-failure problem of lead-lookahead topologies, while also possessing high stability, high reliability, and good scalability.

This application relates to a control method, apparatus, flexible parallel robot, and storage medium for a flexible parallel robot. The method includes: acquiring the target force and target motion trajectory of the robot, as well as the current output position and current output torque of each flexible drive joint in the robot; determining the position adjustment amount corresponding to the control force of the robot based on the force deviation or torque deviation between the target force and the current output torque; determining the velocity control amount corresponding to the control position of the robot based on the trajectory deviation or position deviation between the target motion trajectory and the current output position, and the position adjustment amount; and controlling the drive components of each flexible drive joint based on the velocity control amount to drive the robot's flexible motion. This method simplifies control complexity, improves control stability, absorbs impact energy, and achieves flexible actuation in both mechanics and kinematics.

The present application discloses a three-axis moving mechanism for installing a gear side clearance gasket of a reducer, including a base, on which a frame is fixedly installed. Inside the frame, there are a Z-axis transmission component, a Y-axis transmission component, and an X-axis transmission component. The Y-axis transmission component is arranged on the Z-axis transmission component, and the X-axis transmission component is arranged on the Y-axis transmission component. By setting the Y-axis transmission component, the X-axis transmission component, and the Z-axis transmission component, after the division of labor among the Z-axis, Y-axis, and X-axis, the control system can more simply plan the pick-up-move-place path, reduce the compound motion requirements of each axis, lower the control complexity, and each axis independently controls the direction, which can avoid the collision risk caused by structural overlap during multi-axis linkage.

The utility model relates to a double-cold-source fresh air dehumidification system which adopts two electric ball valves to replace a combination of a plurality of complex valves in related technologies, so that the system structure and the control logic are greatly simplified, the manufacturing cost and the control complexity of the system are effectively reduced, the hardware cost and the software development amount are reduced, and the system reliability is improved. The control strategy can be automatically switched according to the air inlet temperature, complex control program adjustment and shutdown restart are not needed, system faults caused by external condition changes such as cooling water supply interruption are effectively avoided, and stability and reliability are higher.

The utility model discloses a dispensing device system based on single-chip microcomputer control, and relates to the field of medical equipment. According to the system, a power supply module supplies power to the whole system by converting an external power supply, a single-chip microcomputer control panel receives an external instruction through key control, starts up to enter a self-cleaning mode, enters a standby mode after cleaning is finished, presses down a forward key, starts a brushless motor, starts a forward electromagnetic valve and pneumatically moves forwards; a retreat key is pressed down, a brushless motor is started, a retreat electromagnetic valve is started, and pneumatic operation is backward; the motor mode is switched by pressing the inching key, and the motor mode can only be pneumatically forward by pressing the forward key, and the motor mode is pneumatically forward by a specified distance. Valve terminal control is replaced by single-chip microcomputer control, control complexity is reduced, system stability is improved, the system structure is simpler, upgrading and maintenance are facilitated, cost is reduced, and mechanical delay is reduced; and the power supply module and the single chip microcomputer control module which are high in integration level and modularized are used, so that the equipment is more portable.

This invention discloses a multi-drive circuit for dimming glass and a vehicle. Through a processing module working in conjunction with a single inverter bridge module and a single filter module, a common sinusoidal AC voltage is output and input to several solid-state relays. Simultaneously, the processing module independently outputs control signals to adjust the on / off duty cycle of each solid-state relay, enabling each dimming glass to obtain a corresponding modulated sinusoidal drive voltage, thereby achieving independent light transmittance adjustment for multiple dimming glass paths. Furthermore, this invention only requires a single inverter bridge module and a single filter module to complete multi-path driving, simplifying circuit configuration and control logic, effectively reducing hardware costs and control complexity, and better adapting to the practical application scenarios of multi-window, multi-area dimming in automobiles.

The application discloses a vehicle turning control method and related equipment, and relates to the technical field of vehicle control. The method comprises the following steps: determining the rotation center of a target vehicle and the controlled wheels in the target vehicle according to a target turning mode of the target vehicle; generating a rotation direction mark of the target vehicle according to an expected rotation direction of the target vehicle; generating the relative position marks of the controlled wheels according to the position information of the rotation center; determining the rotation direction marks of the driving wheels according to the rotation direction mark and the first position marks of the driving wheels; determining the wheel control quantity of each controlled wheel according to a control parameter set, and controlling the controlled wheels to operate according to the wheel control quantity, so that the target vehicle turns around the rotation center. The application can realize unified control logic without multi-scene calibration, so that the vehicle can maintain wheel movement consistency under different turning modes and rotation centers, thereby reducing control complexity and improving the controllability and universal adaptation capability of the turning process.

The invention discloses a braille reader with strong electromagnetic braking, and relates to the technical field of braille auxiliary reading equipment. Comprising a substrate, an end cover, a touch panel arranged above the end cover and a driving mechanism clamped between the substrate and the end cover. Braille alphabet contacts capable of moving up and down are arranged on the touch panel in an array mode. And the driving mechanism comprises a sliding group formed by stacking a first fixed layer, a second fixed layer and a third fixed layer up and down, and electromagnetic driving parts which are correspondingly arranged and respectively and independently drive the contacts in the same row in all the character units. The electromagnetic driving part generates electromagnetic force through electrification, drives the ejector pin to jack up the braille contacts to form salient points, and is reset by the reset spring after power failure. According to the invention, electromagnetic interference and control complexity are effectively reduced through a layered driving architecture, a guide structure ensures motion precision and integrates heat dissipation design, rapid response, clear touch, low power consumption and reliable heat dissipation are realized, and the experience of dynamic braille display and equipment reliability are remarkably improved.