17 results about "Deceleration time" patented technology

The invention provides a multi-motor cooperative control system based on an open-source real-time operating system, and relates to the technical field of multi-motor control, the system calculates a target rotating speed through an upper computer controller, and ensures that a rotating speed instruction can be simultaneously sent to a plurality of dynamometers by using a real-time controller. By means of the EtherCAT high-speed communication protocol, the system can synchronously transmit instructions with extremely low delay, and it is guaranteed that all the drivers receive and execute the same operation instructions at the same moment. In addition, by setting consistent acceleration and deceleration time and PI control parameters of a speed loop and a current loop in the driver, the synchronism and response performance of the system are further optimized. The invention aims to realize high-precision synchronous operation.

The invention relates to the technical field of semiconductor manufacturing, and discloses a semiconductor product carrying control method and system and a storage medium, and the method comprises the steps: obtaining a size parameter of a to-be-carried semiconductor based on a carrying instruction, obtaining an adsorption instruction through a first matching strategy, and enabling a first actuator to adsorb a product through preset fixing force; and in combination with the carrying instruction and the size parameters, motion parameters including the running speed, the acceleration time and the deceleration time are obtained through a second matching strategy. In the carrying process, the real-time position is obtained, and the running speed is adjusted according to deviation positive correlation between the real-time position and the set position; identifying the motion direction, setting the speed as a first preset speed when the motion direction is consistent, and setting the speed as a larger second preset speed when the motion direction is inconsistent; identifying the shape of the product, setting a third preset speed for the square, setting a fourth preset speed for the circle, and enabling the third preset speed to be smaller than the fourth preset speed. According to the method, the accuracy of the semiconductor product carrying process can be improved, and the carrying efficiency and safety are improved.

To provide a numerical control device capable of rotating a tool magazine with a time constant optimum for the loading conditions even during a first program run after a setup change, a system, a control method, and a program.SOLUTION: A control unit of a numerical control device estimates the loading conditions around a rotation axis of a tool magazine. The loading conditions are defined by a loaded tool inertia and the unbalanced load of the loaded tool. The control unit stores the estimation results of the loading conditions in association with estimation variables (#500 to #505) corresponding to the setup patterns in the tool magazine. When setting instruction variables (#30054 and #30055) are read during execution of an NC program, the control unit sets the estimation results stored in association with the estimation variables as the read loading conditions. The control unit also calculates the time constant for acceleration and deceleration during the rotation of the tool magazine and executes the rotation operation of the tool magazine according to the set loading conditions.SELECTED DRAWING: Figure 12

A method (2) for operating an automated driving function of a vehicle (3) comprises the steps of: detecting (21) an object (4) in front of the vehicle; and in response to the detection (21) of the object (4), generating (22) control signals to cause the vehicle (3) to decelerate. The control signals are generated such that, in an initial deceleration phase (P1) ending after a predetermined deceleration time or distance, a first deceleration limit is observed, and in a subsequent follow-up deceleration phase (P2) a second deceleration limit, which is less restrictive than the first, is observed.The subsequent delay phase (P2) is only initiated if, throughout the entire initial delay phase (P1), one and the same detected object (4) has caused the vehicle (3) to decelerate, and if no physically implausible jump in the distance of the object (4) to the vehicle (3) or in other determined movement data of the object (4) has been detected during the initial delay phase.

To provide a printer and a control method capable of quickly printing even when producing high-quality printed matter. [Solution] The printer includes a thermal head, a platen roller, a motor, and a CPU. The thermal head prints on a medium. The platen roller transports the medium toward the thermal head. The motor drives the platen roller by rotating. The CPU switches the motor control mode between a first mode and a second mode. The acceleration / deceleration time in the second mode is longer than the acceleration / deceleration time in the first mode. The amount of jerk change in the second mode is smaller than the amount of jerk change in the first mode.

The invention discloses a motor smooth linear acceleration and deceleration system and a control method, which are applied to the fields of robots, industrial automation, machine tool processing, transportation, metering detection, aerospace, energy production, industrial manufacturing and elevators. The problems that an existing S-shaped acceleration and deceleration algorithm cannot respond quickly, overshoot oscillation exists in a linear control algorithm, and obvious grading echelon acceleration and deceleration are not smooth due to existing fixed grading grade acceleration and deceleration are solved. Fixed-period linear smooth acceleration and deceleration parameters are obtained through scanning period optimization calculation, a driver receives precise control pulse signals of a control system in each scanning period, the driver drives a motor, the control system precisely collects motor encoder information and the motor through an encoder, and according to set target speed data and target acceleration and deceleration time data, the acceleration and deceleration parameters of the motor are calculated according to the set target speed data and target acceleration and deceleration time data. Scanning cycles are collected, reliable scanning cycles are optimized, ideal graded acceleration and deceleration parameters based on reliable scanning cycle data are judged, and speed control of each scanning cycle is accurately achieved.

The present invention relates to the field of motor control technology, and specifically discloses a method for generating a motor reciprocating control scheme, an electronic device and a storage medium, wherein the method comprises the steps of: obtaining input parameters, the input parameters comprising original parameters and range parameters; calculating and obtaining a one-way motion duration according to a reciprocating frequency; calculating and obtaining an acceleration / deceleration duration; calculating and obtaining an acceleration / deceleration speed; calculating and obtaining a motion stroke; judging whether the motion stroke is within a stroke range, and if so, outputting a control scheme, otherwise adjusting a uniform motion duration or a reciprocating frequency to generate a new control scheme; the method can automatically generate a control scheme for a motor and adaptively modify and adjust the control scheme in combination with the reciprocating frequency, uniform speed, uniform motion duration and stroke range input by a user, so that the frequency and stroke parameters of the output control scheme meet the user's usage requirements and conform to the motor's operating characteristics, without the need for the user to repeatedly debug the settings, thereby effectively reducing the time cost and manpower cost used for debugging.

The invention provides a deceleration time determination method and device, electronic equipment and a program product. The method for adjusting the deceleration time comprises the following steps: determining a processing period; brake energy generated in the current processing period is determined; and determining the speed reduction time of the motor based on the braking energy generated in the current processing period and the current rated power of the braking resistor.

The invention discloses a conveying line multi-direction in-place detection method and system and a storage medium. A first object detection sensor and a second object detection sensor are arranged in the diagonal direction of a transverse and longitudinal conveying intersection area of a tray conveying line; position information of the virtual deceleration detection points and the virtual in-place detection points in all directions and operation parameter information of the conveying line are set; recording the difference between the starting time and the ending time when one object detection sensor is shielded by the tray, measuring and calculating the size of the tray in the running direction by combining the actual speed of the conveying line read in real time, and synchronizing the actual speed of the conveying line; when the two sensors are triggered by the tray, the first trigger is a deceleration point, the later trigger is an in-place point, the distances from the two points to the corresponding virtual detection points are read according to the direction of the tray, deceleration parameters and in-place parameters are calculated in combination with the rated high speed and the rated low speed of the conveying line, and a deceleration instruction is sent when the deceleration time is reached; and sending a stop instruction when the bit time is reached. The virtual detection point is used for replacing an entity sensor for positioning, so that the hardware cost of the sensor is reduced.

This invention discloses a multi-directional arrival detection method, system, and storage medium for a conveyor line. It involves arranging a first object detection sensor and a second object detection sensor diagonally in the transverse and longitudinal transport intersection areas of a pallet conveyor line. The method sets the position information of virtual deceleration detection points and virtual arrival detection points in each direction, as well as the conveyor line's operating parameters. It records the start and end time difference when one of the object detection sensors is blocked by the pallet. Combined with real-time readings of the actual conveyor line speed, it calculates the pallet's dimensions in the operating direction and synchronizes the actual conveyor line speed. It monitors in real-time the timing of the two sensors being triggered by the pallet; the first trigger is the deceleration point, and the second trigger is the arrival point. The distances from the two points to the corresponding virtual detection points are read according to the pallet direction. Combined with the conveyor line's rated high-speed and rated low-speed speeds, it calculates deceleration and arrival parameters. A deceleration command is sent upon reaching the deceleration time, and a stop command is sent upon reaching the arrival time. By using virtual detection points instead of physical sensors for positioning, the hardware cost of the sensors is reduced.

This invention relates to the field of path planning technology, and more specifically, to a method for planning the operation path of an automotive parts cutting robot. The method includes: determining a pair of dividing points between adjacent contours; calculating the deceleration time between the dividing point pairs in response to a direction change factor between the dividing point pairs being greater than or equal to an anomaly threshold; obtaining the total path length between the dividing point pairs based on the product of the direction change angle between the dividing point pairs and the actual turning radius; obtaining the constant speed time between the dividing point pairs based on the total path length and deceleration time, and calculating a time cost factor; continuing to obtain the time cost factors of dividing point pairs between other adjacent contours; and optimizing the operation path of the cutting robot among multiple cutting routes of automotive parts contours generated by a heuristic algorithm, thereby effectively improving the efficiency of planning the operation path of the automotive parts cutting robot.

A nonlinear error control method for a five-axis machine tool, relating to the field of precision machining technology, is disclosed. The method involves setting a nonlinear error threshold; deriving forward and inverse kinematics based on the machine tool structure; acquiring tool position information at the beginning and end of the toolpath, calculating the corresponding movement of each axis, setting the starting point, deceleration times, and desired feed rate; calculating the fine interpolation points between the two axes; calculating the nonlinear error; if the error is not specified, then setting the feed rate and recalculating; if the error is not specified, then updating the speed between the two axes, setting the feed rate, and resetting the feed rate. This process is repeated until the end of the operation. For five-axis machine tools with RTCP functionality, by setting an error threshold, adjusting the machining speed between tool positions, and controlling the number and distance between interpolation points, the nonlinear error can be effectively controlled while ensuring machining efficiency.

The invention discloses a robot control method and device, a robot, a storage medium and a computer program product, and the method comprises the steps: obtaining an emergency stop signal of the robot in the operation process of the robot, and obtaining the speed of the robot; according to the obtained sudden stop signal of the robot, whether the sudden stop function of the robot needs to be started or not is determined; if it is determined that the sudden stop function of the robot needs to be started, whether the sudden stop time of the robot is reached or not is determined according to the speed of the robot; and if it is determined that the sudden stop time of the robot is up, the sudden stop function of the robot is started so as to control the robot to achieve sudden stop. According to the scheme, the instant sudden stop time of the robot is judged according to the speed of the robot, pre-deceleration control is added, the deceleration time is controlled, it is guaranteed that the robot stops working in time, and the safety and stability of a system where the robot is located are improved.

The present invention provides a servo control device, which continuously optimizes parameters according to the state of a machine. A servo control device (10) is used to control a motor that drives an axis of an industrial machine, and the servo control device comprises: a state value derivation unit (11) that derives a time series or event sequence of state values ​​of the motor or a driven body that moves through the motor according to an operation program and / or operation plan information of the industrial machine; and a parameter change unit (12) that changes at least one parameter of a speed gain, a position gain, a feedforward gain, a filter frequency, and an acceleration / deceleration time constant after interpolation along the time series or event sequence based on the time series or event sequence data derived by the state value derivation unit (11).

The application discloses a control method for improving production efficiency of a rewinding machine, and calculates and sets the maximum acceleration time and minimum deceleration time of each set of paper of a parent roll, dynamically calculates the shortest acceleration and deceleration time of the second set of paper, automatically corrects the acceleration and deceleration time, and sequentially circulates until all the paper on the parent roll is completely withdrawn, so that the energy consumption of the rewinding machine is reduced, and the production efficiency of the rewinding machine is improved.

The present application relates to the technical field of semiconductor manufacturing, and discloses a method, system and storage medium for controlling the handling of semiconductor products. The method obtains the size parameters of the semiconductor to be handled based on the handling instruction, and accordingly obtains the adsorption instruction through the first matching strategy, so that the first actuator adsorbs the product with a preset fixing force. Combining the handling instruction with the size parameters, the motion parameters including the running speed, acceleration and deceleration time are obtained through the second matching strategy. During the handling, the real-time position is obtained, and the running speed is adjusted according to the positive correlation between the deviation from the predetermined position; the direction of movement is identified, and the first preset speed is set when it is consistent, and the second preset speed is set to a larger speed when it is inconsistent; the product shape is identified, and the third preset speed is set for a square, and the fourth preset speed is set for a circle, and the third preset speed is less than the fourth preset speed. This method can improve the accuracy of controlling the handling process of semiconductor products, and improve the handling efficiency and safety.

The invention provides a motor acceleration and deceleration control method, device and equipment and a storage medium, and the method comprises the steps: generating an acceleration and deceleration curve according to the starting frequency, target frequency and acceleration and deceleration time of a motor, dividing the curve into a plurality of stages according to the speed change rate of the curve, and obtaining the starting and ending positions of each stage; according to the speed change rate of each stage, pulse parameters in each stage are extracted, and an extraction point set of each stage is obtained; constructing an index data structure according to the starting and ending positions of each stage and the extraction point set; and searching two adjacent extraction points through the index data structure according to the current pulse count, performing interpolation calculation on the frequency values of the two extraction points to obtain the output frequency of the current pulse, and generating a PWM pulse signal according to the output frequency to drive a motor. According to the method, by means of staged self-adaptive extraction and interpolation calculation, acceleration and deceleration smoothness is guaranteed, meanwhile, storage space occupation is greatly reduced, and real-time calculation complexity is reduced.