19 results about "Displacement error" patented technology

The invention discloses a mechanical arm control method and system for high-precision machining, and relates to the technical field of machining control. According to the method, an operation data set is constructed, a lead screw displacement error Wx (t) is calculated, and a mapping relation between time and an angle is established through a lead screw transmission ratio to obtain an angle error vector epsilon (phi); superposing and averaging the angle error vector by adopting a periodic signal superposition technology to obtain a lead screw angle error amount Es (phi); solving a fitting parameter group through a least square fitting algorithm, constructing a screw pitch error index Wwc (phi), performing dynamic error compensation on a screw rotation angle variable phi, and generating a corrected path track Xc; and calculating a periodic residual error ratio Rre of an error before and after correction by extracting actual displacement and theoretical displacement data, and evaluating a compensation state. According to the method, through time and angle domain collaborative modeling and periodic residual error closed-loop evaluation, dynamic correction and precise control over the motion error of the mechanical arm lead screw are achieved.

The application provides a method, device and system for adjusting control parameters of a robot, the method comprising: obtaining a displacement waveform of the robot collected by a displacement sensor, the displacement sensor being installed on an edge point of the robot, the edge point of the robot being an intersection between a movement direction of the robot and a shell of the robot; determining whether overshoot exists in the displacement waveform; and adjusting a position loop gain to a product of a preset multiple and a current position loop gain to reduce a probability of overshoot appearing again in the displacement waveform after a current time, in a case where it is determined that overshoot exists in the displacement waveform. The application solves the problem that the actual displacement error of the robot exceeds a tolerance error range due to a large difference between a position waveform of a robot end and a position waveform of a motor end under the same condition, and the position waveform of the motor end cannot fully reflect the actual operation of the robot.

The application discloses a radial magnetic bearing displacement vibration suppression method based on a phase shift reduced-order generalized integrator, and comprises the following steps: firstly, a magnetic bearing system model containing rotor mass imbalance is established; then, a synchronous displacement vibration suppression algorithm based on a phase shift reduced-order generalized integrator is designed, the orthogonal relationship of X / Y radial displacement error signals of the magnetic bearing is utilized, and the simultaneous extraction and compensation of double-channel synchronous components are realized; finally, the system stability is analyzed, and the phase shift angle parameters are designed in sections; the phase shift angle is introduced to adjust the phase without changing the amplitude characteristics at the synchronous frequency, so that the system stability is expanded. The application adopts the reduced-order generalized integrator structure, has less state quantity and lower calculation amount, and is suitable for high-speed real-time implementation of DSP / FPGA; the phase shift angle is introduced for phase advance adjustment, so that the stable working range of the algorithm can be effectively expanded; the orthogonal characteristics of the displacement signals are utilized to realize the unified implementation of X / Y double-channel synchronous compensation, and the structure is more simple.

The invention provides a speed-limiting tracking control method and system for wave motion compensation, and the method comprises the steps: obtaining the expected displacement and actual displacement at the current moment, and determining an expected speed based on a displacement error and a buffer space radius; calculating a Boolean quantity jump mark logic value; respectively solving the tracking increment of the smooth tracking expected speed and the compensation increment of the compensation displacement error; and finally, updating the current actual speed by combining the actual speed of the previous period, and indirectly controlling the actual displacement at the next moment. According to the method, a real-time position signal of an expected trajectory is only needed, a trajectory function form does not need to be predicted, any bounded unknown trajectory of which the frequency component is within the available bandwidth of the system can be tracked, the trajectory does not need to have a specific function form or conductivity, the speed in the tracking process is smooth, and speed limiting protection is achieved; the whole control algorithm is only composed of arithmetic operation and logic judgment, the calculation efficiency is high, and the method is suitable for being deployed in a low-cost programmable logic controller.

The invention relates to the technical field of networked vehicle transverse control system faults, and discloses a networked vehicle transverse control system fault estimation method based on an interval observer, which comprises the following steps: establishing a vehicle transverse dynamic model, and taking a transverse displacement error, a transverse displacement error change rate, a yaw angle error and a change rate as state variables; and constructing a continuous time state-space equation, discretizing to establish an information physical system model, and constructing a ZA-based multi-cell body region analysis method and a performance intermediate observer based on the intermediate variable. According to the method, the vehicle group formation system is abstracted into a typical information physical system model, deep fusion of a vehicle physical layer and a calculation network layer is realized, the core characteristics of a CPS system are reflected, the design freedom degree and the estimation precision are improved by introducing a novel interval observer with double auxiliary variables, and the estimation accuracy is improved. An interval fault estimation method is designed in combination with a set membership estimation thought, the robustness to unknown input is enhanced through intermediate variables, and the overall reliability of the system is improved.

The application provides a track vehicle path tracking gain adaptive modulation method using physical damping, and belongs to the technical field of unmanned driving control. The method first constructs a basic path tracking controller to obtain an initial control signal. The yaw rate loss caused by track slippage and the error amplification effect of system signal time delay when deviating from or crossing the reference path are defined as adverse factors that need to be compensated. The slowing effect of error attenuation when approaching the reference path is defined as the available physical damping characteristics. Based on the polarity combination of geometric observation variables such as heading error, displacement error and initial control signal, the vehicle motion trend is identified: when approaching the reference path, the control gain is reduced to utilize the physical damping and suppress reverse overshoot and oscillation; when deviating from or crossing the reference path, the control gain is increased to compensate for the error. The application does not depend on complex modeling, has small calculation amount and strong compatibility, and can effectively solve the problem that the existing technology cannot simultaneously improve accuracy and smoothness.

The invention discloses a control method and device for rudder angle execution devices of a ship and the ship, and belongs to the technical field of ship propulsion systems.The control method comprises the steps that motion of all the rudder angle execution devices is controlled according to a control instruction, and running state data of all the rudder angle execution devices are obtained in real time; according to the operation state data, a preset displacement tracking error boundary value and a preset speed tracking error boundary value, the acceleration tracking error of a hydraulic cylinder of each rudder angle execution device is determined; determining a control voltage of each rudder angle execution device according to the acceleration tracking error; and iteratively updating the control instruction according to the control voltage so as to realize cooperative control of each rudder angle execution device. The operation state data is limited through the displacement tracking error boundary value and the preset speed tracking error boundary value, the displacement errors and the speed errors of all the rudder angle execution devices are restrained within the unified threshold range, it is guaranteed that the steering of the multiple rudder blades is kept synchronous, and the safety of ship navigation is further guaranteed.

This invention belongs to the field of CNC machining technology and discloses a method for compensating the lift error in CNC cam grinding based on the position of the drive axis. The method includes the following steps: S1. Acquire the actual contour or lift data of the cam after machining, calculate the actual displacement sequences of the C-axis and X-axis controlling the relative motion between the cam and the grinding wheel during grinding, and calculate the displacement error sequence; S2. Based on the hysteresis characteristics of the machine tool's C-axis and X-axis response, correct the C-axis coordinates in the displacement error sequence to obtain the C-axis coordinate sequence; calculate the X-axis compensation value sequence; the C-axis coordinate sequence and the X-axis compensation sequence form the displacement compensation sequence; S3. Use the displacement compensation sequence to compensate for the preset theoretical displacement sequence, and use the compensated displacement sequence to machine the cam. This invention solves the problems of complex online control parameters, limited accuracy of error back-superposition compensation, and reliance on experience for trial cutting and adjustment in existing cam machining error compensation methods.

The application relates to the field of six-degree-of-freedom motion platforms, and discloses a six-degree-of-freedom motion platform linear displacement error compensation method, which comprises the following steps: calculating theoretical pose data of an end effector according to a kinematics inverse solution model to obtain theoretical linear displacement instructions of each driving leg and control the extension and retraction of the driving leg; acquiring actual pose data to calculate pose deviation; converting the pose deviation into initial linear displacement compensation amounts for each driving leg based on a pre-constructed error mapping Jacobian matrix; correcting the theoretical linear displacement instructions based on the initial linear displacement compensation amounts to obtain target linear displacement instructions, and outputting the target linear displacement instructions to a controller to perform positioning control. Through the technical scheme, the actual tracking positioning accuracy of the end effector of the platform is improved.

The invention relates to a disturbance observation method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps of determining a current actual input torque of a current disturbance observation period based on a previous estimated disturbance of a previous disturbance observation period under the condition that the current disturbance observation period is not the first disturbance observation period; based on the current actual input torque, outputting the current displacement error amount of the current disturbance observation period through an admittance control model; based on the current displacement error amount, determining a current estimated torque through an inverse model of an admittance control model; a current estimated perturbation for the current perturbation observation period is determined based on the current actual input torque and the current estimated torque. Therefore, the accuracy of disturbance observation is improved.

The invention relates to an error compensation method and device for a motion table, and the method comprises the steps: adjusting the displacement of the motion table moving to each first position based on a first compensation table in a process of controlling the motion table to move so as to detect a first to-be-detected workpiece, the first compensation table comprises a first displacement compensation amount needing to be adjusted when the moving table moves to each first position; determining a current residual table based on a detection position and a theoretical position of a first feature point on the first to-be-detected workpiece in the detection process, wherein the current residual table comprises second displacement compensation amounts needing to be adjusted when the motion table moves to each second position; and determining a second compensation table based on the first compensation table and the current residual table, wherein the second compensation table comprises a third displacement compensation amount which needs to be adjusted when the moving table moves to each third position. According to the method, the residual error is used for further compensating the error, a denser error compensation table can be generated, and the dynamic correction capability of the semiconductor detection equipment on the displacement error of the motion table is remarkably improved.

The invention discloses a time-delay-free angular displacement error compensation system based on real-time self-calibration, which relates to the technical field of displacement error compensation and comprises a sensing module, a core processing module and a compensation output module. Dynamic error parameters are identified on line through a real-time iterative estimation algorithm, real-time feed-forward compensation is carried out through FPGA hardware, inherent calculation delay of traditional software compensation is effectively eliminated, the real-time performance of feedback signals is ensured, and then the intelligent arbitration unit dynamically evaluates the signal quality of the multiple sensors and generates fusion weights, so that the real-time performance of the feedback signals is improved. The reliability of the system can be automatically adjusted when a single sensor has short-time abnormity or performance degradation, stable and reliable output is maintained, and the robustness and the fault-tolerant capability of the system are remarkably improved; in addition, the micro excitation device can trigger in-situ self-calibration and update a sensor dynamic model when the system is idle, so that long-term drift is inhibited, and the stability of precision in the whole life cycle is guaranteed.

The present application relates to motor control and sensor technology field, disclose a kind of displacement error dynamic compensation method, device, equipment and medium, comprising: obtaining the temperature data and original displacement data of multiple temperature measuring points in motion component inside and environment, call the nonlinear mapping relationship between temperature gradient and displacement deviation pre-constructed, temperature data and original displacement data are adaptively filtered based on the nonlinear mapping relationship, separate out the trend component characterized temperature drift, obtain the displacement data of removing trend component, generate dynamic compensation instruction based on trend component and nonlinear mapping relationship, adjust the displacement data of removing trend component and output compensation displacement data.The present application constructs the nonlinear mapping model of temperature gradient and displacement deviation, combines multiple-point temperature sensing and adaptive filtering extraction drift trend, dynamically generates compensation instruction, realizes the accurate real-time correction of displacement error, improves the responsiveness and accuracy of compensation.

The invention discloses an error compensation method of a Z-type scanning system, the Z-type scanning system and equipment. The error compensation method comprises the following steps: acquiring a first direction image acquired by the Z-type scanning system when the Z-type scanning system moves from a current layer of an object to be scanned and a second direction image acquired by the Z-type scanning system when the Z-type scanning system moves from an upper layer of the object to be scanned; calculating an image overlapping area between the first direction image and the second direction image, and determining a first image overlapping area and a second image overlapping area according to the image overlapping area; calculating a reference offset estimation value according to a first projection vector constructed by using the first image overlapping region and a second projection vector constructed by using the second image overlapping region; and selecting an offset prediction quantity in a reference offset range corresponding to the reference offset estimation value, and performing error compensation on the first direction image by using the offset prediction quantity. According to the method, accumulation of displacement errors can be inhibited in real time in the process of scanning the object to be scanned by using the Z-type scanning system.

A metrology method includes obtaining a first absolute position metric of a first structure in a first layer on a substrate and a second absolute position metric of a second structure in a second layer of the substrate; and determining one or more of the following from the first absolute position metric and the second absolute position metric: exposure-induced first layer pattern displacement describing a displacement error of the first structure resulting from exposure of the structure; exposure-induced second layer pattern displacement describing a displacement error of the second structure resulting from exposure of the structure; a process-induced first layer pattern displacement describing a displacement error of the first structure resulting from the processing of the structure; and / or an alignment error describing an error of alignment data used to align the second layer with the first layer.

This invention belongs to the field of sliding diaphragm position tracking control technology, specifically relating to a preset-time anti-interference sliding diaphragm position tracking control method and system for a PMSM (Motor Particulate Module). It includes constructing a mathematical model for position tracking control of the disturbed PMSM, using the q-axis stator current as the control input for motor position tracking control, constructing an error dynamics expression based on observed position error and observed velocity error, and introducing a time-varying scaling function based on arbitrary duration. A switching time point is set within the arbitrary duration, a continuously differentiable and bounded time-varying scaling function is introduced, and then, through coordinate transformation, an interference observer is constructed, a preset-time controller is designed, and finally, the control input is obtained, enabling the mechanical angular displacement to track the desired mechanical angular displacement within a specified time range. Using the scheme of this invention, the boundedness of all closed-loop signals is guaranteed, and both the motor angular displacement error and angular velocity error converge to the equilibrium point within a preset time.

The invention relates to the technical field of computer vision, in particular to a visual displacement correction method and system based on target mutual reference and correlation analysis. According to the method, during target displacement calculation, the displacement correlation between any two targets is calculated, the two targets with the highest displacement correlation are selected firstly, and the stability of the targets is considered to be the best; the higher the displacement correlation is, the displacement is mainly derived from errors, so that the displacement errors of other targets can be corrected by performing differential calculation on the displacement of the other targets and the displacement of the reference target, self-benchmark correction is realized, and the bottleneck of stable benchmark dependence is broken through.

This application discloses a method and chip for optimizing displacement based on the fusion of IMU data and encoder data. The method includes: integrating IMU data based on manifold pre-integration to obtain the IMU pose and obtaining a first covariance matrix corresponding to the IMU pose; integrating encoder data based on group space closed integration to obtain a first encoder pose and obtaining a second covariance matrix corresponding to the first encoder pose; fusing the first covariance matrix, the second covariance matrix, the IMU pose, and the first encoder pose based on an error Kalman update process to obtain a first displacement error; optimizing and obtaining a second encoder pose based on the first encoder pose and the corresponding first displacement error; and integrating the second encoder pose based on group space closed integration to obtain the optimized current cumulative displacement. This application solves the problem of large encoder displacement errors caused by slippage by fusing IMU data and encoder data, effectively optimizing the accuracy of displacement.

The invention belongs to the technical field of metallurgical continuous casting equipment control, and particularly relates to a continuous casting machine blank moving vehicle high-precision position control method based on motor rotating speed feedback. Comprising the following steps: S1, acquiring a rotating speed signal and a current signal of a motor for driving the blank moving vehicle in real time; s2, establishing a conversion model between the rotating speed of the motor and linear displacement of the blank moving vehicle according to mechanical transmission system parameters of the blank moving vehicle; s3, calculating the real-time accumulated displacement of the blank moving vehicle based on the rotating speed signal and the conversion model; s4, a dynamic compensation mechanism is introduced in the real-time accumulated displacement calculation process to compensate for displacement errors caused by mechanical transmission gaps and / or load fluctuation; and S5, performing closed-loop control on the motor according to the deviation between the compensated real-time accumulated displacement and the target position. The device can improve the position control precision of the blank moving vehicle, is not influenced by field high temperature, dust and vibration, and is good in reliability.