113 results about "Fieldbus" patented technology

The invention relates to the technical field of automatic control, and discloses a water affair treatment process optimization control method, system and equipment and a medium. The method comprises the steps of performing state judgment on sensor detection data through a multi-parameter state recognition algorithm to obtain a processing stage switching instruction; modeling a microbial activity change rule according to the switching instruction to obtain a staged prediction model; optimizing the prediction model through a switching model prediction control algorithm to obtain a multi-target control strategy; performing coordinated calculation on the set value according to the control strategy to obtain a distributed control instruction; and performing driving control on the equipment by using the control instruction through the field bus to obtain a coordinated operation state. According to the invention, the control precision and the multi-target coordination optimization capability of the water affair treatment process are improved.

The invention relates to the technical field of data processing, and discloses an automatic control platform operation data management method. The method comprises the steps of collecting industrial equipment data through a field bus, storing the industrial equipment data into a database in a classified mode and establishing an index table, extracting a control loop to construct a DCS model, generating a process abnormality diagnosis report, calculating control parameters by using a self-tuning algorithm and outputting a control instruction, optimizing a process formula based on an implementation effect and constructing a recommendation knowledge base. According to the intelligent data management method, the process abnormality is accurately diagnosed, the control parameters are automatically optimized, and the process knowledge is continuously accumulated, so that the control precision, the diagnosis efficiency, the parameter optimization capability and the knowledge reuse level of the industrial production process are improved.

The invention relates to the technical field of industrial automation control, and discloses a distributed collaborative and intelligent master control system for a candy production line, which comprises a master control unit and a plurality of resource nodes which are connected with each other through an industrial field bus supporting a precise clock synchronization protocol, the general control unit generates and broadcasts a virtual main shaft position signal to define a system time sequence progress; each resource node corresponds to a physical execution unit with different physical response hysteresis characteristics, an electronic cam curve table for defining a mapping relation between a control set value and a virtual spindle position signal is stored, the resource nodes are configured with phase lead compensation logic, and a phase offset is superposed before the curve table is inquired, so that the phase lead compensation is realized. According to the method, phase pre-compensation is introduced in a logic instruction level, so that the problem of cooperative mismatch caused by response inertia difference of heterogeneous physical execution units is solved, and accurate alignment and seamless flexible remodeling of multi-section actions in a time domain are realized.

The invention discloses an EtherCAT master station synchronous control method and system based on a microkernel operating system, and belongs to the technical field of industrial automation field bus control. According to the system, a microkernel architecture is adopted, an EtherCAT protocol stack and a universal network protocol stack are deployed as two independent user mode processes, and data interaction is carried out through an inter-process communication and shared memory mechanism provided by a microkernel. According to the method, through a bidirectional dynamic clock compensation mechanism, static compensation in an initialization stage and dynamic compensation in an operation stage of a system are combined; a dynamic task scheduling strategy based on load awareness is adopted, and the task execution sequence is dynamically adjusted according to the CPU utilization rate and the task priority monitored in real time; a hardware redundancy design of double clock sources and double communication links is introduced, and a progressive synchronous recovery strategy is adopted during switching. According to the invention, nanosecond-level synchronization precision and microsecond-level fault switching can be realized, and the method is suitable for industrial control scenes with extremely high requirements on real-time performance and reliability.

The invention belongs to the technical field of digital twinning, and particularly discloses a virtual-real cooperative control method for a coarse and fine grinding all-in-one machine based on digital twinning, which comprises the following steps: S1, collecting real-time processing parameters of a coarse grinding unit and a fine grinding unit, and constructing a grinding digital twinning body synchronous with an actual processing process; s2, constructing a long-short-term memory network model, and predicting the state evolution trend of each unit in the future processing process; s3, optimizing the technological parameters of the whole process from coarse grinding to fine grinding in the grinding process of the digital twin; s4, searching an optimal process parameter combination in the grinding digital twin environment by adopting a snake swarm optimization algorithm; s5, the actual coarse grinding and accurate grinding process is driven to be executed; and S6, if machining abnormity or deviation is detected, re-optimization and correction control is automatically triggered. According to the method, a snake swarm optimization algorithm, a long-short-term memory network model and an industrial field bus control technology are combined, and virtual-real cooperative grinding control of the full-automatic coarse and fine grinding all-in-one machine based on digital twinning is achieved.

This invention discloses a synchronous monitoring system and method for a cantilever bridge-building machine based on the Internet of Things (IoT) and a BeiDou total station. By effectively applying new technologies such as BeiDou positioning, total station measurement, and IoT, it integrates existing fieldbus technology and safety monitoring technology to create a complete safety monitoring system. This invention offers more powerful functions than traditional equipment safety monitoring systems, particularly in high-precision three-dimensional positioning. It achieves centimeter-level positioning accuracy under normal conditions and millimeter-level accuracy for short-term applications. This directly meets the distance synchronization requirements of dual-machine operation in cantilever bridge-building machines and provides continuous monitoring of vertical and horizontal offsets throughout the bridge construction cycle, ensuring the operational safety of this new type of cantilever bridge-building equipment.

The invention relates to the technical field of industrial field bus communication, and provides an industrial field bus communication protocol unified adaptation method and device, a medium and equipment, and the method comprises the steps: constructing a unified adaptation protocol frame based on a JSON format, and the unified adaptation protocol frame comprises an application service interface layer, a protocol stack adaptation layer and a hardware communication routing layer; after a user application end request is received, an application service interface layer analyzes and extracts parameters such as a target equipment identifier and a protocol type; the protocol stack adaptation layer matches a path according to a protocol type, and converts an operation instruction and a data address into a target protocol data frame; the hardware communication routing layer matches a hardware interface type, converts a target protocol data frame into a physical layer data frame and sends the physical layer data frame to corresponding equipment; and after the receiving equipment responds to the data frame, the protocol stack adaptation layer converts the data frame into a unified adaptation protocol response frame, and the unified adaptation protocol response frame is returned to the user side through the application service interface layer. According to the method and the device, the unified adaptation protocol framework is constructed, so that unified adaptation and efficient communication of field bus equipment of different protocol types are realized.

The invention relates to the technical field of battery monitoring, in particular to a battery health state estimation method based on a battery aging system, which is characterized in that an upper computer and a plurality of test nodes are connected through an industrial field bus communication protocol, charge-discharge cycle test is performed on a battery pack, and battery data are acquired in real time; and processing the data by using a protocol analysis engine and a sliding time window technology, calculating a battery capacity fading rate and an internal resistance change rate, and generating a standardized data set. And a health state evaluation model is constructed through a machine learning model, real-time evaluation and visual display of the health state of the battery are realized, and early warning is given out when the health state is lower than a threshold value. The method supports dynamic parameter configuration, adopts a time sequence database to store data, and facilitates full-life-cycle data tracing. According to the invention, multi-dimensional data acquisition, intelligent analysis and safety protection are integrated, the efficiency, reliability and intelligent level of the battery aging test are improved, and a scientific basis is provided for battery maintenance and management.

The invention relates to the technical field of industrial automation control, in particular to an automatic equipment numbering system and method based on an industrial field bus. The method comprises the following steps: broadcasting an initial address seed through a main controller, and sequentially setting incremental addresses for equipment by adopting a chain transmission mechanism in linear topology; exclusive address fields are dynamically divided in the bifurcation topology, buffering is reserved, and hierarchical chain type numbering is started by branch head equipment; monitoring an equipment state in real time, recovering an offline address to an address pool for priority allocation of new equipment, and automatically expanding an upper limit of an address field when the address is exhausted; a conflict risk prediction model based on multi-modal data fusion is introduced, and the crossing from passive processing to active early warning is realized through adaptive adjustment of detection frequency and a preventive reset mechanism. According to the invention, plug-and-play deployment of equipment without manual intervention is realized, and the automatic management level and reliability of an industrial bus network are remarkably improved.

This invention relates to the field of industrial automation and control network technology, and discloses a real-time synchronization method system for LonWorks networks based on digital twin variables. Applied to LonWorks fieldbus networks, it is implemented based on a heterogeneous node system consisting of a general-purpose processing module, a LonTalk protocol processing module, and a high-speed serial communication bus. The general-purpose processing module carries a manager, the LonTalk protocol processing module maintains standard LonWorks network variables and has a built-in LonTalk protocol stack, and the high-speed serial communication bus transmits DTVP data frames. This invention achieves a significant leap in node computing power, freeing nodes from the limitations of dedicated communication chips and allowing them to directly utilize the high performance of industry-leading general-purpose microcontrollers to easily handle complex control algorithms, real-time data filtering, lightweight artificial intelligence inference, and other complex tasks.

The present invention provides a method and device for linking an existing fieldbus-based automatic control system with an Internet of Things system at the lower level of each system. A linkage device applicable to one embodiment of the present invention includes: a fieldbus connection unit, connected to the automatic control system based on a fieldbus communication protocol; an Internet of Things connection unit, connected to the Internet of Things system based on an Internet of Things communication protocol; a fieldbus virtual input and output memory, used to link the input and output information of the two systems; a message forming unit, used to form input and output messages; and a message processing unit, used to process the input and output messages. The linkage method applicable to one embodiment of the present invention can variably form input and output messages by receiving message metadata from the Internet of Things system that also includes addresses related to input and output messages of the fieldbus virtual input and output memory, and can flexibly represent various input and output information of the automatic control system and process the input and output messages.

A gateway (2) for a fieldbus system (100), wherein the gateway (2) comprises a first processor (6) with a first operating system (62), a second processor (7) with a second operating system (72) which is different from the first operating system (62) and has a virtual Ethernet interface (73), and an inter-processor communication interface (9) which is designed to enable an Ethernet protocol-based inter-process communication between the first operating system (62) and the second operating system (72) using the virtual Ethernet interface (73).

The invention provides an indoor mobile phone positioning method, which relates to the field of positioning and comprises the following steps of: S1, detecting IMEI (International Mobile Equipment Identity), IMSI (International Mobile Subscriber Identity) and SUCI (Subscriber Identity Control Identity) information of a mobile phone in a target area through mobile phone code detection equipment, comparing with a pre-registration database, and identifying an unregistered mobile phone; s2, covering the mobile phone code detection signal to a target area through an indoor distribution system, wherein the indoor distribution system comprises a power divider, a coupler, a feeder line and an antenna; s3, arranging a signal switch at the joint of the power divider, the coupler, the feeder line and the antenna, and connecting the signal switch and the controller through an industrial field bus; and S4, the controller controls the on-off state of each switch through the independent codes of the signal switches, and dynamically divides signal coverage sub-regions. Through the indoor distribution system and the signal switch dynamic control module, dynamic signal coverage and area division of the target area are realized, and the problem that in the prior art, a positioning method based on base station signals cannot distinguish indoor micro areas is solved.

The application discloses an EtherCAT master station synchronization control method and system based on a microkernel operating system, and belongs to the technical field of industrial automation fieldbus control. The system adopts a microkernel architecture, deploys an EtherCAT protocol stack and a general network protocol stack as two independent user state processes, and carries out data interaction through an inter-process communication and shared memory mechanism provided by the microkernel. The method combines static compensation in the system initialization stage and dynamic compensation in the running stage through a bidirectional dynamic clock compensation mechanism, adopts a dynamic task scheduling strategy based on load sensing, dynamically adjusts the task execution order according to the real-time monitored CPU usage and task priority, introduces a hardware redundancy design of double clock sources and double communication links, and adopts a gradual synchronization recovery strategy during switching. The application can realize nanosecond-level synchronization accuracy and microsecond-level fault switching, and is suitable for industrial control scenes with extremely high real-time and reliability requirements.

The application discloses a dynamic terminal resistance adaptive adjustment method, device, equipment and medium, and belongs to the technical field of industrial fieldbus communication. The method comprises the following steps: judging whether the current node is the physical end of the bus or not, disconnecting the terminal matching if the current node is not the end, and injecting a preset rising edge calibration pulse into the bus if the current node is the end; collecting a reflected signal generated by the calibration pulse on the bus, and recording waveform characteristic parameters including at least an overshoot amplitude and a ringing duration; according to the waveform characteristic parameters, iteratively adjusting a terminal resistance value by using a variable step strategy, increasing the resistance value when the overshoot amplitude exceeds a preset amplitude threshold, decreasing the resistance value when the ringing duration exceeds a preset time threshold, and stopping until a matching completion condition is met; and locking the optimal terminal resistance as the matching resistance value under the current communication mode. The application realizes automatic identification of the end node and closed-loop adaptive adjustment of the terminal resistance, and significantly improves the signal integrity and reliability of the bus communication.

The utility model discloses a high-voltage cable grounding ring current on-line monitoring system, and belongs to the technical field of electric power systems. Comprising a centralized control center, a transformer substation, a control box and a grounding box, the grounding box is connected with the control box through a grounding wire, the control box is converged to a field bus through communication optical fibers to be connected with the transformer substation, the transformer substation is connected with the centralized control center through a network, and the centralized control center outputs through the network. According to the utility model, cable state parameters and tunnel environment parameters of each measurement point can be received in real time, the monitoring data can be sent to the transformer station level server, control commands sent by the transformer station level server can be received at the same time, and the communication anti-interference capability is strong. And when a cable metal sheath has a grounding fault, relatively large power frequency short-circuit current flows through the cable sheath and a grounding wire and lasts for a plurality of cycles, and the amplitude and direction of the first half-wave of the short-circuit current at the two ends of the cable are monitored, so that whether a breakdown point is on the cable can be accurately judged.

A control device (e.g., a controller), especially for building automation, for controlling one or more field devices, which are connected to the control device in a data-technical manner via a communication network, especially via a fieldbus, wherein the field devices include a wireless service interface (wireless service interface, e.g., a WiFi interface), and wherein the control device is configured to receive a service signal generated by the field device and activate (or switch on) the wireless service interface based on this service signal. A method for transmitting data to a control device, which is used to control one or more field devices, which are connected to the control device in a data-technical manner via a communication network, especially via a fieldbus, wherein the wireless service interface of the control device is activated via a service signal generated by the field device and sent to the control device, and wherein after the wireless service interface is activated by a tool (e.g., an engineering tool, a commissioning tool), the data is transmitted to the control device via the wireless service interface.

The present invention relates to the field of coke oven carbonization chamber pressure control and discloses a coke oven carbonization chamber pressure monotonic system, comprising: a plurality of coke oven carbonization chamber pressure monotonic subsystems matching the number of coke ovens, wherein each two coke ovens share one coke oven pressure monotonic subsystem; each coke oven pressure monotonic subsystem comprises a control system cabinet and a field control cabinet; a DCS system is installed in the control system cabinet, which collects data and controls field equipment via a fieldbus module; each control system cabinet is connected to the field control cabinets on the tops of the two coke ovens via optical fibers; a plurality of field control cabinets are installed on the gas collecting duct platform on the top of each coke oven, and the plurality of field control cabinets are connected to each other using a star topology network; a plurality of monitoring and operating stations matching the number of coke ovens are provided, and the plurality of coke oven pressure monotonic subsystems are connected to a first number of monitoring and operating stations located in a centralized control center via optical fibers in a ring topology structure. Thus, pressure control of the coke oven carbonization chamber is achieved.

The invention relates to a method (100) for starting up a field device (10) in an automation system () which has a superordinate control unit (30). In the method (100) according to the invention, a simulation value (25) to be output to the field device (10) is specified by a handheld device (20). A logical measurement point (36) at which the simulation value (25) is output is determined in the superordinate control unit (30). The determined logical measurement point (36) is compared with a target measurement point (38). In the event of a match, the field device (10) is operated via the present communicative field bus connection (19). The invention also relates to a corresponding computer program product (40), to a handheld device (20), to a corresponding field device (10), and to a correspondingly equipped automation system (50). The invention further relates to a simulation method (200) and to a simulation program product (60), by means of which the operating behavior of such an automation system (50) can be adjusted.

The invention discloses a wind turbine generator distributed control system and method based on field bus master-slave configuration. The system comprises a wind turbine generator master station controller, a cabin slave station controller, a transmission chain slave station controller, a variable pitch control system, a tower footing converter, a tower footing human-computer interface, a cabin human-computer interface and a field bus. The wind turbine generator master station controller is located on a wind turbine generator tower footing, is connected to the cabin field bus coupler from an optical port of the tower footing field bus coupler through an optical fiber, and is connected to the cabin slave station controller, the transmission chain slave station controller, the variable pitch control system and the cabin human-computer interface from a serial port of the cabin field bus coupler. And the tower footing converter and the tower footing man-machine interface are directly connected to a serial port of the master station field bus coupler through a field bus respectively. On the premise of guaranteeing the core technology intellectual property rights of main engine manufacturers and the safety performance of the whole machine, the non-core control function of the unit main control system is opened, and the problem of excessive dependence on the main engine manufacturers is effectively solved.

The present invention relates to a method for configuring and parameterizing fieldbus users (Ctr, Dev), the fieldbus users being connected to each other via a fieldbus (F), wherein at least one first fieldbus user (Dev) is designed to provide and / or receive process data (IO), and a second fieldbus user (Ctr) is designed to run an application (AP), wherein, in a first step (S1), a topology (Topo) with configuration parameters (CP) of the fieldbus users (Ctr, Dev) is determined in a configuration file (CD) by means of a configuration tool (CT), and in a second step (S2), the first fieldbus user (Dev) is parameterized to subsequently communicate via the fieldbus (F) with at least one configuration data set (Dconf), the configuration data set comprising at least a first part (GDI) of the configuration file (CD), wherein, in a third step (S3), an object-oriented class (class) with elements (E) and functions (f) is generated from the configuration file (CD) originating from a program library (PB) and other code parts (C1, ..., C5) for communication between the second fieldbus user (Ctr) and the first fieldbus user (Dev), wherein, in a fourth step (S4), the class (class) is instantiated in the application (AP) of the second fieldbus user (Ctr), and the function (f) is used for communication when the application (AP) is executed, so as to enable access (Z) to the process data (IO).

The invention belongs to the technical field of intelligent welding, and discloses an embedded intelligent voice welding system centralized controller device which comprises a centralized controller, a plurality of welding machine devices, a mobile phone APP, an upper computer and a cloud server. The centralized controller is connected with a touch screen or a display screen through an MIPI interface or an HDMI interface, the centralized controller is in communication connection with a mobile phone APP and a computer upper computer through a wireless network or 5G or Bluetooth, and the mobile phone APP and the computer upper computer complete intelligent query of welding parameters through voice input or text input. And part of welding key parameters can be adjusted on line. The operation flexibility of the equipment is improved in the mode that the welding machine equipment is controlled through a wireless network, visual drawing improves the intuition of monitoring of the welding process, the requirement for knowledge reserve of welders is lowered through use of the cloud server, and the working efficiency and the welding quality are improved.

The invention discloses a steam generator liquid level control system verification platform based on hardware-in-the-loop simulation, and belongs to the technical field of nuclear reactor control. The invention aims to solve the problem of inaccurate description of physical equipment characteristics in the existing simulation technology. The platform comprises a DCS control system, a controlled device, an industrial control computer and a data communication network. The DCS control system comprises an upper computer, a Siemens S7-400 controller and a Siemens ET200M distributed I / O system, the controlled device is a Speedgoat real-time simulation platform carrying a steam generator simulation model, and the data communication network is composed of an industrial Ethernet and a PROFIBUS field bus. The platform supports a rapid control prototype and hardware-in-the-loop simulation dual mode, is compatible with PID and an intelligent control algorithm, has the functions of data storage, visual monitoring and the like, can accurately simulate actual working conditions, realizes full-process coverage from design to verification, improves simulation credibility and research and development efficiency, and provides a reliable test environment for steam generator liquid level control research.

This invention discloses a method and apparatus for automatic unloading and reloading control of a multi-robot collaborative tippler, relating to the field of robot collaborative control technology. The method includes: constructing a master-slave communication architecture for the tippler, comprising a master PLC acting as the network master and multiple working robots acting as network slaves, all connected to a fieldbus; the master PLC generating collaborative control commands based on the tippler's operating instructions; controlling the unloading and reloading operations of the multiple robots based on the collaborative control commands; before control implementation, acquiring the angular velocities of the master and slave motors via the fieldbus, calculating the angular velocity deviation, and generating an auxiliary control quantity that is superimposed on the slave motors to achieve angular velocity synchronization between the master and slave motors. This invention solves the technical problem in existing technologies where insufficient synchronization accuracy of master and slave motors in multi-robot collaborative operation scenarios affects the coordination and accuracy of collaborative control in multi-robot unloading and reloading operations, achieving the technical effect of improving the operational stability of the tippler and the accuracy and automation level of multi-robot collaborative unloading and reloading operations.

The present invention discloses a control valve diagnostics system (100) which comprises of a smart valve positioner (101) having an inbuilt accelerometer (101a), inbuilt non-contact position sensor (101b), an actuator (102), a power source (103), and the non-volatile memory (104). The smart valve positioner (101) is pre-installed with a non-contact position sensor for valve position measurement against maximum ‘g-force’ for a time interval of 5-20 milli seconds. The system (100) captures the ‘g-force’ continuously through inbuilt accelerometer (101a), where the system is powered by 2-wire 4-20 mA loop power or 2-wire fieldbus / profibus (103). The valve position at maximum ‘g-force’ value can be derived by comparing the previous and current ‘g-value’, and the generated data is saved in the non-volatile memory (104).

The invention discloses an automatically-controlled full-automatic cell culture system control scheme, relates to the technical field of cell culture and automatic control, and constructs a distributed control network with an industrial personal computer in a man-machine interaction system as a central command center. Real-time and two-way communication with local control panels of all functional systems is established through various field bus protocols, and each system is an execution unit with independent processing capacity and is responsible for receiving high-level process instructions and analyzing the high-level process instructions into accurate pulse control over a bottom servo motor and a stepping motor, so that the control precision of the system is improved. According to the framework, the central controller can efficiently arrange space-time action sequences of the six-axis robot, the electric clamping jaw and all functional systems in a task scheduling mode, whole-course automatic assembly line work from taking out of a cell bottle from a storage rack, transferring, uncovering, pipetting, liquid adding and centrifuging to finally putting into an incubator is achieved, manual intervention nodes are eliminated, and the working efficiency is improved. And the absolute standardization and repeatability of the operation are ensured.

The application relates to the technical field of data processing, and discloses an automatic control platform operation data management method. The method comprises the following steps: collecting industrial equipment data through a field bus, storing the data in a database in a classified manner and establishing an index table, extracting a control loop to construct a DCS model, generating a process abnormality diagnosis report, calculating control parameters and outputting control instructions by using a self-tuning algorithm, optimizing a process formula based on implementation effects and constructing a recommended knowledge base. The application realizes an intelligent data management method for accurately diagnosing process abnormalities, automatically optimizing control parameters and continuously accumulating process knowledge, so that the control precision, diagnosis efficiency, parameter optimization capability and knowledge reuse level of an industrial production process are improved.

This invention discloses a fully automatic vertical fish-killing machine control system based on TwinCAT3, belonging to the field of automated control technology for aquatic product processing equipment. The system adopts an open architecture of "PC + TwinCAT3," with EtherCAT fieldbus as the communication core. The hardware consists of a host computer, Beckhoff embedded controller, servo drive unit, sensors, and actuators for transmission, positioning, descaling, cutting, and evisceration. The software is developed based on the TwinCAT3 platform, integrating modules for fish size detection, multi-axis synchronous motion, process timing control, status monitoring, and human-machine interaction. The system acquires fish size parameters through displacement and photoelectric sensors, and relies on servo control and timing logic to achieve coordinated actions of various mechanisms, completing the fully automated fish-killing process. This system has a simple structure, reliable control, and moderate development and debugging difficulty. It solves the problems of asynchronous actions, poor fish adaptability, and insufficient processing accuracy in traditional fish-killing machines, and can meet the automated processing needs of common fish species.

The application belongs to the technical field of digital twinning, and particularly discloses a rough and fine grinding integrated machine virtual-real collaborative control method based on digital twinning, which comprises the following steps: S1, collecting real-time processing parameters of a rough grinding unit and a fine grinding unit, and constructing a grinding digital twinning body synchronized with an actual processing process; S2, constructing a long short-term memory network model to predict the state evolution trend of each unit in a future processing process; S3, performing process parameter optimization of a rough grinding to fine grinding whole process in the grinding digital twinning body; S4, searching for an optimal process parameter combination in the grinding digital twinning body environment by using a snake swarm optimization algorithm; S5, driving actual rough grinding and fine grinding process execution; and S6, if a processing abnormality or deviation is detected, automatically triggering re-optimization and correction control. The application combines a snake swarm optimization algorithm, a long short-term memory network model and an industrial field bus control technology, and realizes virtual-real collaborative grinding control of a full-automatic rough and fine grinding integrated machine based on digital twinning.

This invention relates to the field of intelligent assembly control and discloses a logic control system for intelligent assembly of radiators, including: an industrial fieldbus interface unit, a control state observation unit, and a core logic scheduling unit. Its core function lies in using the core logic scheduling unit to monitor the statistical variance of the force feedback signal to determine the contact transient, initiating a contact transient logic masking program, cutting off the deviation accumulation path by latching the state variables of the multiplication branch, and simultaneously switching the control architecture to an open-loop feedforward compensation topology based on the comprehensive disturbance estimate. This invention utilizes the second-order differential residual of the back electromotive force to construct a masking mechanism, avoiding the risk of command step jumps induced by sensor feedback lag during physical contact transients, converting uncontrollable mechanical impacts into a deterministic logic dissipation process, and achieving smooth control handover when the controlled assembly end crosses the physical boundary.