832 results about "Friction torque" patented technology

The invention relates to a system friction torque estimation method and device, a steer-by-wire system and a vehicle. The estimation method is applied to the steer-by-wire system, the steer-by-wire system comprises a steering execution module, a rack of the steering execution module is hinged to a steering tie rod, the other end of the steering tie rod is hinged to a steering knuckle arm, the steering knuckle arm is fixedly connected with a tire, and the rack pulls the steering tie rod to reciprocate so as to drive the steering knuckle arm and the tire to rotate around a main pin. The estimation method comprises the following steps: observing through a sliding-mode observer to obtain an estimated value of the lateral force of the front axle; obtaining a function relationship between the lateral force of the front axle and the moment Mkp of the main pin; the estimated rack force is obtained on the basis of Mkp = Frack, the function relation between the front axle lateral force and the master pin moment Mkp and the estimated value of the front axle lateral force, Frack is the rack force, and rack is the length of a steering knuckle arm; and obtaining an estimated system friction torque based on the estimated rack force and the system friction torque-rack force function model.

The invention discloses a dynamic tension control method for a dry-method winding and unwinding system, solves the problems of high overshoot, long coil diameter sudden change adjustment time and large steady-state fluctuation in low-speed operation of the dry-method winding and unwinding system under a high-speed reversing working condition, and belongs to the technical field of composite material equipment development. The method comprises the steps of collecting data of a winding and unwinding system, identifying total rotational inertia and friction torque on line according to the data, obtaining a friction compensation item according to the friction torque, and obtaining a rotational inertia feed-forward item according to the total rotational inertia; the method comprises the following steps of S1, inputting the tension error and the tension error change rate of the winding and unwinding system into a fuzzy PID controller to obtain a PID parameter real-time adjustment amount, updating a PID parameter, and then obtaining a PID feedback control amount at the current moment k by using the PID controller and the tension error, and S3, synthesizing a friction force compensation item, a rotational inertia feed-forward item and the PID feedback control amount into a final control amount of the winding and unwinding system.

Disclosed in the present invention are a current lookup table-based permanent magnet synchronous motor wide voltage range control method and a medium. The method comprises: by means of a full-speed domain current calibration method, obtaining a rotating speed-torque two-dimensional lookup table under a rated bus voltage; on the basis of the lookup table, multiplying a given rotating speed with a front-and-rear amplitude limiting voltage ratio to achieve wide voltage range control; and performing friction torque compensation and sampling delay compensation of a three-phase current at different rotating speeds. The present invention takes into account bus voltage fluctuation under the complex working condition of an electric vehicle, and multiplies the given rotating speed with a variable voltage coefficient ku to obtain an input rotating speed of an input current lookup table, such that precise current control of the permanent magnet synchronous motor under different bus voltage working conditions can be achieved, thereby avoiding the complex and tedious process of re-calibration of the current lookup table under different bus voltages; the present invention also takes into account friction torque compensation and phase current sampling delay compensation at different rotating speeds, wherein the friction torque compensation can be achieved by directly adding a friction torque error into a given torque signal in real time.

The invention discloses an impact load simulation test bench for a friction torque limiter, which belongs to the technical field of detection and comprises a base guide rail, an experimental device and a support are fixedly connected and mounted on the guide rail, an output end of a variable frequency motor is connected with a torque sensor through a coupler, and the other end of the torque sensor is connected with the friction torque limiter. The other end of the friction torque limiter is connected with the torque sensor, the other end of the torque sensor is connected with the eddy current brake, and the other end of the eddy current brake is connected with the electric hydraulic drum brake. According to the invention, the eddy current brake is used as a load to realize operation under different torques, and the electric hydraulic drum brake simulates different impact loads to carry out performance detection on the friction torque limiter in overload and impact states. In addition, the device supports friction torque limiters of different models, and can meet more experiment requirements.

The invention discloses a well completion pipe string tripping-in capacity analysis method, system and equipment, and belongs to the technical field of oil and gas engineering.The method includes the steps that a friction torque mechanical theoretical model is adopted, and a full-shaft equivalent friction coefficient is obtained through fitting of measured data in the simulated drifting stage; according to the equivalent friction coefficient obtained through fitting, the deformation state of the open hole segmented well completion pipe string is calculated and analyzed, and therefore it is ensured that the well completion pipe string can be safely tripped in; meanwhile, different encountering resistances are arranged in a distributed mode, the deformation state of the pipe column in the tripping-in process of the well completion pipe column is calculated and analyzed, the critical encountering resistance is determined according to the deformation state of the pipe column, a more objective and reliable encountering resistance value is provided for control over the tripping-in process of the pipe column, the tripping-in safety of the pipe column is improved, and meanwhile the construction efficiency is improved.

The invention relates to a mechanical arm friction disturbance identification and suppression method based on a vibration signal. The method is suitable for high-precision control of a multi-degree-of-freedom flexible joint robot system. The method comprises the following steps: firstly, designing a five-order Fourier excitation track meeting a zero boundary condition to excite system dynamic response; then constructing a structural dynamics regression model based on a Newton-Euler method, extracting a minimum parameter set, and obtaining a structural item output torque; aiming at a structural modeling residual error, introducing a breadth learning system (BLS) to carry out nonlinear identification on non-structural disturbance, and carrying out global optimization on network structural parameters by adopting a particle swarm optimization (PSO) algorithm; and finally, fusing the structure item and the disturbance item to form total joint torque estimation for realizing feed-forward compensation control. The method has the advantages of being high in identification precision, high in real-time performance, high in data utilization rate, excellent in robustness and the like, nonlinear friction torque disturbance generated by the mechanical arm under the vibration interference condition can be effectively restrained, the dynamic tracking performance and control stability of a system are improved, and good engineering adaptability and popularization value are achieved.

The invention relates to the technical field of mechanical arm control, in particular to a mechanical arm dynamic parameter identification method, which comprises the following steps of: identifying friction parameters of a piecewise nonlinear friction model according to an initial value of joint friction torque, and calculating a calculated value of the joint friction torque; calculating a calculated value of a total inertia moment according to the calculated value of the joint friction moment, identifying an inertia parameter of the semi-linear kinetic model according to the calculated value of the total inertia moment, updating the semi-linear kinetic model according to the identified inertia parameter, and recalculating an updated value of the total inertia moment; and calculating an updated value of the joint friction torque according to the updated value of the inertia total torque, replacing the initial value of the joint friction torque with the updated value of the joint friction torque to perform friction parameter identification again, and performing loop iteration until an error is converged to be within a preset threshold value. According to the identification method, the semi-linear kinetic model is adopted and is compensated, the identified parameters are more practical, and the reliability and the accuracy of the kinetic model are improved.

An automobile hub bearing load friction torque testing machine and a testing method thereof relate to the technical field of bearing testing, and the automobile hub bearing load friction torque testing machine comprises a driving assembly, a mechanical shaft suspension assembly, a test bearing tool assembly, a friction torque measuring assembly and an axial loading assembly which are sequentially connected to the upper part of a testing machine tool body; a loading connector assembly is arranged outside the mechanical shaft suspension assembly, and the axial loading assembly and the radial loading assembly arranged at the lower part of the test machine tool body are connected with the loading connector assembly; a hydraulic bearing suspension system and a clutch mounting seat are fixed on a mounting bottom plate B of the friction torque measuring assembly at intervals, a dynamic torque sensor is fixed on a left side panel of the clutch mounting seat, and the hydraulic bearing suspension system and the dynamic torque sensor are fixedly connected through a torque limiter and a coupler in sequence. The right side of the dynamic torque sensor is connected with an electromagnetic clutch; the defect that in the prior art, the additional torque of a hydraulic / pneumatic bearing cannot be removed is overcome, and torque measurement is more accurate.

The invention relates to a device (19) for a muscle-powered vehicle (20), comprising an electric machine (8) with a rotor shaft (8.1), a gear (4) with at least one first helical gear (5) and a second helical gear (7) which mesh with one another, a pedal crankshaft (9) and a housing (10) for accommodating the electric machine (8), the gear (4) and essentially also the pedal crankshaft (9), wherein the first gear (5) is arranged on the pedal crankshaft (9) in a torque-transmitting manner, wherein the second gear (7) is arranged on the rotor shaft (8.1) in a torque-transmitting manner.1), wherein one of the two gearwheels (5, 7) is arranged to be axially displaceable and the other of the two gearwheels (7, 5) is arranged to support axial force, wherein at least one first friction surface (3) is arranged on at least one end face of the axially displaceable gearwheel (5), which is assigned to at least one second, stationary friction surface (2), so that when the pedal crankshaft (9) is driven in the direction of travel of the vehicle (20), the axially displaceable gearwheel (5) is displaced axially in such a way that the two friction surfaces (3, 2) come into contact and generate a friction torque.

The invention relates to the field of plastic film production equipment, in particular to a film coiling machine and application thereof, and more particularly relates to a film coiling method on two-way stretch film equipment. The thin film coiling machine comprises a conveying module and a coiling module, the conveying module is adjacent to the coiling module, the conveying module comprises a tension roller and a contact roller, and the conveying module is used for conveying a thin film to the coiling module; the winding module comprises a winding roller and is used for continuously winding the thin film. According to the thin film winding method, the limiting torque of a winding roller motor is jointly influenced by various parameters, accurate measurement and calculation of the parameters provide an accurate control means for two-way stretching, and the formula tension, the real-time winding diameter of the winding roller, the acceleration and deceleration compensation torque, the friction torque of the winding roller and the PID compensation torque act synergistically, so that the two-way stretching precision is improved. And the motor can respond to the tension requirement of the film in real time in the two-way stretching process.

The invention provides a tension determination method and device, electronic equipment and a medium. The method comprises the steps that the current friction torque and the current actual torque of a traction roller driving motor of a target tension section are obtained; acquiring the current average torque of the traction system; according to the current friction torque and the current actual torque of a traction roller driving motor of the target tension section and the current average torque of the traction system, the traction tension torque of the target tension section is obtained; and the current material tension of the target tension section is obtained according to the preset unwinding tension and the traction tension torque of the target tension section.

The invention relates to a drill jamming early warning method and system based on a multistage model. Working state parameters in the drilling period are obtained and preprocessed; the torque, the rotating speed, the hook load and the riser pressure in the preprocessed working state parameters serve as input samples, reconstructed samples are obtained through the trained Bi-LSTM auto-encoder model, and if the error between the reconstructed samples and the input samples is larger than a set threshold value, drilling is abnormal; under the condition that well drilling is abnormal, the preprocessed working state parameters, bit pressure, pipe column information, well track and well body structure information serve as input of a friction torque-hydraulic model, predicted values of torque, hook load and riser pressure are obtained, the deviation between the predicted values and corresponding actual values is calculated, and the deviation of the predicted values is calculated; and according to the ratio of the deviation value to a set threshold value, determining a corresponding drill jamming early warning grade. A Bi-LSTM auto-encoder and a friction torque-hydraulic model are utilized to form a two-stage drilling tool jamming early warning method, data driving and mechanism modeling are combined, and the early warning accuracy is improved.

The invention discloses a multi-mode hydraulic motor low-speed heavy-load friction torque parameter identification method and device, and the method comprises the steps: analyzing the torque balance condition of a hydraulic motor, and building a low-speed heavy-load friction torque model suitable for the hydraulic motor based on the operation condition of the hydraulic motor; designing a group of constant-pressure variable-rotating-speed frequency sweeping tracks and a group of constant-rotating-speed variable-pressure tracks, and carrying out steady-state friction parameter identification; and controlling the hydraulic motor to operate at a variable speed, designing a constant-pressure variable-rotating-speed excitation track meeting a continuous excitation condition, and carrying out dynamic friction parameter identification. According to the method, a low-speed heavy-load friction torque model suitable for the hydraulic motor is established, and a model parameter mixed identification framework is provided based on the model. The framework is composed of a steady-state friction parameter identification link and a dynamic friction parameter identification link, excitation tracks are designed under the links respectively, friction torque parameter identification can be completed, and compared with a traditional method, the method has higher systematicness and engineering performance.

The invention discloses a modular mechanical arm actuator additive fault optimal fault-tolerant control method and device of a zero sum differential game, and relates to the field of robot control algorithms, and the method comprises the steps: representing a nonlinear damping characteristic through a joint friction torque, describing the dynamic interaction of multiple joints through a cross-linking coupling item, and determining the optimal fault-tolerant control of the additive fault of the modular mechanical arm actuator; a dynamical model containing faults is constructed. And uncertain items in the model are updated online by adopting a radial basis function neural network identifier, so that the model precision is improved. A performance index function is constructed based on position errors, actuator faults and controller input are regarded as two opposite parties of a zero and differential game, the performance index function is approximated through a single evaluation neural network, a Hamiltonian-Jacobi-Axaxi equation is approximately solved, and an optimal fault-tolerant control strategy is obtained. According to the method, the game theory is combined with the neural network, the dynamic unknown fault problem of the modular mechanical arm is effectively solved while the system energy consumption integration is reduced, and real-time optimal control over the modular mechanical arm is achieved.

A motor control device includes a torque controller to operate based on a steering torque and to give an input to a control target that is a motor, and a model following controller to generate a first correction torque based on an output from the control target. A model following controller includes a high-pass filter to remove a low frequency component from a first correction torque, a friction compensation calculator that is coupled in parallel to the high-pass filter to apply friction compensation to the first correction torque to calculate an estimated value of a mechanical friction torque, and an adder to add the estimated value of the friction torque to the first correction torque from which the low frequency component is removed by the high-pass filter to generate a second correction torque and feed back the second correction torque to an input to the control target.

A piston pin hole friction and wear test and torque measurement device in power machinery field, comprising a driving system, a torque measurement system, a loading system, a temperature control system, an oil supply system and a central controller. The driving system simulates the oscillation of the connecting rod. The loading system simulates the time-varying cylinder pressure load. The oil supply system and the oil channels of the connecting rod, bushing, and piston pin simulate the oil supply state. The torque measurement system comprises a total friction torque measurement device and a small head bushing hole friction torque measurement device, and measures the friction torque at the piston pin seat hole and the piston pin small head hole in real time. The temperature control system simulates the thermal load. The present application carries out tests based on actual components and realizes real-time measurement of friction torques.

The invention discloses an automatic measuring device and measuring method for dynamic and static friction torques of medium and large-sized bearings, and belongs to the technical field of bearing detection.The device comprises a bearing assembly, a moving plate is arranged on the bearing assembly, a rotating motor is connected to the bottom of the bearing assembly, and a driving shaft system is arranged on an output shaft of the rotating motor; the top end of the driving shaft system is provided with an inner ring fixing mandrel, the upper surface of the moving plate is connected with a torque sensor through an upper fixing frame, the bottom end of the torque sensor is provided with a measuring shaft system, the bottom end of the measuring shaft system is sleeved with a center adjusting assembly through two guide columns, the bottom of the center adjusting assembly is provided with an outer ring loading tool, and the outer ring loading tool is provided with an inner ring. Under the cooperation of the structure, not only can the dynamic friction torque be measured, but also the multi-point static friction torque can be automatically measured, more comprehensive bearing friction characteristic data are provided, and optimization of bearing design and model selection is facilitated.

The invention relates to the technical field of flexible joint mechanical arm control, in particular to an optimization method for flexible joint parameter identification based on an anti-disturbance sliding-mode observer, which comprises the following steps of: deducing a torque mathematical expression of a connecting rod side according to a typical flexible joint kinematic model, and further performing position decoupling on the torque expression to obtain a flexible joint parameter identification model; and obtaining reference position input of the motor side. In the design of a torque observer, a sliding mode disturbance observer is used for estimating feedback torque and unknown disturbance of a dual-mass system of a motor and a connecting rod, and the disturbance comprises external contact torque, friction torque and the like, and also comprises system internal parameter fluctuation and the like. And finally, in consideration of irreversibility and ill-conditioned matrix problems existing when parameter identification is carried out by using a traditional least square method, a least square method identification process based on a ridge regression method is designed, and kinetic parameter identification is realized.

The invention discloses a friction compensation method, device and equipment for a surgical robot, a medium and a product. The method comprises the steps that the current angular velocity and the to-be-measured angle of a to-be-measured joint in the surgical robot are obtained; acquiring a pre-constructed target friction prediction model corresponding to the joint to be measured and the current angular velocity; inputting the angle to be measured into the target friction prediction model to obtain an output target friction torque; according to the current angular velocity and the target friction torque, friction torque compensation is conducted on the to-be-measured joint, the problem that a traditional friction compensation method is poor in adaptation degree with a surgical robot is solved, the friction compensation effect of the surgical robot is improved, and the accuracy of the friction compensation method is improved. And the stability of the surgical robot under different angular velocity working conditions is ensured.

The invention relates to the technical field of motion control, and discloses a shield cutter changing robot motion control method based on closed-loop servo hydraulic control, which comprises the following steps: recording the start-stop times and the start-stop interval of a hydraulic motor; friction compensation is conducted on the hydraulic motor based on the start-stop times and the start-stop intervals, and the friction torque of the hydraulic motor is obtained; working parameters of the hydraulic motor are collected; comprehensive disturbance compensation is conducted on the hydraulic motor based on the working parameters, and the disturbance equivalent moment of the hydraulic motor is obtained; acquiring an actual rotation angle of the load; calculating a control voltage amount of a hydraulic motor based on the actual rotation angle, the friction torque and the disturbance equivalent torque of the load; and controlling the movement of the hydraulic motor load based on the control voltage amount. Through friction compensation and comprehensive disturbance compensation, accurate control over movement of the hydraulic motor is achieved.

The invention discloses a robot motion real-time parameter identification and compensation control method and a robot. Robot motion information is obtained in real time, friction parameters closer to the current moment are calculated in real time, and a high-precision friction model is achieved by continuously updating the friction parameters; the predicted friction torque can be closer to the actual friction torque, a more accurate dynamic model can be constructed, and the response speed and the control precision of a robot control system are improved; in addition, according to the compensation control method, the feedforward compensation torque is calculated once after the real-time parameter identification is executed once, the method is used for a feedback system of the robot to achieve real-time compensation control over robot motion, and the robot motion control precision can be improved.

The invention relates to the technical field of bearing test equipment, and provides a bearing fault mode prediction test bed in a near space low-temperature environment, which comprises a driving assembly, a test bearing seat and a friction torque measuring device, the driving assembly comprises a rotary driving part and a transmission shaft in transmission connection with the output end of the rotary driving part, a testing hole and a cooling groove are formed in the testing bearing seat, the transmission shaft penetrates through the testing hole, and a mounting space for mounting a tested bearing is formed between the periphery of the transmission shaft and the inner wall of the testing hole; the friction torque measuring device comprises a support, a tension and pressure sensor and a measuring piece, and the measuring piece is connected with the support through the tension and pressure sensor and connected with the axial end face of the test bearing seat. According to the bearing fault mode prediction test bench in the near space low-temperature environment, the cooling tank is arranged to simulate the near space low-temperature environment, and the friction torque measurement device is arranged to measure the friction torque generated by the tested bearing in the low-temperature environment when the transmission shaft rotates.

The invention provides a method and device for predicting the maximum tripping-in capacity of a casing, and the method comprises the steps: obtaining a comprehensive logging parameter data set based on obtained original feature data; a friction resistance coefficient data set is obtained through a friction resistance torque model in combination with the comprehensive logging parameter data set; based on a comprehensive logging sample in the friction resistance coefficient data set and a friction resistance coefficient label of the comprehensive logging sample, training the initially constructed casing friction resistance coefficient prediction model to obtain a target casing friction resistance coefficient prediction model; inputting the obtained real-time logging data into a target casing friction system prediction model to obtain a corresponding friction prediction coefficient; and on the basis of all the friction prediction coefficients and the friction torque model, obtaining a predicted value of the maximum running capacity of the casing. By establishing a casing friction coefficient prediction model and combining a friction torque model, advanced prediction of the casing friction and the maximum tripping-in capacity is realized, so that the well cementation quality and efficiency are improved, and the engineering safety and controllability are enhanced.

The invention provides a method for monitoring the tightening state of a screw on line, which comprises the following steps of: based on segmented characteristic analysis of a torque-angle (T-theta) curve, refining a standard tightening process into three stages: a screwing-in angle stage, a friction torque stage and a tightening torque stage, and simultaneously extracting characteristic quantity for each stage, and establishing a judgment rule or model to detect whether the thread is screwed in or not, whether slipping / impacting occurs or not, whether expected pre-tightening force is reached or not, whether the bottom surface is jacked or not, whether the thread is damaged or broken or not and the like. And finally, stage judgment is gradually updated along with the sampling points in the tightening process. According to the method, specific physical events in the process can be identified instead of final value abnormity, abnormal tightening can be predicted and stopped before tightening is finished, reworking and damage are reduced, misjudgment is reduced through in-segment feature analysis, continuous improvement is facilitated, and threshold values and a judgment model are continuously optimized through historical waveform learning.

The invention discloses an electric drive assembly efficiency test method. The method comprises the following steps: correspondingly loading a test sample to a test bench; an efficiency test working condition point is set, different torques are tested at the same rotating speed, the absolute values of the torques are from small to large, unloading is conducted firstly after loading, then new torques are loaded, and the efficiency test working condition point is shown in the specification; limiting test boundaries, wherein the test boundaries at least comprise bus voltage, torque rise time, torque rise stabilization time and test time of each torque point; a test bench voltage and current sensor sets efficiency test working condition points, tests are carried out from large to small, and jump test cannot be carried out during the test; recording power generation working condition data of each management and control point; and the friction torque limit value data and the drag torque limit data of the test bench are used to form an electric drive assembly efficiency measurement program with a unified test boundary.

The invention relates to the technical field of industrial robot control, in particular to a feed-forward control industrial robot dynamic friction force model and a measuring method. The method comprises a joint friction force model, and the joint friction force model is divided into a low-speed section speed-friction torque cubic polynomial fitting model and a high-speed section speed-friction torque cubic polynomial fitting model; the method comprises the following steps: robot joint speed interval division and maximum speed percentage calculation; robot joint friction torque measurement in a heat engine state; fitting a speed-friction torque curve by adopting a low-speed and high-speed segmented cubic polynomial; and determining the optimal time shift of the theoretical curve and the actual curve after the friction torque is added into the kinetic model. According to the method, all data of the whole constant-speed section are utilized, so that the friction torque result at the corresponding speed is more accurate, and finally, the model well describes the friction torque performance of the robot in the low-speed section and the high-speed section.

The invention discloses an electromagnetic lock running-in and friction torque automatic test system and method, and relates to the field of electromagnetic lock testing, and the system comprises a test bench which comprises a fixed base, an electromagnetic lock, a first coupling, a torque and rotating speed sensor, a second coupling and a servo motor. An electromagnetic lock fixing assembly and a servo motor fixing assembly are fixed on the fixed base, a stator part of the servo motor is fixedly connected to the servo motor fixing assembly, and a stator part of the electromagnetic lock is fixedly connected to the electromagnetic lock fixing assembly; a rotor part of the electromagnetic lock is fixedly connected with the torque and rotating speed sensor through a first coupler, and the torque and rotating speed sensor is fixedly connected with an output shaft of the servo motor through a second coupler. The problem that an existing electromagnetic lock friction torque testing system cannot meet the requirements for accuracy and efficiency of electromagnetic lock friction torque measurement is solved.

A method of lubricating a fluid production pump may include mixing a polarized lubricant with water to produce a diluted lubricant. The method may additionally include creating a flowpath within the fluid production pump. An initial volume of the diluted lubricant may be circulated within the flowpath to allow the diluted lubricant to react with components of the fluid production pump and form a protective barrier on the components of the fluid production pump. The method may further comprise repeatedly introducing a periodic volume of diluted lubricant into the fluid production pump according to a predefined lubrication schedule.

The invention discloses a flaring type pipe joint sealing interface leakage amount calculation method, which comprises the following steps of: firstly, acquiring a relationship between axial pre-tightening force and friction torque of a flaring type pipe joint sealing interface; secondly, regarding a joint sealing interface as a rough interface in contact under the action of a load, and introducing the void ratio after the micro-convex body of the rough interface is subjected to contact deformation under the action of the load into an interface separation degree calculation formula; thirdly, the relation between the contact depth and the load of the rough interface under the action of different loads is obtained, and the interface separation degree of the rough interface under the action of different loads is obtained according to the relation between the contact depth and the void ratio of the rough interface after deformation; and finally, substituting the interface separation degree into an existing pipe joint leakage amount calculation formula to obtain the leakage amount of the sealing interface of the flaring type pipe joint, which is calculated under the action of different loads. According to the method, the interface separation degree can be calculated through the directly obtained relevant parameters of the flared pipe joint, and the calculation step of the interface separation degree during leakage amount calculation is greatly simplified.

The invention relates to the technical field related to intelligent production control, in particular to a powder spraying method and system for the surface of a slender pipe and a medium, and the method comprises the steps that the preprocessed slender pipe is placed on a workbench containing multiple assemblies, electrostatic spraying is conducted through a spray gun, powder feeding adjustment is conducted, the angle of a flow guide groove is dynamically adjusted according to parameter combination, and spraying uniformity is controlled in combination with rotating speed induction. The technical problems that dynamic parameter matching mechanisms for different pipe diameters and wall thicknesses are lacked, airflow changes in the inner space of a slender pipe are difficult to cope with, and uneven distribution of powder in the pipe is likely to be caused are solved, the coating thickness deviation is controlled by associating a spray gun mechanism with a pipe rotating assembly, and the spiral angle of a flow guide groove is dynamically adjusted along with friction torque; and the piezoelectric centrifugal switch is used for detecting the rotating speed fluctuation in real time, the spray gun displacement compensation and the powder feeding amount adjustment are automatically triggered to enable the powder to be distributed in the pipe, and the machining efficiency is improved on the basis that the powder spraying quality of the surface of the long and thin pipe is guaranteed.