15 results about "Input shaping" patented technology

The invention discloses a control method, system and device of a stacking machine and a medium, and relates to the field of motion control. According to the scheme, through establishment of the modal parameter library, the corresponding inherent frequency and damping ratio can be quickly inquired and obtained under different shelf layer numbers and load working conditions, the input shaping pulse sequence is generated based on the adaptive modal parameters, the original speed curve is shaped, and the target speed curve more conforming to the actual working condition is obtained. The motion trail of the stacking machine does not depend on complex high-order motion curve design or a high-performance controller any more, swing of the cargo carrying table in the acceleration and deceleration stages is restrained through input shaping, and cargo stability improvement, positioning precision improvement and operation efficiency guarantee are achieved.

The invention discloses a servo driver tail end jitter automatic suppression method, which relates to the technical field of servo control, and comprises the following steps: acquiring a position instruction value PosIn and a position feedback value PosFbk of a servo system, and calculating a position deviation PosError; judging whether the servo system is in a stop stage or not based on the position deviation and the running direction sign [PosIn], identifying a jitter wave crest and a jitter wave trough when a preset amplitude condition is met, and calculating a tail end jitter frequency w; and updating the tail end jitter frequency to an input shaping controller, and dynamically adjusting the time lag and amplitude of the pulse sequence according to the jitter frequency so as to suppress the tail end jitter. According to the method, the automatic identification of the tail end jitter frequency and the adaptive updating of the jitter suppression parameters are realized, and the universality, the stability and the control robustness of the servo system under different load conditions are improved under the condition of not depending on complex system modeling and manual setting.

The invention provides a robot tail end vibration suppression method and device, electronic equipment and a storage medium. The robot tail end vibration suppression method comprises the steps that a first track of robot tail end vibration is obtained; performing input shaping on the first track to obtain a second track; performing acceleration processing on the second track to obtain a third track; and the third track is sent to the servo system, and the servo system is controlled to execute operation according to the third track. Input shaping is carried out on the tail end vibration of the robot, that is, shaping conversion is carried out on the tail end vibration to obtain a shaping signal, that is, the second track, then in order to solve the delay problem introduced by input shaping, acceleration processing is carried out on the second track to obtain the third track, and finally the third track is sent to the servo system to be executed. Therefore, the tail end vibration of the robot is restrained, the positioning time is shortened, and the operation efficiency is improved.

The application discloses an end jitter automatic suppression method of a servo driver and relates to the technical field of servo control, which comprises the following steps: collecting a position instruction value PosIn and a position feedback value PosFbk of a servo system and calculating a position deviation PosError; judging whether the servo system is in a stopping stage based on the position deviation and a running direction symbol sign[PosIn], identifying a jitter peak and a jitter valley when a preset amplitude condition is met, and calculating an end jitter frequency w; updating the end jitter frequency to an input shaping controller, dynamically adjusting a time delay and an amplitude of a pulse sequence according to the jitter frequency, and suppressing the end jitter. The application realizes automatic identification of the end jitter frequency and adaptive update of jitter suppression parameters, improves the universality, stability and control robustness of the servo system under different load conditions without relying on complex system modeling and manual setting.

To realize a control device or control method that reduces the delay time caused by input shaping control so as not to deviate from constraint conditions.SOLUTION: A control device 1 is a device that drives and controls the movement of a moving object M based on a command. The control device 1 includes an input shaping control unit 10 that performs input shaping control on the command so as to reduce vibrations that occur when the moving object M moves, and a command correction unit 20 that, in order to shorten at least a part of the delay time in an input shaping trajectory that the moving object M traces when it is drive-controlled based on an input shaping control command obtained by the input shaping control unit 10, corrects the command in at least one section that satisfies constraint conditions for moving the moving object M out of multiple sections obtained by dividing a trajectory that the moving object M traces when it moves based on the command.SELECTED DRAWING: Figure 1

The application belongs to the field of robot and automation control, and particularly discloses a kind of anti-saturation mechanical arm-end effector collaborative control method and system, to solve the problem of short stroke end effector in series system, easy to saturate mechanical arm shaking affects system stability;The application introduces two-stage adaptive virtual saturation strategy, cascades adaptive truncation on error input side and command output side, dynamically adjusts the upper limit of low-frequency command through high-frequency error envelope, compensates high-frequency for absolute reservation redundant physical stroke;Fusion feedforward reference trajectory, low-frequency global error and end reset feedback, synthesis of mechanical arm basic control instruction with end effector zero position pullback function, ensure the smooth relay of each part of series system;Combined with adaptive input shaping technology based on spatial grid interpolation, calculate the inherent frequency of pose-dependent mechanical arm system, dynamically filter out the vibration component in mechanical arm comprehensive control instruction, inhibit the body shaking of mechanical arm from the source.

The application belongs to the field of robot and automation control, and particularly discloses a kind of anti-saturation mechanical arm-end effector collaborative control method and system, to solve the problem of short stroke end effector in series system, easy to saturate mechanical arm shaking affects system stability;The application introduces two-stage adaptive virtual saturation strategy, cascades adaptive truncation on error input side and command output side, dynamically adjusts the upper limit of low-frequency command through high-frequency error envelope, compensates high-frequency for absolute reservation redundant physical stroke;Fusion feedforward reference trajectory, low-frequency global error and end reset feedback, synthesis of mechanical arm basic control instruction with end effector zero position pullback function, ensure the smooth relay of each part of series system;Combined with adaptive input shaping technology based on spatial grid interpolation, calculate the inherent frequency of pose-dependent mechanical arm system, dynamically filter out the vibration component in mechanical arm comprehensive control instruction, inhibit the body shaking of mechanical arm from the source.

The invention relates to the technical field of anti-swing control of bridge cranes, in particular to a double-swing bridge crane integrated control method and system which comprises an equation calculation unit, a shaping design unit, a target setting unit, a convolution operation unit, an integral operation unit, an error calculation unit and a control calculation unit. By arranging a double-pendulum bridge crane system mathematical model with a double-pendulum effect and introducing an input shaper, the swing suppression and anti-interference performance of the system disclosed by the invention is improved based on the control of the control system on the double-pendulum bridge crane, and by arranging the multi-loop control system and the nonlinear PID integrated control system, the system has the advantages of high reliability and high reliability. Through the synergistic effect of input shaping and the controller, the vibration frequency characteristic and full-state real-time information of the double-pendulum bridge type crane system are fully considered, so that the double-pendulum bridge type crane system has good response speed and stability, the residual swing of the double-pendulum bridge type crane system is reduced, and the service life of the double-pendulum bridge type crane system is prolonged. And the engineering transportation efficiency of the double-pendulum bridge crane system is improved.

The invention discloses a dynamic response control method for a large inertia working condition, and relates to the technical field of motion control. The method is suitable for a servo system in which the load inertia is obviously greater than the inertia of a motor rotor for large-specification gear workpiece measurement. According to the method, through high-frequency signal acquisition and pre-filtering, an adaptive extended Kalman filter is combined with a recursive least square method to carry out online joint identification on system equivalent inertia and load disturbance torque, and based on an identification result, friction model updating, Jerk constraint trajectory planning, model driving feedforward control and gain adaptive scheduling are realized. Meanwhile, a high-order disturbance observer and a resonance identification and input shaping technology are introduced, and unmodeled disturbance and residual vibration are inhibited. Through performance evaluation and a self-evolution parameter database, parameter self-learning and optimization under long-term operation are realized. According to the method, the dynamic response speed and stability of the system are remarkably improved under the large inertia ratio working condition, overshoot and residual vibration are reduced, and the measurement precision and repeatability are improved.

The invention provides a liquid oscillation control S-shaped speed planning system suitable for curve running of a heavy-load circular rail shuttle vehicle, and relates to the field of electric digital data processing, and the liquid oscillation control S-shaped speed planning system comprises a rail section sensing unit, an S-shaped speed planning unit, a curve differential speed coordination unit, a liquid oscillation detection unit, a wave height feedback control unit and a ZVD input shaping unit. The rail section sensing unit recognizes rail section types in real time and sends switching signals to all the units, the S-shaped speed planning unit generates seven sections of speed curves with continuous jerk, the liquid shake detection unit outputs equivalent comprehensive wave height, and the wave height feedback control unit feeds back speed correction to the S-shaped speed planning unit. The ZVD input shaping unit applies convolution shaping to the speed instruction and updates convolution kernel parameters on line under the curve working condition, and the curve differential speed coordination unit outputs differential speed rotating speed instructions to the front axle and the rear axle according to the curve curvature radius. According to the invention, a composite control structure combining feedforward and feedback is adopted, so that liquid oscillation of heavy-load liquid goods during curve driving is effectively inhibited.

The invention belongs to the field of high-end logistics equipment control, and relates to a real-time vibration suppression method based on input shaping and S-shaped speed planning, which comprises the following steps of: S1, for a moving object in a mechanism system, dynamically generating an S-shaped speed planning curve based on real-time target displacement and initial and final speeds in the moving process of the object; s2, constructing a zero-vibration input shaper based on system characteristics, and performing convolution operation on the S-shaped speed planning curve by using the shaper to obtain a target demand speed control curve; and S3, according to the target demand speed control curve, calculating an instruction control speed of the current system based on the real-time displacement feedback information, and inputting the instruction control speed to a motion control system to realize residual vibration suppression. According to the method, the vibration of the high-speed moving object can be efficiently suppressed, and meanwhile, the requirement for real-time performance in an open-loop control scene is met.

The present invention realizes a control device or a control method for reducing delay time generated by input shaping control, so as not to deviate from a constraint condition. A control device (1) according to the present invention is a device that performs drive control so as to move a moving subject (M) on the basis of a command. The control device (1) includes an input shaping control unit (10) that performs input shaping control with respect to the command so as to reduce vibrations generated when the moving subject (M) moves, and a command correcting unit (20) that corrects the command in at least one section that satisfies a constraint condition for moving the moving subject (M) among a plurality of sections obtained by dividing a path that is traced when the moving subject (M) moves on the basis of the command, so as to reduce at least part of delay time in an input shaping path traced when driving of the moving subject (M) that is controlled on the basis of an input shaping control command obtained by the input shaping control unit (10) moves.

The present application relates to the technical field of precision motion control and vibration suppression, and proposes a precision motion control method and system for multi-modal resonance and disturbance collaborative suppression. Through multi-modal parameter identification and frequency band division, the dominant resonance mode is divided into an instruction excitation frequency band and a disturbance excitation frequency band, and multi-modal input shaper and multi-channel disturbance estimation and feedforward compensation are respectively used for targeted processing. At the same time, through a joint optimization objective function containing a residual vibration index, a disturbance sensitivity index and a phase difference penalty term, the input shaping channel parameters and the feedforward compensator parameters are collaboratively optimized, so that the instruction excitation vibration suppression and the external disturbance compensation are decoupled and matched in the frequency domain. In the multi-modal vibration and multi-source disturbance environment of the precision motion platform, high-precision and high-stability collaborative control is realized.

This invention provides a control method for a UAV sling system based on input shaping and differential flatness, belonging to the field of UAV control. The method includes the following steps: First, dynamic modeling of the UAV sling system is performed; then, differential flatness is determined for the UAV sling system based on its state variables and input variables, thereby determining the UAV's reference trajectory according to the desired sling load trajectory and the UAV's yaw angle; further, zero-vibration and differential input shaping are used to process the input signals of the control system, and the UAV trajectory is controlled by the processed input signals, thereby achieving rapid balancing and attenuation of the sling load oscillations. This invention can reduce high-frequency, high-speed load oscillations caused by strong coupling between the UAV and the suspended load, improving the overall motion performance of the system.

The application provides a mechanical vibration control method, and belongs to the technical field of advanced manufacturing and automation. The application provides a 15-segment non-smooth segmented smoother, which can be used in vibration control of a mechanical system. The application solves the problems of long adjustment time of smooth curves, poor adaptability to system dynamic behavior change, and poor robustness. The application solves the problem that input shaping technology may have large boundary impact. The application solves the problem that feedback control is difficult to detect vibration state and is limited in application. The application solves the problem that the adjustment time of part of the Command smoothing technology is fixed and long. The main point of the 15-segment non-smooth segmented smoother is to combine a notch filter and a low-pass filter. The vibration of the main vibration mode can be suppressed by the notch filter characteristic, and the vibration of the high mode can be controlled by the low-pass filter characteristic. The implementation process of the method is embodied in the specific embodiments.