56 results about "Kinematic controller" patented technology

The application provides an electric unmanned ship trajectory tracking method, device, equipment, medium and product, and relates to the field of electric unmanned ships. Based on the current position of the electric unmanned ship, the coordinate error and the heading error of the electric unmanned ship are determined. The coordinate error and the heading error are input into a kinematics controller to obtain a virtual speed instruction. The virtual speed instruction is input into a dynamics controller to obtain a virtual thrust instruction. Based on the virtual thrust instruction, a target control instruction is determined and sent to the electric unmanned ship. The above steps are cyclically executed under the condition that the tracking is not completed until the tracking is completed. The kinematics controller and the dynamics controller share a fixed time gradient template, and the cost function of the kinematics controller contains an energy consumption control index. The application adopts a two-layer controller structure and shares a fixed time gradient template, and sets an energy consumption control index in the cost function corresponding to the kinematics controller, so that fixed time convergence and energy consumption suppression can be realized.

A motor grader having a front frame coupled with a rear frame, supported on front and rear wheels. A controller determines a position of actuators operably coupled with a blade attached to the grader, an articulation angle of the rear frame relative to the front frame, and a front wheel steering angle of the front wheels. The controller determines movement of the front and rear frames based on the articulation angle and the front wheel steering angle as the wheels travel over a ground surface. The controller determines a blade position and blade movement of with respect to the front and rear frames based on the position of actuators, rigid body acceleration of the motor grader, and physical characteristics of the machine assembly. The controller determines a blade trajectory path of the blade based on the movement of the front and rear frames, blade position, and blade movement.

This invention discloses a high-speed servo laser blanking line control method and system; the invention relates to the field of dynamic control and compensation technology for laser cutting equipment; it collects core position status data of dual Y-axis, completes hard synchronization and timestamp alignment of multi-channel data; it receives full closed-loop position feedback data P1 from dual Y-axis grating rulers, position data P2 from dual Y-axis servo motor encoders, and theoretical positions P3 of dual Y-axis issued by the motion controller. The servo drive unit includes servo motors and matching servo drivers respectively connected to the No. 1 Y-axis motion mechanism and the No. 2 Y-axis motion mechanism; this invention adopts a dual-branch parallel design of "SMO sliding mode observer + FFRLS recursive least squares with forgetting factor". The SMO branch is specifically adapted for rapid observation of abrupt nonlinear disturbances, realizing finite-time convergence identification of step loss; the FFRLS branch is specifically adapted for accurate identification of slow time-varying continuous parameter drift, quantifying the expected step loss caused by parameter changes.

This invention relates to the field of radar imaging technology, and proposes a system and method for detecting local surface defects in field equipment based on a robotic arm. The system includes: a robotic arm unit with a SAR transceiver antenna mounted at its end, which transmits electromagnetic signals to the surface of the field equipment to be inspected and receives echo signals; a motion controller connected to the robotic arm unit, which controls the movement trajectory of the robotic arm; and an industrial control computer, which has a built-in SAR imaging data processing module and a path optimization module. The industrial control computer is electrically connected to the motion controller and the SAR transceiver antenna, respectively, driving the robotic arm unit to move according to the planned sampling trajectory, and simultaneously controlling the signal transmission and reception timing of the SAR transceiver antenna; the SAR imaging data processing module performs range compression, azimuth compression, and two-dimensional inverse Fourier transform processing on the received echo signals to generate SAR images characterizing the surface and internal defects of the equipment. This invention achieves full automation of the field equipment defect detection process.

The application discloses a kind of matching and mismatched interference under unmanned ship preset time control method and system, comprising the following steps: establishing the nonlinear motion model of unmanned ship under matching and mismatched interference;Design preset time adjustment function, the dynamic evolution process of system error is regulated;Kinematic disturbance observer and dynamics disturbance observer are designed to online estimate matching interference and mismatched interference;According to interference estimation information, construct kinematic controller, filter and dynamics controller, realize the robust preset time tracking control of reference trajectory of unmanned ship.The method proposed in the application can realize the online observation and compensation of multi-source disturbance, ensure that the system tracking error and disturbance observation error converge within the preset time, and the convergence time is adjustable, while having the advantages of continuous smooth control input, strong anti-interference ability and high engineering realizability, which can improve the control performance and reliability of unmanned ship in complex sea conditions and time-sensitive tasks.

The control device includes a brazing controller configured to control a brazing material moving mechanism so as to retract a tip of a brazing material from a heating position to interrupt the brazing, during execution of the brazing, and a movement controller configured to, when the brazing is interrupted, control a movement machine so as to retract a heating device or a base material in a direction opposite to a movement direction during the execution of the brazing, and subsequently advance the heating device or the base material in the movement direction again. The brazing controller resumes the brazing by controlling the brazing material moving mechanism so as to cause the tip of the brazing material to reach the heating position at the same time when the heating device or the base material advanced by the movement controller reaches an interruption position at which the brazing is interrupted.

The application discloses a preset time control method and system for a wheeled mobile robot under multiple disturbances, and comprises the following steps: establishing a nonlinear motion model of a wheeled mobile robot under matched and unmatched disturbances; designing a preset time adjustment function to regulate and control the dynamic evolution process of system errors; designing a kinematic disturbance observer and a dynamic disturbance observer to online estimate the matched and unmatched disturbances; and constructing a kinematic controller, a filter and a dynamic controller according to the disturbance estimation information, so as to realize robust preset time tracking control of the wheeled mobile robot on a reference trajectory. The method provided by the application can guarantee the convergence of system errors within a preset time without relying on the ideal no-slip assumption, has the advantages of adjustable convergence time, continuous and smooth control input, strong anti-interference ability and high engineering realizability, and improves the anti-interference performance of the robot in a complex dynamic environment and the reliability of a time-sensitive task.

A prosthetic or orthotic device (POD) can include first and second limb members coupled at a joint, an actuator, and a controller. The actuator can be configured to actuate the first limb member relative to the second limb member. The controller can cause the actuator to exhibit a force rejection behavior during a portion of stance phase and cause the actuator to exhibit a force following behavior during a portion of swing phase. The controller can, based on a determination that a gait parameter satisfies a gait parameter threshold, cause the actuator to at least one of: apply a first torque at the joint to cause the POD to flex during a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase.

This invention discloses a control method and system for a distributed motion controller, relating to the field of motor control technology. The method includes: acquiring operational data from the motion controllers of each production line via real-time Ethernet and processing the acquired data; performing fuzzy inference based on the underlying single-axis servo fuzzy controller of the motion controller to obtain position feedforward compensation time and distributed clock phase adjustment; performing fuzzy inference based on the upper-level production line collaborative fuzzy scheduler of the main controller to obtain speed multipliers and global command timestamp offsets; generating motor control commands conforming to the real-time Ethernet protocol; and using a distributed clock synchronization mechanism to synchronously adjust the operating parameters of the servo motors of each production line. By real-time monitoring and scheduling of the motion controllers of multiple production lines, multiple production lines can cooperate with each other, achieving intelligent dynamic adjustment of the production line system, thereby improving the processing efficiency of the production line system.

This utility model relates to the field of cable pulling equipment technology, and discloses an electromechanical power cable pulling device, including a cable pulling assembly. The cable pulling assembly includes a lower cable pulling unit and an upper cable pulling unit. The lower cable pulling unit includes a bottom mounting base, a first mounting plate, and a first drive roller. The upper cable pulling unit includes a top mounting base, a second mounting plate, and a second drive roller. An outer frame includes a top plate and two sets of support plates. A position adjustment unit includes a lifting plate, a threaded rod, and a threaded sleeve. A drive assembly includes a first right-angle motor, a second right-angle motor, and a control box. By configuring the cable pulling assembly and the drive assembly, a pulse-type motion controller is programmed to precisely control the first and second right-angle motors to achieve synchronous reverse drive, so that the first and second drive rollers generate a balanced and directional traction force, achieving balanced force application and guidance on the upper and lower surfaces of the cable.

This invention discloses a system and method for testing the swing torque of an intermediate shaft fork, relating to the field of steering system testing technology. The system includes an industrial computer, a PLC motion controller, a servo motor driver, a data acquisition board, a barcode scanner, a load module, and a MES traceability system. The data acquisition board is used to synchronously acquire torque and angle signals; the PLC motion controller is used to read the product code and control the swing test; the host computer software is used to display the torque-angle variation curve during the swing of the inner and outer forks in real time, and calculates the maximum, minimum, range, and maximum torque fluctuation per 5° after the test, outputting the test results. The product code, test data, and test results are bound and stored in agreed addresses on the industrial computer and PLC respectively for the MES traceability system to read. This invention enables rapid, intuitive, efficient, accurate, and traceable testing of the swing torque of the intermediate shaft fork.

This application relates to a motion controller, including a housing, a mounting bracket, several connecting posts, and several electronic components serving as a control program carrier. The mounting bracket includes a mounting plate and a first wing plate, the first wing plate being disposed on the mounting plate. The connecting posts are mounted on the mounting plate and are used to mount the electronic components. The first wing plate is used to connect the mounting plate and the housing. Because of its relatively simple structure, the mounting plate and connecting plate can be directly manufactured by extruding aluminum. The extruded mounting plate and interceptor plate have high strength, so the mounting plate itself can serve as a support. Furthermore, depending on the electronic components, the connecting posts can be removed and replaced with corresponding connecting posts, expanding the range of electronic components that can be mounted on the mounting plate and improving its applicability.

1. Name of the product in this design: Motion Controller (ECI4427). 2. Application of this design: This design is used for an open-type laser motion controller. It can be used in electronic semiconductor equipment (testing equipment, assembly equipment, fastening equipment, soldering machines), dispensing equipment, and production lines. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

This utility model discloses a fully automatic intelligent tracking slurry filling machine, including a storage silo for storing slurry. A metering component is connected to the bottom of the storage silo and fixed by a support frame. A movable module is located on one side of the support frame, and a filling port is provided on the movable module. The filling port is connected to the metering component through a pipe, and a conveyor belt is located below the filling port. This utility model has a linear structure and adopts a servo module for lowering, servo module for left and right movement, servo lifting for overall movement, servo motor for conveying, and a volumetric metering filling principle driven by a servo motor. This achieves high precision in filling dosage. It adopts a motion controller bus control method, one-button adjustment for changing product specifications, and a touch-screen human-machine interface, making the entire machine operation convenient and intuitive.

This invention belongs to the field of path optimization technology, specifically a smart optimization method for shared-edge cutting paths based on motion control collaboration. The method includes: performing topological shared-edge retrieval and geometric overlap determination on parts to be cut by multiple torches, identifying overlapping cutting edges to form shared-edge pairs, and constructing a shared-edge interlocking topology graph among the parts. Based on the topology graph, the association information between shared-edge pairs and torches is extracted, a temporal dependency constraint model is established, and dual-torch synchronous planning is performed using shared-edge pairs as units to generate a collaborative motion instruction set. The instruction set is processed with dual-axis look-ahead S-shaped acceleration and deceleration and velocity coupling constraints are introduced to obtain a smooth motion trajectory. A reverse shared-edge cutting strategy is designed based on geometric symmetry to suppress thermal deformation of the sheet metal and optimize the collaborative cutting path sequence. The path sequence is sent to the motion controller, and synchronous cutting is completed according to the temporal interlocking control, outputting the processing results. In this invention, reverse co-cutting is achieved through topological collaboration and synchronous control, suppressing thermal deformation and improving accuracy and efficiency.

The application discloses a kind of multi-cylinder synchronous proportional valve nonlinear compensation system and compensation method, the system includes man-machine interaction unit, motion controller, analog output module, man-machine interaction unit is connected with motion controller, motion controller is connected with multiple proportional direction valves by analog output module, proportional direction valve is connected with hydraulic cylinder respectively, the piston rod extension end of hydraulic cylinder is connected with mechanical load, simultaneously, hydraulic cylinder is also connected with cylinder displacement sensor, cylinder displacement sensor is connected with motion controller by detection module;The method includes data recording and storage, dotting, nonlinear compensation curve determination and storage, nonlinear compensation curve calling, hydraulic cylinder synchronous operation;The application measures the actual curve of proportional direction valve and cylinder running speed by dotting method, and the difference between theoretical curve and actual measurement curve is loaded into the control command of proportional direction valve, to ensure the high-precision synchronous operation of multiple hydraulic cylinders.

The present invention relates to a control system (1) for a motor vehicle, the control system comprising at least a first control unit (8), in particular a central control unit, a second control unit (6), in particular a brake control unit, and a third control unit (7), in particular an actuator control unit, wherein the second control unit (6) is designed to determine a driving request, in particular from a driver and / or a driving motion controller of the motor vehicle, and to transmit the driving request to the third control unit (7), which is designed to receive the determined driving request and to control an actuator (3), in particular of a braking system (2), according to the driving request. According to the invention, the second control unit (6) is designed to also transmit the determined driving request to the first control unit (8), and the first control unit (8) is designed to process the determined driving request and to transmit the same as a modified driving request to the third control unit (7), and, upstream of the third control unit (7), there is a decision device (9) by which either the driving request from the second control unit (6) or the modified driving request from the first control unit (8) is fed to the third control unit (7).

The utility model belongs to the technical field of inclination sensor, disclose a kind of inclination sensor precision measuring device, including horizontal bottom plate mounting plate, vertical fixed on the motor firmware mounting plate of bottom plate mounting plate, motion controller, motor driver, host computer;Motor firmware mounting plate is fixed with the servo motor motor of built-in encoder, the horizontal output shaft of servo motor motor is fixed with sensor mounting bracket;Sensor mounting bracket is fixed with the inclination sensor to be detected on;Motion controller, motor driver are respectively fixed to bottom plate mounting plate;Host computer is sequentially connected with servo motor motor by motion controller and motor driver and is electrically connected to realize that host computer controls servo motor motor rotation angle;Host computer gathers the angle data of inclination sensor.The new type is changed by servo motor motor rotation initiative inclination sensor position, and the angle data of inclination sensor, comparison completes calculating inclination sensor angle precision measurement.

The application belongs to the field of motion control and path following technology of snake-shaped robots, and discloses a whole path following method of an active wheel snake-shaped robot based on head-body section control, which comprises the following steps: constructing a multi-joint multi-active wheel coupling kinematic model under the condition of no lateral sliding constraint, and establishing the motion mapping relationship between the head and each active joint and active wheel; designing a basic motion controller to realize non-periodic oscillation forward motion by taking the active wheel as the only driving force; constructing a head path following controller to generate a steering control variable; substituting the model to solve and integrate to obtain a joint target angle; realizing joint angle closed-loop tracking through an incremental PID; constructing a path switching strategy based on a turning radius constraint to realize curvature discontinuous path transition, and finally realizing stable motion of each module of the whole robot along the target path. The application solves the problem of joint and wheel collaborative control of the active wheel snake-shaped robot, realizes accurate path following of the whole robot, and reduces the demand for motion space.

This invention discloses a robot summoning and following system and method based on visual edge computing, belonging to the fields of edge computing and embodied intelligent robots. The system uses an RK3588S as the edge computing platform and an STM32 as the motion controller, employing a USB camera for visual perception to construct a localized closed loop of "detection-tracking-decision-execution". A lightweight YOLOv8-Pose improved LSCD detection head is used, and INT8 operation mode is employed for inference acceleration. Summoning and stopping posture interaction commands are realized through multi-frame determination of the angle between key points of the upper limbs, enabling autonomous selection and switching of the following target. Based on the ByteTrack algorithm, HSV-LBP features of the rigid body region of the torso are integrated to improve the robustness of re-identification in occlusion and target loss scenarios. A multi-threaded parallel architecture is adopted to decouple inference and post-processing, significantly improving hardware resource utilization and system real-time performance. Standardized serial port protocol communication supports coordinated switching between vision and LiDAR, and the PID algorithm is optimized to achieve smooth robot following. This invention requires no cloud or external positioning equipment, exhibits low latency response, stable tracking, and natural interaction in complex dynamic scenarios, and can be widely applied in industry, military, and service sectors.

This invention discloses a quasi-online 3D printing path correction control system based on a combination of image acquisition and distance measurement. The system integrates a CCD industrial camera and a laser distance sensor into the 3D printing motion control system. The main framework of the control system is built on the WinForms framework, integrating an image processing module, a data communication module, and a path correction algorithm module. The hardware also includes a multi-axis cooperative motion controller. All hardware components are connected to the control framework via a dedicated industrial communication protocol. The system achieves quasi-online correction by executing the following steps layer by layer: acquiring the planar geometry of the current printing layer using the CCD industrial camera and extracting the contour; registering the actual contour with the theoretical shape to obtain the deformation path; planning the measurement path of the laser distance sensor based on the deformation path to accurately obtain the actual height of the printing layer; and adaptively correcting the printing path and layer height of the next layer by combining planar deformation deviation and height deviation.

The application relates to the technical field of ultrasonic suspension, in particular to an ultrasonic suspension device based on a lotus-style expansion array. The ultrasonic suspension device comprises a power module, a motion controller, a driver, a two-dimensional rotating device and an ultrasonic phased array, the ultrasonic phased array is uniformly provided with ultrasonic wave emitters, and the two-dimensional rotating device is connected with the ultrasonic phased array through a transmission device. The ultrasonic suspension device provided by the application realizes automatic and intelligent suspension control through the joint use of the motion controller and the two-dimensional rotating device; through the design of the spherical ultrasonic phased array, the phase of the ultrasonic wave emitters is accurately controlled by combining the motion controller and the driver, the accurate control of the position of an object is realized, and the demand of complex operation is met; through the adoption of the two-dimensional rotating device, each ultrasonic phased array is independently rotated, the shape of the container can be changed to adapt to different space environments, and the application range is widened.

The application discloses a saw blade control system for a high-speed cold cutting flying saw machine, which comprises a control mechanism and a TCT saw blade driving mechanism; the control mechanism comprises a motion controller and a servo driver, the control signal of the motion controller is output to the servo driver, and the servo driver is electrically connected with a servo motor; the TCT saw blade driving mechanism comprises the servo motor and a main shaft box which are connected with each other, and the main shaft box is connected with the TCT saw blade. The application further discloses a saw blade control method of the saw blade control system. The servo driver can control the rotating position and speed of the TCT saw blade, so that the uniform use of the saw blade is ensured, the wear difference of each saw tooth on the saw blade is small, the phenomenon that the saw blade is out of order is avoided, the service life of the whole saw blade is prolonged, the production cost is reduced, and the production efficiency is indirectly improved.

The present application relates to a kind of charged maintenance robot motion control method based on center of gravity servo control, belong to robot motion control technical field.The method includes: online real-time estimation step, based on robot body sensor data dynamic identification system overall center of gravity position and inertia parameter;Model online updating step, the real-time parameter estimated is input to motion controller, to update its internal dynamics model;And motion control compensation step, based on the control instruction generated after updating model, the motion deviation caused by the change of center of gravity is compensated, specifically can be reflected in the optimization of swing phase landing point, support phase trajectory starting point and foot bottom force distribution.The present application realizes the online perception and active compensation of the change of robot center of gravity, improves the motion stability and adaptability of robot under the working condition of load dynamic change.

The subject matter of this specification can be embodied in, among other things, method for testing operation of a thrust reverser actuator lock includes determining, by a controller, that an actuator output of a controllable actuator is at a predetermined first position, locking, by the controller, an actuator lock configured to prevent movement of the actuator output of an actuator away from the predetermined first position, initiating, by the controller, actuation of the actuator output away from the predetermined first position, determining, by the controller based on a position feedback sensor, a second position of the actuator output, determining, by the controller, a nominal condition of the actuator lock based on determining that the second position is within a predetermined threshold distance from the predetermined first position of the actuator output, and providing, by the controller and based on the determined nominal condition, a signal indicative of the nominal condition.

The application relates to an automatic targeting method and system based on multi-feature fusion visual identification and dynamic compensation, and belongs to the technical field of semiconductor laser processing. The method comprises the following steps: acquiring a semiconductor substrate original image, extracting a target point region and local dense region distribution features; performing sub-pixel edge extraction and combining a clustering algorithm to accurately position the target point; globally comparing the accurate position with a standard design coordinate, generating a compensation transformation matrix through error field reconstruction; and superimposing the compensation matrix into a laser processing head motion control instruction. The system comprises an imaging module, a multi-feature visual processor, a global offset calculator, a real-time dynamic compensator and a motion controller. The application solves accurate positioning of a dense deformation region through multi-feature fusion and a clustering algorithm, realizes overall compensation of a large-area substrate based on global error field reconstruction, and significantly improves the positioning accuracy and production yield of laser targeting.

The application discloses a kind of unmanned agricultural machine dynamic speed profile planning method and equipment based on timing optimization, it is related to the technical field of agricultural machinery automation control and intelligent path planning.The method comprises the following specific steps: step 1 receives path point sequence, agricultural machine state, reference speed, dynamics parameters and dynamic obstacle safety time window;Step 2 constructs the multi-objective function of efficiency, smoothness and agronomic requirements with adjacent path point time interval as decision variable, and safety and dynamics constraints are included;Step 3 uses relaxation convex feasible set algorithm, converts non-convex problem into quadratic programming sub-problem and iteratively solves;Step 4 generates path point timestamp and smooth speed, acceleration, jerk profile, and outputs to underlying motion controller.The method enables unmanned agricultural machine to generate safety, efficiency, smooth and agronomic requirements speed instruction in real time in dynamic farmland environment, and has important theoretical and application value.

The application provides a valve core rotation-based servo valve structure, which comprises a hydraulic valve, a first motor and a second motor, a valve core body is arranged in the hydraulic valve, a large valve core is sleeved in the valve core body, a small valve core is sleeved in the large valve core, the large valve core is connected with the first motor, and the small valve core is connected with the second motor; an oil inlet, an oil return port, a working oil port and a working oil port are arranged on the hydraulic valve; the oil inlet, the oil return port, the working oil port and the working oil port are respectively connected with the inner cavity of the valve core body. Compared with a digital oil cylinder, the application has a short intermediate transmission chain, high control precision, simple structure, simple control mode, can be directly connected with any motion controller, and has high motion precision; compared with a proportional servo valve, the application does not need a complex control algorithm, does not need an independent control system, has simple control mode, can be directly connected with any motion controller, has high motion precision, has low requirements on oil products and temperature, and is economical and reliable.