121 results about "Linear acceleration" patented technology

The invention relates to the technical field of underwater navigation, and discloses a real-time attitude estimation method of an underwater inertial navigation system. The method comprises the steps that the underwater vehicle collects multi-axis angular velocity and linear acceleration data through an inertial measurement unit and uploads the data to a central processing module, and the central processing module conducts kinematics modeling on the data to generate attitude change initial feature vectors; receiving water flow velocity data of a Doppler velocimeter and pressure data of a depth sensor, and performing flow field interference compensation optimization on the attitude change initial feature vector based on the data to generate an anti-interference attitude feature vector; fusing the anti-interference attitude feature vector and a historical attitude estimation result to generate space-time fusion attitude state representation, and then resolving a real-time Euler angle through a nonlinear filter; and matching a corresponding attitude stability control instruction from the navigation strategy library according to the real-time Euler angle, and issuing the attitude stability control instruction to a propeller execution unit. The method can effectively cope with underwater complex environment interference and guarantee stable operation of the underwater vehicle.

The invention provides a robot teleoperation method and a robot. The robot teleoperation method comprises the steps that an acceleration command, an angular acceleration command and an expected attitude quaternion of an end effector are determined based on the current linear acceleration, the current angular acceleration and the current attitude quaternion of a control end; the current position and the current speed fed back by the end effector are obtained, a torque control signal for controlling the position of the end effector is determined based on the acceleration command, the current position and the current speed, and end acceleration feedforward is obtained; determining a torque control signal for controlling the attitude of the end effector based on the angular acceleration command and the expected attitude quaternion to obtain attitude feedforward; and a joint torque instruction of a mechanical arm joint corresponding to the end effector is determined based on the end acceleration feedforward and the posture feedforward, and the joint torque instruction is sent to a corresponding joint driver so that the end effector can synchronously act along with the control end. According to the invention, the problem of attitude lag of the end effector can be avoided, and the tracking error of the end effector is reduced.

Belongs to the technical field of motion control of foot-type robots, and particularly relates to an anti-interference whole-body control method and system for a quadruped robot based on stability margin perception. The expected joint position, speed and foot end contact force are obtained through nonlinear model predictive control NMPC; a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque according to the task priority; according to the joint position, the speed and the torque fed back by the driver and a robot dynamic model, estimating the foot end contact force; calculating resultant force which causes instability of the robot relative to each support polygon side line of the robot; projecting the resultant force, and calculating an included angle between the projection force and the vertical direction; calculating a compensation acceleration through a PI controller; and the compensation acceleration is used as a part of a fuselage linear acceleration task in the WBC, so that the anti-interference capability of the robot is improved. The method is used for solving the problems that in the prior art, the stable state of the quadruped robot cannot be effectively sensed, and an anti-interference control strategy cannot be rapidly generated according to the stable state.

The invention provides a time sequence InSAR (Interferometric Synthetic Aperture Radar) method suitable for landslide multi-dimensional deformation monitoring, which comprises the following steps of: firstly, acquiring an upward deformation observed quantity of a to-be-detected landslide, and then inputting the upward deformation observed quantity into a monitoring model containing a fractal dimension composite structure deformation constraint model, thereby obtaining deformation time sequences of a landslide body in a vertical direction, an east-west direction, a down-slope direction and a vertical down-slope direction; the method has remarkable advantages, deformation time sequence characteristics of the landslide in four dimensions including the vertical direction, the east-west direction, the down-slope direction and the vertical down-slope direction can be obtained at the same time, the constructed model covers linear, accelerated speed, periodicity, high frequency and thermal expansion deformation, the complexity of landslide deformation is fully considered, and adaptability is high. Moreover, the model pays attention to the difference between the vertical deformation and the east-west deformation as well as between the down-slope deformation and the vertical down-slope deformation, different constraint conditions are constructed respectively, and mutually independent deformation model constraints are formed, so that the deformation in each direction can be accurately constrained, the model fits the reality, and the precision of a calculation result is effectively improved.

The invention relates to the technical field of polling and positioning, in particular to a polling and positioning method and system of an intelligent bionic robot at a grain wharf, the foot end contact angle is adjusted according to ground features and foot pressure values, the robot can adjust and optimize the contact angle and posture according to real-time ground feedback, and the polling and positioning accuracy is improved. By measuring the grounding pressure and the slippage adjustment value of the feet in real time, the robot can be dynamically adjusted according to the actual situation of each step, slippage caused by ground friction force changes or obstacles is reduced, and the stability of the robot is improved by obtaining and analyzing multiple angular accelerations and linear accelerations in real time and combining with local movement tracks. According to the method, more accurate motion state information can be provided for the robot, a corresponding local optimization map can be formed by obtaining the three-dimensional environment image in each local motion track, the robot can flexibly adjust the own motion path and the foot end contact angle according to the optimization maps, the inspection path is further optimized, and the inspection efficiency is improved. And the overall inspection efficiency and safety are improved.

The invention relates to the field of data processing, in particular to an on-orbit calibration method and device for a scale factor, and the method comprises the steps: obtaining attitude data of a spacecraft after maneuvering through a star sensor, converting the attitude data into an angular acceleration signal under a test mass coordinate system, constructing a Kalman filter in combination with an excitation voltage read by an inertial sensor, and carrying out the on-orbit calibration of the scale factor; on-orbit calibration of the angle scale factor is completed, and on-orbit calibration of the line scale factor is completed through the conversion relation between the angle scale factor and the line scale factor. By combining and considering related factors such as linear acceleration and angular acceleration, the calibration process can more comprehensively consider the motion state of the spacecraft, and more accurate calibration is provided. In the maneuvering process of calibrating the scale factor, other parameters such as centroid offset and rigidity of the inertial sensor of the spacecraft can be calibrated at the same time. Through the technical scheme of the invention, the additional mass increase can be reduced, the unnecessary control complexity is avoided, the reliability of the system is improved, and the cost is reduced.

The invention relates to a UUV (Unmanned Underwater Vehicle) control method based on a feed-forward PID (Proportion Integration Differentiation). The objective of the invention is to solve the problems of poor precision and poor stability of a traditional PID control algorithm in UUV control. The method comprises the following steps: 1, setting an initial position and a target position of the UUV in an inertial coordinate system; 2, real-time sea wave interference information and the real state of the UUV are obtained; 3, outputting angular acceleration by the PID attitude controller; 4, outputting the optimized depth information by the filter; 5, outputting linear acceleration by the PID position controller; 6, the angular acceleration and the linear acceleration act on an executing mechanism, the thrust and the torque of a propeller are changed by controlling the rotating speed of the executing mechanism, the thrust and the torque act on the UUV, and the underwater movement track of the UUV is changed; 7, judging whether the UUV reaches the target position or not; if yes, the UUV stops sailing; and if not, repeatedly executing the steps 2-6 until the UUV reaches the target position. The method is applied to the field of UUV control.

The invention provides an underwater robot dynamic positioning method for coping with complex disturbance, and the method comprises the steps: collecting the attitude angle, angular velocity, linear velocity and linear acceleration information of an underwater robot, and generating fused high-frequency and high-precision pose information; designing an extended state disturbance observer, and estimating a disturbance value in real time through a feedback function and an auxiliary variable equation; adding the disturbance estimation value and the output force of the dynamic model, constructing a constraint condition of model prediction control, and solving the optimal control input of N prediction time domains in the future through rolling time domain optimization; and based on the optimal control input, constructing a quadratic programming problem of thrust distribution in combination with the space pose distribution matrix of the thrusters, solving the minimum energy solution of the thrusters, and outputting the minimum energy solution to a thruster execution mechanism. According to the technical scheme of the invention, the robust control of the underwater robot in a strong disturbance environment can be realized. The method mainly solves the problem of fixed point and attitude determination when the underwater unmanned robot faces underwater turbulence or other complex disturbances.

The invention relates to a calibration method for a quantum inertial navigation system, the quantum inertial navigation system comprises a three-axis atom interference gyroscope and a three-axis atom interference accelerometer, and a calibration test is realized on a three-axis turntable; the calibration method comprises the following steps: according to a rotation scale factor, an output phase noise amplitude and a data updating frequency of the atomic interference gyroscope, calculating a maximum rotation angle acceleration of a Z axis of a rotary table; according to the linear acceleration scale factor, the output phase noise amplitude and the data updating frequency of the atomic interference accelerometer, calculating the maximum rotation angular velocity of the X axis and the Y axis of the rotary table; determining a rotation strategy of the rotary table in the calibration test according to the maximum rotation angular acceleration of the Z axis of the rotary table and the maximum rotation angular velocities of the X axis and the Y axis of the rotary table; according to the rotation strategy of the rotary table, the rotary table is controlled to carry out calibration tests on the atom interference gyroscope and the atom interference accelerometer respectively. According to the invention, the inertial navigation calibration precision of the quantum IMU can be improved.

The invention discloses a speed measurement method of an optimized speed observer, relates to the technical field of vehicle power control, and solves the problem that a small negative value is easily taken as a large positive value or a small positive value is easily taken as a large negative value due to the fact that a deviation angle crosses a period in angle error calculation of an existing speed observer. The speed measurement method comprises the following steps: the acquisition and processing module acquires and processes a pulse signal of the encoder to obtain a feedback angle; an angle estimation value is calculated; taking the difference between the feedback angle and the angle estimation value as a deviation angle, and performing nonlinear compensation to obtain an angle deviation value; inputting a matrix operation framework of a speed observer, and outputting a linear acceleration estimated value; the pulse signal of the encoder is collected and processed again, a feedback angle is obtained, M-method operation and filtering processing are carried out on the feedback angle and the last feedback angle, and the feed-forward speed is obtained; and the speed observer performs weighted fusion operation on the linear acceleration estimated value, the angle deviation value and the feedback angle to obtain a final angular velocity estimated value, so that a final estimated angle is obtained, and velocity measurement is completed.

The invention discloses a three-axis differential implementation method based on cross symmetry of double inertial sensors, and the method comprises the following steps: S1, a sensor is an MEMS inertial measurement unit, i.e., an IMU, the IMU uses a right-hand Cartesian coordinate system to define the directions of three sensitive axes of the IMU, and the IMU is used for defining the positive direction of an angular velocity and also used for defining the positive direction of a linear acceleration; s2, in order to realize three-axis difference, rotating the sensor around the y axis by 180 degrees; s3, a result obtained in the step S2 is rotated by 90 degrees around the z axis; and S4, after the step S3, realizing symmetry of the x axis and the y axis through crossing, and realizing three-axis difference through double IMUs by applying a three-axis symmetry principle of an inertial sensor.

A cyclotron particle therapy center provided with a linear acceleration type range shifter of a switchable therapy system comprises a particle cyclotron (1), an energy selection system (2) and the linear acceleration type range shifter (3), wherein the energy selection system (2) and the linear acceleration type range shifter (3) are sequentially connected with the particle cyclotron (1) in series, and a multi-angle deflection magnet (4) receives a particle beam emitted by the linear acceleration type range shifter (3). The linear acceleration type measuring range shifter (3) is in butt joint with M beam transport sections (5) after deflection, M is larger than 1, the M beam transport sections (5) are in butt joint with a two-way scanning treatment system (6), the use of the linear acceleration type measuring range shifter (3) greatly improves the tumor depth scanning speed, the volume recoating scanning method is more efficient, the use method of the switchable treatment system achieves multiple purposes, and the application range of the linear acceleration type measuring range shifter (3) is wider than the application range of the linear acceleration type measuring range shifter (3), so that the application range of the linear acceleration type measuring range shifter (3) is wider than the application range of the linear acceleration type measuring range shifter (3). The path of a beam transport section is shortened, and the use number of electromagnetic components is reduced.

The invention provides a ship six-degree-of-freedom motion sensing and predicting method and device and a storage medium, and belongs to the technical field of ship motion sensing. Establishing a first measurement equation based on the rotation quaternion and the measurement value; based on the first system state change equation and the first measurement equation, the rotation angular velocity and the linear acceleration of the ship are obtained; establishing a six-degree-of-freedom state-space equation based on the rotation angular velocity and the linear acceleration within the preset duration; based on the rotation angular velocity and the linear acceleration of the ship, the optimal estimation of the system state is determined by adopting an extended Kalman filtering algorithm and a state-space equation, and the six-degree-of-freedom motion response condition of the ship is determined; and according to the six-degree-of-freedom motion response condition of the ship and the six-degree-of-freedom second system state change equation, predicting the six-degree-of-freedom motion change within the specified time. According to the method, the six-degree-of-freedom motion of the ship can be accurately estimated, and short-term six-degree-of-freedom motion of the ship can be predicted.

The invention belongs to the technical field of multi-variable measurement, and particularly relates to a forklift structure health state assessment method and system. The method comprises the steps that a plurality of strain type force sensors are symmetrically installed on the root portion of a left pallet fork and the root portion of a right pallet fork of the forklift, and the strain type force sensors are used for collecting stress signals of the left pallet fork and the right pallet fork in the three-dimensional space in real time; the six-degree-of-freedom motion state data of the forklift are collected in real time through an inertia measurement unit installed on a forklift main body, and the six-degree-of-freedom motion state data comprise linear accelerations in three orthogonal axial directions and angular velocities around the three orthogonal axial directions. According to the system, a high-bandwidth strain sensing array is deployed at the root of a pallet fork, the six-degree-of-freedom motion state of the whole vehicle is synchronously obtained, a dynamic disturbing force online decoupling mechanism based on a rigid-flexible coupling dynamic model is constructed, and the dependence of a traditional weighing technology on a static working condition is fundamentally broken through.

The invention provides a vehicle-mounted nine-axis gyroscope, which comprises a nine-axis sensor unit, a control chip, a communication module, a power supply management unit and an input / output unit, and the nine-axis sensor unit comprises a triaxial accelerometer used for measuring linear accelerations of an object in X, Y and Z axial directions, the instant speed and the relative displacement of the object are calculated by detecting the force borne by the sensor in the three axial directions; the three-axis gyroscope is used for measuring the angular velocity of the object around three axes, directly reflecting the rotating state and the angular acceleration of the object and acquiring the rotating information of the object in unit time; and the three-axis geomagnetic instrument is used for detecting magnetic field components of an earth magnetic field in X, Y and Z directions and calculating a plurality of geomagnetic angles of the magnetic field relative to the sensor through vector operation in a three-dimensional coordinate system. Through a multi-sensor fusion technology, the accurate course, speed, acceleration and attitude of the vehicle are tracked and calculated in real time, so that reliable navigation in various complex environments is guaranteed.

The invention discloses a linear acceleration environment test platform and a test method. The test platform comprises a platform body, a control system, and a guide rail assembly, an equipment assembly tool, a spring assembly, a spring stretching assembly and a detection unit which are arranged on the platform body, the equipment assembling tool is arranged on the guide rail assembly and is used for installing tested equipment; the spring assembly comprises a plurality of springs which are symmetrically distributed on the two sides of the guide rail assembly. The spring stretching assembly is used for stretching the spring assembly to a preset stretching position, the equipment assembling tool abuts against the spring stretching assembly, and the spring stretching assembly is released to drive the equipment assembling tool to do linear accelerated motion. The invention further comprises a test method of the linear acceleration environment test platform. The device is simple in structure and low in manufacturing cost, can effectively simulate the real dynamic response of the tested device under the action of the linear acceleration, carries out refined evaluation on the independence performance of the tested device, and is especially suitable for batch test requirements of inertial navigation devices, low-cost whole aircrafts and the like.

The invention discloses an IMU (Inertial Measurement Unit) visual fusion motion analysis method which comprises the following steps: a multi-source data synchronous acquisition step: acquiring three-dimensional linear acceleration and angular velocity original data through an inertial measurement unit, and acquiring a visual image sequence at the same time; a dynamic zero offset compensation step: executing a preset action on the inertial original data to calculate a zero offset compensation value; a time-space synchronization triggering step: generating a synchronization signal when detecting that the calibration inertial data reaches a preset threshold value, and establishing a mapping relationship between the timestamp and the visual frame sequence; a motion attitude fusion step: taking an attitude derived from calibration inertial data as prediction input, taking a joint coordinate extracted from a visual image sequence as observation input, and updating a fusion state through Kalman filtering; and a quantitative index extraction step: calculating a joint motion range, a motion instantaneous rate and a coherence coefficient. The method solves the technical realization problem of multi-source data acquisition and fusion, improves the accuracy and real-time performance of motion analysis, and is suitable for the fields of motion teaching and rehabilitation training.

The invention provides a multi-agent collaborative surrounding tracking method and system for a dynamic target. The method comprises the steps that S1, the number of surrounding agents, the expected surrounding radius, the expected angular spacing, the expected relative surrounding speed and the communication topology between the agents are determined according to the surrounding requirement; s2, designing a distributed fixed time observer based on a communication topological relation to realize estimation of a target state; s3, acquiring an azimuth angle between the surrounding agent and the target, and constructing a radial unit vector, a tangent vector and an angular spacing coordination error pointing to the target; constructing an estimated azimuth angle change rate, an estimated relative speed, an estimated relative distance and an estimated relative speed tangential component; constructing a radial acceleration control item, a tangential acceleration control item and a dynamic target tracking item; and S4, according to the current linear velocity and course angle of the intelligent agent, calculating linear acceleration and angular velocity in a feedback linearization mode, and realizing multi-layer adjustable angular spacing circular surrounding tracking of the multi-intelligent-agent dynamic target.

A method for biomechanical motion tracking records accelerometer and rate gyroscope data from a single inertial measurement unit mounted on the sacrum of a runner. Recorded resultant linear acceleration measurements and recorded angular velocity measurements about the anterior-posterior axis are processed to identify right foot impact events and left foot impact events. Impact events are identified using crackle, the third derivative of the resultant linear acceleration measurements. Left and right impact events are distinguished using the angular velocity measurements.

The invention discloses a motion sensing game linear acceleration anti-drifting method fusing space anchor points, and belongs to the technical field of motion sensing game pose tracking. The method comprises the following steps: synchronously acquiring IMU (Inertial Measurement Unit) original data and a space anchor point absolute pose; the method comprises the following steps: preprocessing IMU data, resolving an attitude matrix in real time by utilizing the angular velocity of a gyroscope, estimating attitude, velocity and displacement, and constructing a state vector; by taking the anchor point pose as observation, through fusion of extended Kalman filtering and state estimation, the optimal estimation is corrected, and the sensor error is calibrated on line; the six-degree-of-freedom pose and the linear acceleration are output to drive a game role to interact with an object, meanwhile, the correction state is fed back to a filter to form a closed loop, integral drift is remarkably restrained, and long-term precision and robustness are improved.

The invention relates to the technical field of ship control and navigation simulation, in particular to a ship trajectory visualization method and system based on combination of STM32 and Simulink, and the method comprises the following steps: an inertial measurement module and an ultra wide band positioning module collect attitude position information of a ship; the attitude position information is transmitted to an STM32 chip, the STM32 chip fuses the three-axis angular velocity, the three-axis linear acceleration and the three-axis geomagnetic data through a quaternion fusion algorithm to obtain a quaternion calculation result, and the quaternion calculation result and the position information in the three-dimensional space are fused to obtain fused data; the STM32 chip is used for fusing data, the fused data are packaged into data frames, the STM32 chip is used for transmitting the data frames to a ship model in a Simulink platform through a MAVLink protocol, the ship model is used for extracting the attitude angle and space coordinate information of the ship based on the data frames, and the visual motion trail of the ship is generated based on the attitude angle and space coordinate information of the ship. According to the invention, visual display and control algorithm verification are realized, and a semi-physical simulation closed-loop process is completed.

This invention relates to a method for roll reduction and anti-sway control during the deployment and recovery of an underwater robot. The method includes: estimating the position coordinates of the gantry pivot in the ship's coordinate system; calculating the motion state of the gantry pivot in the geodetic coordinate system based on the position coordinates, the mother ship's heading angle, pitch angle, roll angle, and the mother ship's coordinate position in the geodetic coordinate system; obtaining the linear acceleration and linear velocity of the underwater robot in the robot's coordinate system, and projecting the linear acceleration and linear velocity onto the geodetic coordinate system to obtain the underwater robot's motion state in the geodetic coordinate system; calculating the lateral and longitudinal sway angles of the underwater robot relative to the gantry pivot based on the motion state; and generating control commands based on the lateral and longitudinal sway angles to drive the anti-sway device to perform motion compensation along the lateral and longitudinal directions, thereby achieving roll reduction and anti-sway control. This method achieves a fundamental shift from "passive servoing" to "active roll reduction," significantly improving the safety and reliability of deployment and recovery operations.

1. Name of the design product: Plug-in inertial measurement module. 2. Use of the design product: The design product is used to be installed on a vehicle for measuring the rotational angular rate and linear acceleration of the vehicle in three orthogonal axes of a space coordinate system. 3. Design key points of the design product: Lies in the shape. 4. Picture or photo that best shows the design key points: Perspective view 1 of Design 1. 5. Design 1 is designated as the basic design.

The embodiment of the invention provides an optical axis stability control method and system based on linear acceleration feed-forward compensation, and the method comprises the steps: introducing a feed-forward compensation path based on a linear acceleration measurement value into a disturbance path from online disturbance to angular disturbance; the feedforward compensation path executes the following steps: acquiring a linear acceleration signal measured by a linear accelerometer arranged on the optoelectronic equipment in real time; multiplying the linear acceleration signal by a preset feed-forward compensation coefficient to generate a feed-forward compensation torque instruction; and the feedforward compensation torque instruction and a feedback torque instruction output by a servo control system speed ring controller are superposed to form a composite torque instruction, and a motor is driven to suppress angular disturbance generated by coupling of external line vibration through an equipment mechanical structure. According to the technical scheme, on the premise that an existing mechanical structure and a main feedback control framework are not changed, disturbance is actively predicted and counteracted by introducing a feed-forward compensation path, and the optical axis stability precision of the photoelectric equipment in a main vibration frequency band is improved.

The invention provides a high-precision positioning method and system for a logistics storage unmanned vehicle. The method comprises the following steps: respectively acquiring initial distance data between an ultra-wideband tag and each ultra-wideband base station and inertial measurement data of the unmanned vehicle based on the ultra-wideband tag and an inertial measurement unit configured on the storage unmanned vehicle; based on angular velocity data and linear acceleration data in the inertial measurement data, determining a relative pose variable quantity of the unmanned vehicle between two adjacent distance measurement periods and an instantaneous movement velocity vector of the unmanned vehicle in the current ultra-wideband distance measurement period; based on the initial distance data and the deployment position of each ultra wide band base station, determining the initial position coordinate of the unmanned vehicle, and fusing the initial position coordinate and the relative pose variable quantity to obtain the predicted position coordinate at the current moment. According to the invention, the precision and stability of the positioning result of the storage unmanned vehicle are improved, and the high-frequency and high-precision positioning requirements in a complex environment are met.

A MEMS accelerometer includes a proof mass that rotates about an in-plane axis in response to a linear acceleration such that a portion of the proof mass moves out of plane along an out-of-plane axis in a direction of a bump stop. When the proof mass becomes stuck to the bump stop, a signal is applied to one or more anti-stiction electrodes in a manner that moves the proof mass along a movement axis in order to release the proof mass from the bump stop.

The invention relates to a stabilization and stop control method in the launching and recovery process of an underwater robot. The method comprises the following steps: estimating position coordinates of a portal support point in a ship coordinate system; based on the position coordinates, the course angle, the pitch angle and the roll angle of the mother ship and the coordinate position of the mother ship in the geodetic coordinate system, the motion state of the portal support point in the geodetic coordinate system is calculated; acquiring the linear acceleration and the linear velocity of the underwater robot in the robot coordinate system, and projecting the linear acceleration and the linear velocity to the geodetic coordinate system to obtain the motion state of the underwater robot in the geodetic coordinate system; calculating a transverse swing angle and a longitudinal swing angle of the underwater robot relative to a portal support point based on the motion state; according to the transverse swing angle and the longitudinal swing angle, a control instruction is generated to drive the oscillation stopping device to conduct motion compensation in the transverse direction and the longitudinal direction, and stabilization and oscillation stopping control is achieved; according to the method, fundamental transformation from passive follow-up to active stabilization is achieved, and the safety and reliability of laying and recovery operation are greatly improved.

1. The name of this design product: Inertial Measurement Unit. 2. Purpose of this design product: to measure the angular rate of rotation and linear acceleration of the vehicle in three axes in the spatial coordinate system. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: Stereoscopic diagram 1.

The invention discloses a motor smooth linear acceleration and deceleration system and a control method, which are applied to the fields of robots, industrial automation, machine tool processing, transportation, metering detection, aerospace, energy production, industrial manufacturing and elevators. The problems that an existing S-shaped acceleration and deceleration algorithm cannot respond quickly, overshoot oscillation exists in a linear control algorithm, and obvious grading echelon acceleration and deceleration are not smooth due to existing fixed grading grade acceleration and deceleration are solved. Fixed-period linear smooth acceleration and deceleration parameters are obtained through scanning period optimization calculation, a driver receives precise control pulse signals of a control system in each scanning period, the driver drives a motor, the control system precisely collects motor encoder information and the motor through an encoder, and according to set target speed data and target acceleration and deceleration time data, the acceleration and deceleration parameters of the motor are calculated according to the set target speed data and target acceleration and deceleration time data. Scanning cycles are collected, reliable scanning cycles are optimized, ideal graded acceleration and deceleration parameters based on reliable scanning cycle data are judged, and speed control of each scanning cycle is accurately achieved.

The invention discloses an accelerated aging test method for a small sample of a rubber component. The method comprises the following steps: 1, collecting performance degradation data of the rubber component at an accelerated stress level; 2, based on the degradation track model, extrapolating the performance degradation index of the sample to obtain the pseudo failure life of the sample; 3, based on the pseudo failure life data, evaluating the reliable life single-side confidence limit with high confidence and high reliability of the rubber component under the accelerated stress level; and 4, based on the linear acceleration model and in combination with the confidence limit and difference product quotient theory, evaluating the high-confidence and high-reliability reliable life single-side lower confidence limit of the rubber component under the normal use stress level. According to the aging test data of the two accelerated stress levels, the evaluation of the single-side confidence lower limit of the reliable service life of the rubber component under the normal use stress level can be realized under the requirements of high confidence and high reliability without introducing the hypothesis of equal variance; and the method is of great significance to long-term safe and reliable use of the rubber component.