45 results about "Mechanical impedance" patented technology

The invention discloses a loss tuning method of a power transformer, which is applied to a transformer body sleeved with a winding and comprises the following steps: applying scanning current excitation containing fundamental waves and harmonic waves to the winding, synchronously acquiring a body vibration signal and converting the body vibration signal into a frequency spectrum; extracting a formant from the frequency spectrum, matching the formant with a theoretical electromagnetic force wave and a structure inherent frequency library, and identifying a coupling formant to be optimized; aiming at each formant, installing a vibration exciter in a corresponding area, sending out an anti-phase periodic pulse force, and dynamically and finely adjusting a pulse force parameter by monitoring a vibration response in real time and taking equivalent mechanical impedance minimization as a target; when the optimal damping state is achieved, the vibration exciter output rod is locked, and static pre-tightening force is formed; and after all formants are adjusted and optimized in sequence and the prestress is locked, final pressing and fixing of the transformer body are completed in the state that the pretightening force is kept. According to the invention, the dynamic loss source of the individual transformer can be actively inhibited and cured before assembly and curing, the operation loss and noise are effectively reduced, and the structural stability is improved.

The invention relates to the technical field of motor fault diagnosis, and discloses a multi-degree-of-freedom resonant excitation motor dynamic vibration test system and a test method, the system injects a specific harmonic current into a motor through closed-loop control and calculation and a high-bandwidth harmonic injection driver, so that the actual vibration of the tested motor tracks a preset target vibration profile in real time. In the testing process, the cross-spectral density of multi-point vibration signals is analyzed, and a transmission path and a collection area of vibration energy in a motor structure are calculated; and meanwhile, the electromagnetic impedance and the mechanical impedance of the motor are identified and decoupled on line by superposing a broadband disturbance signal in the driving current. In combination with energy flow analysis and an impedance decoupling result, the method can accurately position a vibration abnormal position, clearly causes whether a fault source is from mechanical structure characteristic change or electromagnetic part performance change from a physical level, and realizes deep and accurate diagnosis of the dynamic characteristics of the motor.

The invention relates to a vibration excitation method and system based on impedance identification, and the method comprises the steps: carrying out the frequency domain conversion of force-speed data obtained by a displacement closed-loop system, and obtaining the mechanical impedance of a drive point; performing flexibility compensation on the mechanical impedance of the driving point to obtain the real impedance of the structure end; extracting an imaginary part and constructing a matching residual error by using the real impedance of the structure end, correcting the excitation frequency of the current vibration exciter through gradient frequency, and iteratively determining the optimal excitation frequency of the vibration exciter meeting a convergence condition; mechanical active power generated by the vibration exciter is calculated under the optimal excitation frequency, dual-target optimization is carried out on the amplitude of the vibration exciter, and the optimal amplitude with the maximum mechanical active power and the minimum equivalent output of the actuator is obtained; based on the real impedance of the structure end, the matching criterion and the optimal amplitude, variable parameters are introduced to construct a source-side impedance model, a source-side impedance matching frequency domain interval is expanded through slow time mark setting parameters, and mechanical active power generated by a vibration exciter is coupled to a tested structure.

The invention relates to the technical field of engineering machinery control, and discloses a hydraulic control system under a variable load piling working condition, which comprises a multi-dimensional state acquisition module, a fluid parameter observation module, a signal reconstruction decoupling module, a virtual impedance mapping module and a fluid phase locking control module. The acquisition module acquires a basic physical state; the observation module solves the effective volume elastic modulus of the hydraulic oil based on a fluid continuity equation; the reconstruction module utilizes the modulus to correct signal lag, reconstructs external load force through an inverse dynamic model and decouples environmental acoustic impedance; the mapping module dynamically generates a target mechanical impedance parameter according to the environment impedance; and the control module calculates an ideal instruction based on the target parameter, corrects the gain by utilizing the fluid modulus and locks the rebound peak phase to adjust the action time sequence of the valve core. Control distortion caused by fluid parameter drift is solved, active flexible adaptation to variable load geology is achieved, energy hedging is avoided, and operation efficiency is improved.

This application relates to the field of robot motion control and safety protection, and discloses a method for preventing hand pinching in a robot servo system. This method monitors the motor status in real time. When suspected interference is detected, a composite detection signal consisting of a base holding voltage, a DC preload component, and an AC detection component is injected into the drive motor. Through open-loop feedforward control, the feedback current is collected and the same-frequency component is extracted. The phase lag difference relative to the injected signal is calculated. Based on the magnitude of the phase lag difference, the system identifies whether the obstructing object is made of rigid or flexible material, and then executes a graded protection strategy of constant torque limiting or variable stiffness impedance control, respectively. This invention utilizes the principle of motional impedance to establish a mapping relationship between electrical phase and mechanical impedance, solving the problem of difficulty in distinguishing contact materials under low-speed conditions, achieving active compliance and safe escape, and improving the safety of human-machine interaction.

The application relates to the technical field of touch screens, in particular to an oil-contaminated environment touch control identification method and system, a storage medium and electronic products. The steps comprise: collecting micro-vibration signals generated by a piezoelectric film array during touch control interaction, the micro-vibration signals being used to reflect the mechanical characteristics of touch control operation; extracting a damping coefficient feature and a frequency spectrum peak value feature from the micro-vibration signals, the damping coefficient feature being used to distinguish the mechanical impedance difference between finger pressing and oil contamination covering, and the frequency spectrum peak value feature being used to distinguish the vibration frequency distribution difference between finger pressing and oil contamination covering. The oil-contaminated environment touch control identification method and system of the application fundamentally break through the technical limitation of capacitive touch control relying on dielectric constant by deeply integrating piezoelectric mechanical vibration sensing and artificial intelligence classification technology, and improve the accuracy of touch control identification in an oil-contaminated environment.

The utility model discloses a load-bearing deformation-resistant FFU box body bottom plate reinforcing structure which comprises a main load-bearing plate, airflow guide plates are arranged at the left end and the right end of the main load-bearing plate, auxiliary supporting plates are arranged at the front end and the rear end of the main load-bearing plate, and right-angle folded edges are arranged at the connecting positions of the auxiliary supporting plates and the main load-bearing plate. A honeycomb laminate is arranged at the lower end position of the main bearing plate, the honeycomb laminate is connected with the main bearing plate through an adhesive at the upper end position, and a core body wall is arranged at the inner position of the honeycomb laminate. Dynamic stiffness compensation is achieved, a bidirectional enhancement effect is formed through the coupling effect of reinforcing ribs in specific geometrical shapes and an airflow channel, a vibration suppression mechanism is established, a mechanical impedance sudden change area is arranged on the structural level, and a propagation path of vibration waves is blocked.

The application provides a motion compensation device and a seat device suitable for the motion compensation device, and relates to the technical field of automobile seat control. The motion compensation device comprises a frame module, a vertical module and a horizontal module. The frame module comprises a mounting frame and a base frame. The mounting frame is located above the base frame and is rotationally connected with the base frame. The mounting frame is suitable for being fixedly connected with a seat. The vertical module comprises a vertical driving unit and a variable damping unit. The vertical driving unit is rotationally connected with the mounting frame and the base frame respectively. The variable damping unit is rotationally connected with the mounting frame and the base frame respectively. In a motion mode, the vertical module is configured to drive the mounting frame to move along a vertical direction according to a motion control instruction, and to make the variable damping unit not generate damping force during the movement of the mounting frame. In a compensation mode, the vertical module is configured to make the variable damping unit generate damping force for inhibiting the mounting frame from vibrating in the vertical direction according to a compensation control instruction, and to reduce the mechanical impedance of the vertical driving unit to the mounting frame.

The application provides a multimodal sensory-motor closed-loop control system and method for a nerve injury rehabilitation device, and relates to the technical field of intelligent medical rehabilitation devices. The system comprises: a multimodal sensing module that synchronously collects physiological signals, kinematic signals and semantic input signals and adds isogenic hardware time stamps; a subjective and objective alignment processing module that intercepts an asymmetric time window and generates a subjective and objective alignment state slice based on a semantic event anchor point; a multimodal parameter generation module that outputs a machine-resolvable structured control instruction in combination with state characteristics and a clinical background and is verified through a safety shadow network; and a closed-loop physical execution module that synchronously drives a motion intervention loop to output mechanical impedance and a sensory compensation loop to output electrical stimulation within the same hardware synchronous trigger cycle. The application realizes accurate alignment of subjective semantics and objective physiological motion data, synchronous driving of dual-loop execution, reduction of delay and semantic ambiguity, and improvement of safety and adaptability through multiple safety verification.

A system for measuring the mechanical impedance of a patient's respiratory system during spontaneous respiratory activity characterised in that it comprises a fan, a motor driving said fan; said motor and said fan are placed inside a cavity; said cavity is divided into two sub-cavities separated from each other so as to prevent the passage of air, one containing the motor and the other containing the fan and comprising an initial end and a terminal end, both of which have access to the outside.

An unmanned aerial vehicle (UAV) and airframe architecture are disclosed. A single-plane embodiment utilizes an asymmetric arm length ratio in the range of 1.35:1 to 1.45:1 (approximately 1.41:1) to arrange eight propulsion units in a compact, non-overlapping configuration to achieve high hover efficiency (FM 0.78). The integrated airframe utilizes structural arms with a non-circular cross-section characterized by parallel flat mounting surfaces and convexly filleted sides with conformal wall thickness to minimize parasitic mass and stress concentration. The arm-to-body junction employs a mechanical impedance mismatch zone to attenuate vibration transmission, which may be achieved by a difference in material properties or by a structural impedance element configured for local stiffness change via reduction, increase, or combination in cross-section, potentially using metal inserts. A quantitative design method for bi-planar UAVs uses an aerodynamic power penalty model to precisely control the trade-off between compactness and efficiency.

This invention relates to the field of smart logistics infrastructure technology, and more particularly to a smart logistics unmanned operation and delivery system. The system includes a docking terminal with a magnetorheological tensioned integral structure. A multi-dimensional spatiotemporal sensing module collects vehicle data to determine the target static equilibrium configuration; a construction evolution and reconstruction module drives the pre-displacement of the compressed spine to form a flexible funnel-shaped or rigid tray-shaped docking interface for drones or unmanned delivery vehicles, respectively; an energy shaping and control module applies active control force at the moment of contact to construct a suitable flexible potential energy trap or rigid support potential energy barrier; a nonlinear damping injection module adjusts the yield stress of the magnetorheological fluid according to the impact momentum, providing nonlinear physical damping to dissipate kinetic energy; and a steady-state locking flow module achieves rigid interlocking using a universal magnetic flux coupler in the system's steady state. This invention effectively solves the problem of mechanical impedance mismatch during the docking of heterogeneous vehicles.

The invention relates to the technical field of solar photovoltaic power generation and automatic control, in particular to a self-adaptive control system based on the attitude of a solar photovoltaic panel, which comprises an environmental manifold perception and mode identification step: collecting light field distribution and mechanical disturbance signals, and calculating a light intensity space gradient and a time variance to divide an environmental mode; a virtual impedance model construction step: constructing a second-order mechanical impedance model, adjusting the virtual stiffness in response to the light intensity gradient, and adjusting the virtual damping in response to the disturbance high-frequency component; a gravity offset and backlash compensation step: analyzing the gravitational torque component to construct an asymmetric dead zone offset, and applying a pre-tightening force by using gravity to generate an anti-backlash instruction; a cooperative execution and closed loop iteration step: fusing the control law and the bias instruction to drive an execution mechanism, and monitoring energy output and mechanical loss to update parameters; the contradiction between tracking precision and mechanical reliability is solved, and backlash oscillation is effectively eliminated.

The invention relates to the field of industrial control systems, and discloses a plastic part mold dual-guiding and anti-offset program control method, which comprises the following steps: respectively executing active detection subprograms at a baseline control point and a preset detection point in a mold closing stroke to extract a baseline impedance characteristic value and a mechanical impedance characteristic value, the industrial control system calculates a differential impedance characteristic value between the mechanical impedance characteristic value and the baseline impedance characteristic value, and only compares the differential impedance characteristic value with a differential health threshold value so as to judge whether there is an offset risk and execute a safety action; according to the method, the two-point differential measurement value obtained in the same cycle is used as a decision basis, dynamic compensation of the global thermal drift interference of the equipment is realized from a program algorithm level, the problem of high false alarm caused by reference failure in an existing static threshold comparison mode is avoided, and the reliability of a control system under a real working condition is improved.

The application provides a kind of elbow pressure balance type expansion joint transmission mechanical impedance testing device, and its pressing equipment is connected to elbow pressure balance type expansion joint, for elbow pressure balance type expansion joint is pressed;Input end decoupling mechanism is connected to the input end of elbow pressure balance type expansion joint, for elbow pressure balance type expansion joint is excited and elastically limited;Resistance mass mechanism is installed on output end decoupling mechanism, and is connected to the output end of the bottom of elbow pressure balance type expansion joint, for the vibration output of elbow pressure balance type expansion joint is blocked;Output end decoupling mechanism supports and elastically limits elbow pressure balance type expansion joint.The device and method can quickly and accurately test the transmission mechanical impedance characteristics of elbow pressure balance type expansion joint under different pressure conditions.

The application provides a high-performance broadband transducer and a preparation method and application thereof. The transducer comprises a backing layer and a piezoelectric material layer arranged in sequence, the backing layer has a first plane, the piezoelectric material layer comprises a plurality of piezoelectric units with different heights and not in contact with each other, the plurality of piezoelectric units with different heights and not in contact with each other have gradually increasing heights on a set route located on the first plane, and the set route is a simple curve. When the height of the piezoelectric unit in the plane gradually changes, the mechanical impedance and vibration phase difference of adjacent piezoelectric units are small, the phase consistency and the continuity of the mechanical boundary condition in the multimode coupling are ensured, the vibration mode of the transducer is smooth, and a continuous and flat broadband response can be formed. Thus, the emission and reception bandwidth is greatly increased under the premise of only a small increase in height.

This invention discloses an intelligent data acquisition and anomaly analysis platform for construction engineering supervision, relating to the field of construction engineering supervision technology. The platform includes a site perception layer, a data transmission layer, and a data processing layer. The perception layer acquires electrical and attitude data of the vibrating equipment, original spatial coordinates, ambient temperature, and concrete material parameters. The data processing layer performs spatial drift compensation based on density clustering on the original coordinates to obtain calibration coordinates and calculates dynamic operation duration thresholds based on material parameters and ambient temperature. The system extracts equivalent mechanical impedance and attitude validity features, and performs cascaded anomaly judgments including attitude compliance, physical duration, and process form based on a dynamic time warping algorithm through a logic verification engine. If the verification passes, the data is associated with BIM components using the calibration coordinates. This invention eliminates interference from environmental and material differences, achieving accurate quantitative assessment of the quality of engineering operations.

To optimize the control and / or regulation of a device designed to interact with a human being, a method for controlling a device (100) is comprising the following steps: - Generating (A) a vibration by means of at least one vibration generating device (51) of the device (100) and transmitting the vibration into a body (33) of a user of the device (100), - (B) Detecting the vibration of the user's body by means of a sensor device of the device, - Determining (C) a mechanical impedance of the body from the detected vibrations, and - Adjusting (D) at least one control variable and / or at least one regulated variable of the device to perform a function of the device (100) depending on the determined mechanical impedance.

This invention belongs to the field of elevator safety monitoring technology. It discloses a method and terminal for intelligent analysis and risk prediction of elevator safety data. The method includes: establishing an ideal rigid body motion trajectory based on the elevator's physical topological constraints; acquiring the elevator's real-time operating trajectory, comparing the trajectory deviation with the ideal rigid body motion trajectory, performing inversion based on the trajectory deviation to obtain mechanical impedance degradation parameters containing changes in damping coefficient and stiffness coefficient; transforming the continuous changes in the mechanical impedance degradation parameters to form potential abnormal features to be verified, performing compliance logic judgment on the potential abnormal features to be verified, and forming a sub-health state judgment conclusion; performing counterfactual deduction under no-load and full-load scenarios based on the sub-health state judgment conclusion to obtain the prediction deviation response value under each load scenario, further judging the prediction deviation response value, and generating a comprehensive elevator risk prediction report, significantly improving the accuracy of elevator risk prediction.

The invention provides a distribution network operation site panoramic video abnormal behavior real-time monitoring and warning method, relates to the technical field of visual intelligence, and aims to complete inversion of an environmental turbulence field and quantification of a human body passive displacement risk only by using a video stream on the premise of not adding an additional physical sensor. The panoramic video stream is utilized to generate an environmental turbulence field feature tensor, and the human body microcosmic motion jerk spectrum energy is combined to calculate anti-disturbance mechanical impedance, so that a dynamic safety margin monitoring parameter is deduced. According to the method, the robustness in a complex meteorological environment is improved, the problem of false alarm caused by balance action caused by environmental wind is effectively solved, the advanced risk early warning capability based on physical accessibility is provided, and the active safety protection level of a distribution network operation site is improved.

The application provides a kind of ventilation system end equipment failure prediction and health management method and system, it is related to state monitoring technical field, the method comprises: step 1, the standardized operating data set is as processing object, extracts the key time-frequency features of the mechanical operation of fan and the state of pipeline airflow;Based on the spatial distribution coordinates of three key monitoring nodes and the aerodynamic mechanical impedance characteristics of each node, a three-dimensional space mapping ellipsoid is fitted and constructed;Step 2, the three-dimensional space mapping ellipsoid is adaptively meshed along the main axis direction and the flow-vibration energy transfer numerical simulation is carried out, and the spatial phase coupling correction value is obtained.The application realizes the precise perception of the multi-physical field coupling state of the equipment, the quantitative early warning of the early hidden failure and the closed-loop management of the predictive maintenance.

The invention relates to the technical field of geotechnical engineering and underground hidden engineering construction, and discloses a karst area pile foundation intelligent positioning and precise construction method which comprises the steps that a drill string dynamic model is established, and the mechanical impedance and the mechanical equivalent aperture of the bottom of a drill bit are inverted; generating a preset hydraulic impedance boundary model based on the mechanical parameter mapping; the actually measured equivalent flow resistance is analyzed in the pouring stage, and the effective hydraulic aperture is reversely deduced; and calculating the flow resistance deviation and aperture deviation of the actually measured parameters and the reference model, identifying geological defect types such as laterally communicated karst caves, plastic hole shrinkage and hole wall collapse according to the deviation combination, and generating a corresponding adaptive control instruction. According to the method, the characteristics of the drilling machine are converted into the pouring rheological benchmark, and double deviation analysis of mechanical and hydraulic aperture is utilized, so that precise recognition of hidden karst defects and closed-loop self-adaptive control of the construction process are realized, and the pile forming quality and the construction safety in a complex karst geological environment are guaranteed.

This invention discloses a mechanical impedance testing device and method for an internally pressurized elastic straight tube structure, comprising a fixing mechanism, a first elastic straight tube, a second elastic straight tube, a docking cover plate, and an output mechanism. The fixing mechanism includes a left support frame and a right support frame. The first and second elastic straight tubes have identical structures and are horizontally and symmetrically arranged between the left and right support frames. The two sides of the docking cover plate are respectively connected to the input ends of the first and second elastic straight tubes, and a through hole is opened in the middle of the docking cover plate to connect the internal chambers of the first and second elastic straight tubes. The output mechanism is located between the output end of the second elastic straight tube and the right support frame, and includes an upper adapter plate, a three-dimensional force plate, and a lower adapter plate arranged sequentially. This device and method not only avoid the stiffness influence of the introduced decoupling airbag but also avoid the influence of fluid pressure transmission inside the elastic tube, thus improving the accuracy of the test results.

The invention relates to the technical field of battery health state evaluation, in particular to a battery energy storage state monitoring and evaluating system and method. The method comprises the following steps: carrying out structural vibration response acquisition on a battery to obtain a measuring point frequency response characteristic set and a vibration mode distribution diagram; performing mechanical impedance spectrum calculation on the vibration mode distribution diagram according to the measuring point frequency response characteristic set to obtain a battery vibration response spectrum; identifying a resonance characteristic table from the battery vibration response spectrum; performing modal consistency index calculation on the battery vibration response spectrum according to the resonance characteristic table to obtain a modal consistency index; constructing a structure health degree vector according to the modal consistency index; and dielectric detection parameter optimization is carried out according to the structural health degree vector, and a regionalized detection scheme is obtained. According to the method, two physical field means of structural vibration response analysis and regional dielectric property detection are combined, so that refined space mapping and accurate echelon utilization rating of the internal state of the battery are realized.

The invention relates to the technical field of laminated material taking, in particular to an upper material taking type laminated plate feeding method and system capable of preventing plate jamming, and the method comprises the following steps: collecting stock bin parameters and motor position to calculate real-time load, calculating dynamic impedance in combination with an inclination angle, mapping the impedance into the minimum torque of a motor, and synchronously adjusting current and frequency; and an anti-jamming instruction is generated to drive the platform to be matched with the load to ascend, and the top-layer plate is controlled to be flexibly in place without overshoot according to a sensor signal. According to the method, the physical load inversion model is constructed through the real-time stroke count value and the inclination angle, the gravity component and friction damping dynamic attenuation caused by the change of the plate number are accurately calculated, the changed mechanical impedance is mapped into the minimum maintaining torque and the safety pulse frequency of the motor in real time, sufficient power is provided at the full-load stage to overcome static friction, and therefore the dynamic load of the motor is improved. And it is ensured that the top-layer plate flexibly reaches the material taking position with constant tiny contact force, and overshoot clamping and plate extrusion deformation caused by excessive torque are effectively eradicated.

The application discloses a loss tuning method of a power transformer, which is applied to a transformer body with a sleeved winding and comprises the following steps: applying a scanning current excitation containing a fundamental wave and a harmonic wave to the winding, synchronously collecting a transformer body vibration signal and converting the transformer body vibration signal into a frequency spectrum; extracting resonance peaks from the frequency spectrum and matching the resonance peaks with a theoretical electromagnetic force wave and a structure inherent frequency library, so that a coupling resonance peak to be tuned is identified; for each resonance peak, an exciter is installed in a corresponding area, an opposite periodic pulse force is emitted, and through real-time monitoring of a vibration response, pulse force parameters are dynamically fine-tuned with the minimum equivalent mechanical impedance as a target; when an optimal damping state is reached, an output rod of the exciter is locked, and a static pre-tightening force is formed; after all the resonance peaks are tuned and the pre-stress is locked in turn, final compression and fixation of the transformer body are completed in a state of keeping the pre-tightening force. The application can actively inhibit and solidify the dynamic loss source of an individual transformer before assembly and solidification, effectively reduce operation loss and noise, and improve structure stability.

The invention relates to the field of robot motion control and safety protection, and discloses a robot steering engine system anti-pinch method, which monitors the state of a motor in real time, injects a composite detection signal composed of a basic holding voltage, a direct-current pre-tightening component and an alternating-current detection component into a driving motor when suspected interference is identified, and controls the robot steering engine system according to the composite detection signal. Through open-loop feed-forward control, feedback current collection, same-frequency component extraction and calculation of a phase lag difference relative to an injection signal, the system identifies whether a blocking object is a rigid or flexible material based on the phase lag difference, and then a grading protection strategy of constant moment amplitude limiting or variable stiffness impedance control is executed. According to the method, the motional impedance principle is utilized, the mapping relation between the electrical phase and the mechanical impedance is established, the problem that contact materials are difficult to distinguish under the low-speed working condition is solved, active compliance and safe escape are achieved, and the man-machine interaction safety is improved.

The invention relates to the technical field of touch screens, in particular to a greasy dirt environment touch recognition method and system, a storage medium and an electronic product. The method comprises the steps that micro-vibration signals generated by a piezoelectric film array during touch interaction are collected, and the micro-vibration signals are used for reflecting mechanical characteristics of touch operation; a damping coefficient feature and a frequency spectrum peak feature are extracted from the micro-vibration signal, the damping coefficient feature is used for distinguishing the mechanical impedance difference between finger pressing and oil stain covering, and the frequency spectrum peak feature is used for distinguishing the vibration frequency distribution difference between finger pressing and oil stain covering. According to the touch recognition method and system for the greasy dirt environment, piezoelectric type mechanical vibration sensing and the artificial intelligence classification technology are deeply fused, the technical limitation that capacitive touch depends on dielectric constants is fundamentally broken through, and the accuracy of touch recognition in the greasy dirt environment is improved.

The application discloses a kind of anti-stuck chain belt type automatic feeding industrial control system and method, belong to machine tool fieldbus control system technical field, comprising: in operation high-frequency perturbation excitation signal is applied, and multi-dimensional state signals such as motor current, rotating speed and vibration acceleration are collected;Dynamic mechanical impedance spectrum is identified based on electromechanical coupling model, and impedance eigenvector representing microscopic stick-slip effect is extracted;According to the vector, the resistance evolution trajectory is predicted and the risk level of sticking is determined;When there is risk, impedance parameters are used as hard constraint conditions, and a nonlinear speed-torque composite control trajectory is generated based on multi-objective optimization;Finally, the adaptive anti-sticking action is executed by the driving system and the model is iteratively corrected.The application breaks through the hysteresis of traditional threshold monitoring, accurately captures the micro-sticking precursor, realizes active defense, and effectively guarantees the production rhythm.