513 results about "Motion system" patented technology

The invention provides an inertial navigation attitude resolving method and device based on sensor fusion. The method comprises the following steps: carrying out multi-clock domain synchronous calibration processing on a double-antenna GNSS system, an IMU inertial measurement unit and an antenna servo system in a vehicle-mounted communication-in-motion system; according to the time synchronization reference, carrying out quality evaluation and weight distribution processing on the GNSS satellite signal under the satellite communication in motion antenna pointing constraint; and carrying out multi-sensor fusion resolving processing on the inertial attitude of the vehicle body according to the time synchronization reference and the GNSS observation data weight distribution result. According to the method, millisecond-level time synchronization is realized by establishing a robust extended Kalman filtering model of a multi-dimensional extended state vector, GNSS signal quality is optimized by adopting an adaptive weight distribution strategy of antenna pointing constraint, and attitude fusion precision is enhanced by utilizing high-precision angle feedback of an antenna servo system. The problem that a traditional attitude resolving method in a vehicle-mounted communication-in-motion system is not high in precision is solved.

A proportional servo valve spool displacement control method taking unknown hysteresis compensation into consideration. The control method is based on the idea of using a parameter adaptive law to learn an inverse model of an unknown hysteresis phenomenon and making a desired output signal undergo an estimated inverse hysteresis model in advance, thereby designing a non-linear robust position controller for online inverse compensation of the unknown hysteresis phenomenon. To address the problem of there being hysteresis nonlinearity in the output electromagnetic force of a proportional solenoid that drives a spool to move, the method can not only ensure the active elimination of unknown hysteresis nonlinearity, but can also eliminate other disturbances that are difficult to model in a spool motion system, thereby improving the operability and performance consistency of a hydraulic valve and realizing high-precision tracking of the spool position.

The invention discloses a double-station circuit board beveling machine, and relates to the technical field of circuit board processing equipment.The double-station circuit board beveling machine comprises a first base and a first tool apron, and the first tool apron is supported on the first base through a tool apron displacement assembly; the tool apron displacement assembly comprises a first left-right translation module, a first height adjusting module and two first front-back displacement modules which are symmetrically arranged, and the first left-right translation module and the first height adjusting module drive the two first tool aprons to integrally displace in the Y-axis direction and the Z-axis direction; each first front-back displacement module can independently drive a first worm and gear rotation device to move in the Y-axis direction, the first worm and gear rotation device rotates the angle of a first tool apron, angle adjustment is completed, a double-tool-apron structure which is symmetrically arranged up and down can synchronously cut the upper edge and the lower edge of a circuit board at the same time, and a three-axis movement system is matched, so that the machining efficiency is improved. And a worm and gear angle adjusting mechanism is combined, so that positioning is more accurate, and precision is higher.

System and method for monitoring vehicular traffic on a bridge, including receiving digital data representing the response of the bridge to a traffic event, where the digital data has been collected during the traffic event, from displacement sensors and accelerometers mounted on the superstructure of the bridge, wherein the digital data from the displacement sensors embody bending responses of the bridge, the digital data from the accelerometers embody acceleration responses of the bridge, and the digital data from the sensor are synchronised in the same time space, providing a parametric model which uses modal parameters to simulate generalized boundary conditions and two-dimensional behaviour of the bridge; using the parametric model to process the digital data to solve for deformation of the bridge and characteristics of the vehicle traffic, and generating an output that describes the deformation of the bridge and characteristics of the vehicle traffic.

A diagnostic method localizes technical faults in a motion system that includes a base adapted to receive a motion stage for equipment, a machine frame resting on the floor, dampers adapted to support the base, and an active isolation system arranged between the base and the machine frame. The active isolation system and the base form a mechanical system. The active isolation system includes actuators, adapted to impart six degree-of-freedom (DOF) motion to the base in a reference frame, and inertial sensors adapted to provide a six DOF measurement of the base's motion. The method includes: i) applying a control signal for actuating or contributing to the actuation of the actuators of the active isolation system to impart a motion to the base; ii) obtaining, with the inertial sensors, a six DOF measurement of the base's motion relative to a reference point; iii) creating a measured process sensitivity matrix of the mechanical system using the six DOF measurement; and iv) determining, based on the measured process sensitivity matrix, whether all the actuators and sensors of the active isolation system are working as expected and / or whether there is a pivot point impeding the movement of the base.

A motion cueing system for a flight simulator includes a motion system controller configured to generate actuation commands for a movable simulator platform. The actuation commands are based on at least one of: an absolute attitude of a simulated aircraft; or a weighted function of a groundspeed of the simulated aircraft.

The invention discloses a quadruped robot anti-disturbance motion control method based on reinforcement learning and application, and belongs to the field of robot motion control. Firstly, a self-adaptive propulsion control frame is provided, and a propeller and a leg movement system of the quadruped robot are deeply fused. And secondly, through cooperative training of a double-encoder system (a teacher encoder and a student encoder) and a predictor, hidden state extraction and environment disturbance reconstruction are realized, so that the robot adjusts a motion strategy in real time under complex scenes such as actuator faults and water flow interference. And finally, in combination with multi-stage reinforcement learning training and privilege information utilization, strategy network output is optimized, and a speed and trajectory tracking task is completed. The motion robustness of the robot under unknown interference and damage conditions is remarkably improved through cooperative control of the propellers and the legs, anti-disturbance decision of hidden state driving and dynamic reward function design. The method is suitable for amphibious environments, can adapt to diversified disturbance scenes without additional fine adjustment, and has high practicability and reliability.

The utility model discloses automatic calibration equipment, and relates to the technical field of calibration equipment. The calibration tool is used for installing a product to be calibrated, the transfer trolleys are used for carrying the calibration tool, the incubator is provided with a three-axis movement system and an intelligent control system, the manipulator is used for grabbing the calibration tool on the transfer trolleys into the incubator, and a sliding device for driving the manipulator to move is arranged at the lower end of the manipulator. The device has the advantages of being high in automation degree, accuracy and reliability.

The application belongs to the technical field of industrial automation control, and provides an automation control method and system based on optimal iterative learning control and feedforward control. The automation control method comprises the following steps: constructing an automation control model by using an optimal iterative learning control algorithm and a model-based feedforward control algorithm; optimizing the automation control model; and implementing automation control based on the automation control model. The automation control method based on optimal iterative learning control and feedforward control solves the problems of performance decline of the optimal iterative learning control algorithm when the trajectory changes and possible degradation of the model-based feedforward control algorithm under actuator constraints, and can realize high-precision tracking and reliable control under repeated and non-repeated tasks, and is suitable for high-precision trajectory tracking and actuator constraint management of industrial motion systems.

The invention relates to a cluster robot platform based on implicit cooperation and multi-dimensional perception, and aims to improve the performance of a cluster robot in the aspects of measurement precision, perception capability and real-time performance. The platform is composed of a cluster robot hardware system and a software system. The hardware system comprises a bottom layer motion system, an optical cooperation beacon system and a main control board. A software system realizes cooperation and efficient behaviors among cluster robots through a multi-neighbor recognition and identity matching mechanism, a cooperative positioning mechanism, a relative speed direction measurement and calculation mechanism and a realistic differentiation information perception mechanism. The robot can accurately identify neighbors, perform calculation and adjust behaviors in real time so as to adapt to complex cluster tasks. The cluster robot platform supports verification and adaptation of various cluster algorithms, has high-precision perception, excellent real-time performance and wide algorithm adaptation capacity, and provides a solid foundation for research, development and application of the cluster robot technology.

The invention provides an ornithopter with multi-degree-of-freedom empennage collaborative movement and a control method.The ornithopter comprises a rack, empennage bodies and an empennage driving mechanism, each empennage body comprises an empennage support, a plurality of tail feather bodies, a traction rope guide wheel and a tail feather elastic rope, and one end of each tail feather body is sequentially hinged to one end of the empennage support; the number of the traction rope guide wheels is two, the traction rope guide wheels are arranged in the middle of the empennage support side by side, the tail feather elastic rope is sequentially connected to the multiple tail feather bodies, and the two tail feather bodies on the outermost side are each provided with a connecting part extending towards the other side of the hinged end. The empennage driving mechanism comprises an empennage connecting pipe assembly, a traction steering engine, a winding roll, a traction rope, an empennage torsion steering engine, an empennage deflection steering engine and an empennage pitching steering engine. According to the empennage structure, independent control or combined control of torsion, pitching, deflection and opening and closing actions can be achieved, and the problems that an existing ornithopter empennage mechanism is insufficient in motion freedom degree and lacks an efficient wing-empennage cooperative motion system are solved.

The invention discloses a double-feedback control debugging method of an ultra-precision servo system, and relates to the technical field of semiconductor manufacturing equipment. In order to solve the defects that in the prior art, coupling interference is serious in the debugging process, frequency domain performance optimization is insufficient, filter configuration does not have adaptivity, and an efficient anti-interference debugging mechanism under multi-source disturbance is lacked, the technical scheme provided by the invention comprises the steps that a double-feedback servo system comprising a speed ring and a position ring is constructed; debugging a speed feedback loop, optimizing controller gain parameters based on frequency domain analysis, and outputting speed loop response characteristics; a position feedback loop is debugged, and position loop controller parameters are configured in combination with speed loop response and acceleration sensor signals; the notch filter is automatically adjusted according to the dynamic vibration characteristics; and frequency domain self-adaptive debugging of the double-feedback controller is completed. The method is suitable for servo control debugging work of high-precision motion systems such as a wafer carrying table in semiconductor manufacturing equipment, and is especially suitable for nanoscale positioning scenes such as a photoetching machine and measuring equipment.

An example test system includes a probe card configured to contact a device under test (DUT); a module including a first optical connector configured to contact a second optical connector on the DUT, with the first optical connector being for a fiber optic cable; and a motion system configured to move into, and out of, contact with the module. When the motion system is in contact with the module, the motion system is configured to move the module relative to the DUT in order to align the first optical connector to the second optical connector.

The utility model discloses a thermoplastic composite material component laying device. The thermoplastic composite material component laying device comprises a movement system and a laying execution mechanism, the laying execution mechanism comprises a tension unwinding mechanism, a rolling mechanism and a heater; thermoplastic prepreg tows are output and laid by the tension unwinding mechanism according to certain guidance, the output thermoplastic prepreg tows are heated by the heater, and the laid thermoplastic prepreg tows are rolled and solidified by the rolling mechanism to form a thermoplastic composite component; the laying execution mechanism is connected with the motion system, and the laying execution mechanism is driven by the motion system to do multi-degree-of-freedom motion. The device has high action flexibility and high efficiency, and can realize high-efficiency and high-precision laying and forming work.

An all-terrain submarine cable inspection robot comprises a frame, a traveling movement system, a bottom movement system and a control system. The swimming movement system comprises at least one supporting frame and a propeller connected with the supporting frame, one end of the supporting frame is connected to the frame, and the other end of the supporting frame is connected with the propeller; the bottom moving system comprises a motor driving system, a transmission system and a crawler wheel set, and the motor driving system drives the crawler wheel set to move through the transmission system under the action of electric energy; the control system comprises a control panel and a control panel fixing part, the control panel is connected with the control panel fixing part, the height of the whole robot body is increased, so that the inspection robot can be located above a submarine cable all the time for inspection, and the submarine cable is located in the space of the bottom all the time; compared with a traditional inspection robot, the tracking inspection coverage rate is greatly improved, and therefore the loss rate in the cable inspection process is reduced.

The invention provides a system and a method for regulating and controlling a plate bulging strain microcell. The system comprises a hydraulic bulging device, a multi-axis movement system, an online vision measurement system, a control system and a low-temperature medium spraying device, a plate is arranged in the hydraulic bulging device, and the low-temperature medium spraying device is installed at the tail end of the multi-axis movement system. Signals generated by the on-line vision measurement system are input into the control system, and the control system outputs the signals to the multi-axis movement system and the low-temperature medium injection device. According to the method and the device, the strength difference, the hardening difference and the ductility difference of the light alloy in different temperature intervals are utilized, and the method and the device capable of realizing strain microcell regulation and control are designed; different from preposed regulation and control measures in the prior art, such as integral heating, integral ultralow-temperature freezing and preset local heating and cooling measures, the strain evolution trend and rule of the plate can be monitored in real time.

The invention discloses a robust Bayesian identification method for a state space model of a DC motor motion system, and relates to the technical field of industrial automation. The invention aims to solve the problem of poor model parameter estimation precision under the conditions of non-Gaussian noise and unknown system state in the prior art. The method comprises the following steps: establishing a mathematical description of a parameter identification problem of a state space model of a direct current motor motion system to determine to-be-identified parameters of the state space model of the direct current motor motion system; constructing posterior distribution of the to-be-identified parameters; constructing an augmented state space model having the same form as the logarithmic posteriori distribution of the to-be-identified state vector, and optimizing the to-be-identified state vector according to the augmented state space model; and carrying out iterative calculation by utilizing an optimization result and the posterior distribution of the other to-be-identified parameters except the to-be-identified state vector to obtain parameters of the state space model of the direct current motor motion system until a convergence condition is met, and completing parameter identification of the state space model of the direct current motor motion system.

The invention belongs to the technical field of flexible macro-micro drive motion system preset output tracking control, and particularly relates to a flexible macro-micro drive motion system preset output tracking control method based on active disturbance rejection, which specifically aims to estimate and compensate multi-modal vibration caused by a flexible hinge, an elastic structure and the like in real time through a linear extended state observer (LESO); the influence of high-frequency resonance on the system stability is reduced; an anti-saturation compensator is introduced to dynamically adjust the control quantity, the output saturation problem of the piezoelectric stack caused by input voltage amplitude limiting is avoided, and the physical realizability of a control instruction is ensured; and in combination with a preset performance function and a dynamic surface method, a tracking controller giving consideration to both transient response and steady-state precision is designed, and meanwhile, an LMI optimization control distribution strategy is utilized to coordinate the cooperative action of a macro-micro actuator under saturation constraint, so that the uncertainty of the system to the model and the robustness of the system to external disturbance are enhanced.

The invention relates to the technical field of superconducting material performance test instruments, and discloses a static and dynamic superconducting block magnetic force test board and a test method.The test board comprises a mechanical motion system, and the mechanical motion system is composed of a base, a shell, a horizontal ball screw and a vertical ball screw; the horizontal ball screw, the vertical ball screw and the shell are all fixed at the upper end of the base, and the dynamic vibration excitation device comprises an electric vibration exciter which is fixed at one side of a vertical ball screw movable table and is used for applying vibration to the superconducting block to be tested so as to suppress magnetic attenuation; and one side of the annular track is provided with a clamping assembly, and the clamping assembly is used for fixing the superconducting block to be tested. According to the static and dynamic superconducting block magnetic force test board and the test method, three-dimensional magnetic force synchronous measurement of the superconducting block under static and dynamic working conditions can be realized, the limitation that traditional equipment only limits single-axis static test is overcome, and the magnetic influence of a real continuous alternating magnetic field on the superconducting block is simulated.

The invention relates to the technical field of dispensing machine control, and discloses a control system and method of a full-automatic dispensing machine. After a dispensing task is started, an industrial camera collects an image containing a specific reference feature area of a workpiece in real time; and the industrial personal computer detects and positions key reference feature points from the image to obtain pixel coordinates of the key reference feature points. And converting the feature points into actual positions under world coordinates based on a coordinate system conversion relation between a pre-calibrated camera and a machine motion system. The actual position is accurately compared with a preset ideal position, and comprehensive deviation transformation parameters of the workpiece are calculated. And finally, according to the deviation parameter, a preset dispensing path is dynamically adjusted, a dispensing driving instruction is generated, and a dispensing head is guided to accurately reach a target position, so that the influence of factors such as workpiece incoming material difference and positioning errors is effectively overcome, and the precision, stability and automation level of dispensing operation are remarkably improved.

The invention discloses an immersive cinema dynamic content adaptation control method based on multi-modal fusion, and the method comprises the steps: collecting at least one non-contact physiological signal of a target audience seat area in real time, the physiological signal comprising a respiratory wave signal collected by a millimeter wave radar or a photoplethysmography signal collected by a near-infrared photoelectric sensor; performing time-frequency analysis on the physiological signal, and extracting a physiological wake-up characterization value in a current time window; the physiological wake-up characterization value comprises a heart rate variability change rate and a heart rate deviation value; constructing a dynamic damping adjustment model, and calculating a virtual damping coefficient of the seat movement system at the current moment based on the physiological wake-up characterization value; and the virtual damping coefficient is converted into an execution instruction of a seat motion controller, and damping force output of the motion platform is adjusted in real time. The technical problem that the pre-programmed motion feedback is disjointed with the real-time physiological and psychological state of the audience can be solved, the experience adaptability and comfort of the cinema seat are improved, and the system safety is improved.

The invention discloses a drop hammer type linear impact induced rock splitting and performance test experimental device, which comprises a base, a plurality of linear impact induced rock splitting devices, a plurality of linear impact induced rock splitting devices and a plurality of linear impact induced rock splitting devices, the supporting frame is arranged on the base; the impact unit is arranged on the supporting frame; and the impact device movement system is used for driving the impact unit to realize vertical impact on the rock sample under the control of the motor. According to the device, the drop hammer type linear load technology is adopted, the magnitude and the direction of impact force and the frequency and the position of a drop hammer can be accurately controlled, therefore, the rock breaking task can be rapidly and effectively completed, and the working efficiency is improved. And due to the flexibility, the application range of the device in the field of rock splitting is expanded, and the operability and efficiency of the device in practice are improved.

The invention belongs to the technical field of industrial automatic control, and provides an automatic control method and system based on optimal iterative learning control and feedforward control, and the automatic control method comprises the steps: constructing an automatic control model through employing an optimal iterative learning control algorithm and a model-based feedforward control algorithm; the automatic control model is optimized; and implementing automatic control based on the automatic control model. The automatic control method based on the optimal iterative learning control and the feed-forward control is utilized, so that the problems that the performance of the optimal iterative learning control algorithm is reduced during track change and the model-based feed-forward control algorithm is possibly degraded under the constraint of an actuator are solved; the method can realize high-precision tracking and reliable control under repeated and non-repeated tasks, and is suitable for an industrial motion system of high-precision trajectory tracking and executor constraint management.

A gear shaper suitable for ultra-large tooth width machining comprises a lathe bed, a stand column, a cutter shaft and a workbench, a servo motor is adopted to drive a ball screw to serve as a main movement system, and a cutter rest sliding plate is driven to achieve accurate up-down reciprocating motion; the cutter shaft is rigidly connected with the sliding plate through an end face bearing and supported by hydrostatic bearings at the two ends, and the supporting distance L is larger than or equal to the tooth width * 2.5. The tool rest transmission system is integrated on the sliding plate and drives the tool shaft to rotate through a worm and gear pair. The radial feeding system drives a sliding seat to move through a servo motor and a ball screw; a workbench independent cutter relieving mechanism is innovatively adopted, and a servo motor drives a ball screw to achieve precise cutter relieving motion. According to the design, a traditional hydraulic system is abandoned, through a modularized multi-axis linkage structure, the mechanical layout is remarkably simplified, the machining precision and efficiency are improved, and the technical blank of large-modulus and ultra-long-tooth-width gear machining equipment is filled up.

Systems and methods are described for extended reality environment interaction. An extended reality environment including an object is generated for display, and a first sensor is used to detect that a gaze has shifted from a first portion of the extended reality environment to a second portion of the extended reality environment, where the object is excluded from the first portion of the extended reality environment and included in the second portion of the extended reality environment. An indicator of the shift in the gaze is generated for display within the extended reality environment in response to detecting the gaze shift, and a voice command is detected by a second sensor while the indicator is in a vicinity of the object. In response to detecting the voice command, an action corresponding to the voice command may be executed.

Systems and techniques are described herein for using head mounted display (HMD) hinge motion to calibrate the head mounted device. For example, an device (or component of the device) can obtain, via one or more sensors, sensor measurements during rotation of a display of the HMD between a first end of a range of motion of a hinge of the display about an axis and a second end of the range of motion of the hinge about the axis; determine parameters of the HMD based on the sensor measurements and the rotation of the display between the first end of the range of motion of the hinge and the second end of the range of motion of the hinge about the axis; and determine pose information for the HMD based on the determined parameters.

The invention relates to the technical field of detection devices, in particular to a shaft surface surfacing weld height real-time detection device. Comprising a base frame, a multi-shaft driving platform is installed on the base frame, a welding frame and an inspection frame are connected to the multi-shaft driving platform, the cooling spray pipe is fixed to the multi-shaft driving platform, a laser welding gun, an industrial camera and an infrared thermometer are fixedly installed on the welding frame, a pressing frame is connected to the inspection frame in a sliding mode, and a reciprocating pressure applying module is fixedly installed on the inspection frame. The reciprocating pressure applying module drives the pressing frame to vertically vibrate in a variable amplitude mode, a sliding frame is connected to the pressing frame in a sliding mode, and a friction transmission module for driving the sliding frame to horizontally vibrate in a variable amplitude mode is arranged between the pressing frame and the sliding frame. The integrated multi-shaft driving platform has the beneficial effects that the welding frame, the detection frame, the cooling spray pipe and other modules are integrated into the same movement system through the integrated multi-shaft driving platform, and the double-outlet-rod hydraulic cylinder and the linear transmission module are matched, so that welding, spray cooling, weld joint cleaning and height detection can be sequentially completed on the premise that a workpiece is not moved.

The application discloses a kind of hybrid drive's CTS wind tunnel test motion system's missile model workspace calculation method, comprising the following steps: (1) establish the coordinate system of hybrid drive's CTS wind tunnel test motion system;(2) establish the kinematics model of hybrid drive's CTS wind tunnel test motion system, establish the mapping relationship of each drive quantity in hybrid drive's CTS wind tunnel test motion system and the pose of missile model;(3) establish the constraint condition of hybrid drive's CTS wind tunnel test motion system;(4) pose assignment rule is formulated, and the working space of missile model is synthesized using the method of attitude traversal, pose superposition.It can be determined that the working space of missile model in wind tunnel through the above steps, the calculation efficiency of the motion space of missile model in CTS test is greatly improved, and the basis for the determination of CTS test trajectory boundary is laid.

The present invention relates to the technical field of robot compliant motion system design, and discloses a hinge-driven bistable wheel-leg conversion mechanism, comprising a bistable structure having two stable states: a wheel shape and a leg shape. The bistable structure comprises a frame and a first drive module. The frame comprises a plurality of spokes distributed in an array, a hinge and a pseudo-rigid rod are provided between the ends of two adjacent spokes, and the hinge is connected to the first drive module. The hinge bends and deforms under the positive action of the first drive module, and the bistable structure is converted from a wheel shape to a leg shape. When the first drive module stops acting, the hinge returns to its original state, and the bistable structure returns from a leg shape to a wheel shape. The stiffness of the pseudo-rigid rod is greater than the stiffness of the hinge. The present invention can undergo flexible deformation when encountering obstacles, thereby adapting to various unstructured terrain environments and having better buffering and energy absorption characteristics.

The application discloses a laser slotting machine for silicon steel sheets, and relates to the field of silicon steel slotting, comprising a base, an X-Y-Z movement system mounted on the base, a visual camera and a laser cutting head, an adjustable grid for placing silicon steel sheets is mounted on the base, and the X-Y-Z movement system is used to drive the visual camera and the laser cutting head to move above the adjustable grid. The non-contact and continuous laser slotting method is used to replace the mechanical and contact traditional slotting method, so that the time for the mechanical slotting mechanism to ascend and descend is greatly reduced, and the time for frequently replacing the mold and the cost of purchasing the mold are reduced. Meanwhile, the laser slotting has the advantages of high precision, fast operation speed, wide coverage and the like, and the efficiency is obviously improved compared with the existing mode. In addition, the laser slotting machine is steplessly adjustable for the slot width, and can cut any width after the program is set.