622 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.

The invention provides a femtosecond laser-based hemispherical harmonic oscillator precision trimming device and method. The femtosecond laser-based hemispherical harmonic oscillator precision trimming device comprises a vacuum system, a femtosecond laser trimming system, a clamp, a workpiece movement system and a mass imbalance test system, the femtosecond laser trimming system comprises a focusing module, a laser light path, a femtosecond laser, a femtosecond laser energy continuous regulation and control module and a femtosecond laser patterning and control system; the workpiece movement system comprises a workpiece autorotation mechanism and a workpiece translation mechanism; the workpiece autorotation mechanism is used for realizing autorotation movement of the clamp and the hemispherical harmonic oscillator; the workpiece translation mechanism is connected with the workpiece autorotation mechanism and is used for realizing three-direction translation motion of the hemispherical harmonic oscillator and the workpiece autorotation mechanism; the mass imbalance test system comprises a harmonic oscillator excitation module and a test module. The harmonic oscillator excitation module is used for exciting the hemispherical harmonic oscillator; and the test module is used for detecting the vibration of the excited hemispherical harmonic oscillator. According to the invention, the influence on the stability of the standing wave of the harmonic oscillator and the precision of the gyroscope caused by an overhaul pit is effectively reduced.

The invention provides an adsorption module and a motion system, and relates to the technical field of precision equipment. The adsorption module comprises an adsorption substrate, a rotating base, a rotating shaft module, a wafer bearing table and a suction cup. The rotating base is fixedly connected with the adsorption substrate, and the rotating shaft module can rotate relative to the rotating base; the rotating shaft module can move in the axial direction of the rotating shaft module relative to the rotating base; the rotating shaft module is configured to be connected with the suction cup or the rotating base in an air pressure connection mode. The wafer bearing table is configured to be capable of adsorbing the suction cup or supporting the suction cup in an air floatation mode.

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 system and methods for training lateral motions. The disclosed system can include an elongate core member having a proximal end and a distal end; a pivoting guide arm rotationally coupled to the proximal end of the elongate core member via a pivoting joint, the pivoting guide arm comprising a foot pedal opposite the pivoting joint for securing a foot of a user; and a resistance system mounted to the elongate core member, the resistance system comprising a brake drum affixed to the elongate core member and having a friction strap threaded therethrough, the friction strap being affixed to the pivoting guide arm and rotationally coupled to the elongate core member, wherein the friction strap is configured to apply a friction force to the brake drum as the foot pedal of the pivoting guide arm is pushed laterally away from the elongate core member.

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 discloses a base fixed type multi-connecting-rod motion system and a control method and device thereof, belongs to the technical field of mimicry simulation of a mechanical environment, and particularly relates to a structure design and control technology of a six-degree-of-freedom parallel motion system. The problem that transverse vibration of a hydraulic cylinder and nonlinear factors of a system of an existing conventional hydraulically-driven six-degree-of-freedom parallel mechanism limit improvement of the system bandwidth is solved, and the system bandwidth is improved to 100 Hz; the system comprises a mechanical structure subsystem, an acceleration detection subsystem and a servo control subsystem, and the hydraulic actuator is used for performing telescopic motion based on the motion instruction to drive the connecting rod to swing, so that the platform moves and presents different postures. The base fixed type multi-connecting-rod motion system and the control method and the control device thereof are suitable for structural design and control of a six-degree-of-freedom parallel motion system.

A system for opening and closing a door within a cabinet is provided. The system includes a motor in communication with a controller to automatically open and close a door. A first plate fixed to the motor shaft to rotate with rotation of the motor shaft, the plate comprises a slot disposed therein. A first leg extends from a door that extends through the slot. A second leg extends from the door. A first sensor moves based upon rotation of the motor shaft, wherein the first sensor can detect relative motion between the motor shaft and the door, wherein when the motor shaft is rotated in the second direction and the first sensor detects relative motion between the motor shaft and the door, the first sensor sends a signal to the controller, wherein upon receipt of the signal the first sensor discontinues sending the second signal to the motor.

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.

The invention discloses a system and method for driving double-seat slide rail motors to move synchronously based on a communication bus, the system comprises two slide rail motors and two groups of seat slide rails, the slide rail motors drive the seat slide rails, a control module is arranged in each slide rail motor, and the control module and the slide rail motors are directly connected through pins. Comprising the following steps: establishing communication connection between control modules of two slide rail motors, collecting state information of the slide rail motors, and transmitting the state information to a communication bus for information interaction; deriving the target rotating speed of the slide rail motor, and enabling the real-time rotating speed of the slide rail motor to converge at the target rotating speed through the calculation of the control module; position information in the state information of the sliding rail motors is obtained in real time, and the position difference value between the position information of the two sliding rail motors is compared to control the rotating speed; the maximum output power is calculated through the parameters of the sliding rail motor, the critical value is set, when the current output power is larger than the critical value, the sliding rail motor is driven in a speed reduction mode or stops driving, and the control method has the advantage of being high in control precision.

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 relates to a machined part pose calibration method, device and system, a storage medium and a program product. The method comprises the steps that the method is applied to a multi-axis motion system, the multi-axis motion system comprises a working part and a workbench, a monocular camera is arranged on the working part, and a first calibration plate is placed on the workbench; comprising the following steps: under the condition that a first calibration plate is imaged in a view field range of a monocular camera, selecting a coordinate reference point in a depth-of-field region in the view field range; under the condition that the workpiece feature points of the machined workpiece coincide with the coordinate reference points, coordinate pair information of the workpiece feature points is obtained; according to the current reference workpiece coordinate and the current reference mechanical coordinate, a target position motion relation and a target vector motion relation between the machined part and the multi-axis motion system are constructed respectively; and according to the target vector motion relation and the target position motion relation, pose calibration is conducted on the machined part. By adopting the method, the calibration limitation of the pose calibration of the machined part 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 relates to the field of laser additive manufacturing, and particularly discloses a laser coaxial fuse additive manufacturing device and method based on double-magnetic-field collaboration.The laser coaxial fuse additive manufacturing device comprises a movement system, a coaxial fuse additive manufacturing system, a double-magnetic-field auxiliary system and a control monitoring system, and a wire feeding mechanism is arranged outside the device. The double-magnetic-field auxiliary system is composed of a magnetic pressure induction system and a symmetrical sliding type magnetic field generation system. The magnetic pressure sensing system is arranged around the welding head and generates a vertical magnetic field; the symmetrical sliding type magnetic field generation system generates a horizontal magnetic field through Helmholtz coils on the two sides. The two magnetic field systems are mutually independent and adjustable and form orthogonal configuration in space. The device is provided with a high-speed camera to monitor the state of the molten pool in real time, the magnetic field intensity and proportion are dynamically adjusted through a controller and double electromagnetic generators, and accurate control over molten drop transition and molten pool flowing is achieved. According to the invention, the quality and stability of coaxial fuse additive manufacturing are 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.

A vehicle lift comprising a movement system configured to be installed in a pit in the ground, a platform engaged with the movement system and movable entering to and exiting from the pit, at least one arm carried by the platform and configured for contacting a vehicle to be lifted. The arm is movable between an extended position and a retracted position. The lift comprises a stop movable relative to the platform between a grip position where it engages the arm and a release position where it disengages the arm. The lift comprises an actuator carried by the platform and active on the stop to move said stop between the grip position and the release position.