45 results about "Motor commands" patented technology

The invention relates to the technical field of equipment control, and provides a vision-based collaborative robot end control method and related equipment thereof. Multi-modal dynamic anti-interference filtering and semantic fusion are carried out on original visual data to obtain three-dimensional semantic point cloud data, and coordinate system alignment is carried out on the three-dimensional semantic point cloud data according to a robot-based coordinate system to obtain a target pose parameter set; performing dynamic path planning on the target pose parameter set to obtain a joint space motion track, and performing inverse kinematics solution and motor instruction synthesis on the joint space motion track according to robot D-H model parameters to obtain a motor control instruction, and performing closed-loop feedback optimization on the motor control instruction according to the state data of the end effector to obtain a dynamic correction control instruction. According to the method, through full-link optimization from sensing, planning to execution, the operation precision and safety of the collaborative robot in an uncertain environment are remarkably improved.

The invention discloses an obstacle avoidance trolley control method based on multi-sensor fusion and Kalman filtering, and particularly relates to the field of obstacle avoidance trolley environment adaptation and control. A data acquisition module acquires multi-sensor original data of an obstacle avoidance trolley in different scenes; the Kalman filtering fusion module carries out data fusion; the environment feature recognition module performs feature marking on the fused data; the local map construction module constructs a local map under a two-dimensional coordinate system according to different scenes; the path feasibility evaluation module calculates a traffic safety index of each node in a differentiated manner; calculating the deviation between the actual safety index of each node and the reference value; the obstacle avoidance control module generates a corresponding motor control instruction; according to the method, after the node traffic safety index is calculated, the differential motor instruction is generated, operation delay caused by excessive braking of a traditional fixed control strategy or potential safety hazards caused by insufficient control are avoided, and unnecessary energy consumption waste and fault shutdown cost are reduced.

The present disclosure provides a method for controlling a humanoid robot using a hierarchical bipedal action model (BAM), the method comprising obtaining a base controller by training in simulation with reinforcement learning, instantiating an initial BAM including a Gamma model configured to generate intermediate goals, a Beta model configured to translate the intermediate goals into task-space actions, and an Alpha model configured to translate the task-space actions and robot state into motor commands, deploying the initial BAM such that at least the Alpha model executes on-board the humanoid robot, causing the humanoid robot to perform an initial task and logging sensor and control data to form a first dataset, based on the first dataset, training at least one policy of the BAM to generate a refined BAM, and deploying the refined BAM to control the humanoid robot autonomously.

The invention discloses a gearbox fault diagnosis method based on a speed fluctuation periodic ring diagram, and the method comprises the following steps: 1, collecting a motor current signal, a motor instruction rotation speed signal and a motor rotation angle signal through an RV gearbox fault simulation experiment table, and enabling the fault type to be a sun gear single tooth crack wear fault; 2, setting a window parameter set in a certain range; 3, at a fixed moment, carrying out high-order multiple compression transformation on the fault motor current signal, and further extracting an actual current instantaneous frequency; 4, converting the actual current instantaneous frequency into an actual motor speed; 5, calculating speed fluctuation; 6, setting a speed fluctuation threshold value, and traversing all moments to obtain an optimal window parameter set; 7, self-adaptive high-order multiple compression transformation is carried out, and motor speed fluctuation is calculated in a self-adaptive mode in the complete work period; and 8, drawing a speed fluctuation periodic loop graph based on the motor rotation angle signal. According to the method, the gear box fault is visually displayed by detecting the abnormal speed fluctuation synchronous with the fault tooth meshing period, the problems that the resolution of traditional time-frequency analysis is low, distortion is caused by fixed window parameters, and the spectral analysis result is unreliable are solved, and the gear box fault can be more visually and accurately diagnosed.

The invention discloses an underground drill bit track closed-loop control tool, and belongs to the field of drilling technologies and oil and gas exploitation. According to the tool, a closed-loop control framework integrating measurement, analysis and execution is adopted, and accurate regulation and control of the three-dimensional track of the drill bit are achieved through an electric control system. A high-precision electronic gyroscope is embedded in the end, close to the drill bit, of the tool, and drill bit track data are collected in real time and fed back to a ground control station; the front servo motor and the rear servo motor drive the bevel gear set and the rotary supporting mechanism respectively, and the transverse deflection angle and the azimuth angle of the drill bit are cooperatively controlled by combining linear motion and axial rotation of a push rod rack, so that dynamic adjustment of a three-dimensional track is achieved. A through type drilling fluid channel is formed in the tool, and drilling power supply and rock debris removal are ensured through a high-pressure hose and a built-in channel. The closed-loop control process comprises the steps of real-time data acquisition, deviation analysis, servo motor instruction generation and track correction circulation until the deviation between an actual track and a target track is smaller than a threshold value. In addition, the tool is integrated with a fault detection and redundancy control module, the motor, the sensor and the communication state are monitored in real time, a standby strategy or emergency shutdown is switched when abnormity occurs, and safety and reliability of the system are guaranteed. Through the electromechanical integration design, the precision, the efficiency and the automation level of underground drill bit track control are remarkably improved.

A seeding machine includes a seeding mechanism driven by a seeding motor. A motor command signal is compensated for accelerations based on a wheel based speed of a towing vehicle.

The invention provides a train unhooking control dynamic optimization method and system, and relates to the technical field of robot control, and the method comprises the steps: obtaining multi-modal sensing data according to the front-end sensing collection of an unhooking robot, mapping the multi-modal sensing data to a high-dimensional state embedding manifold in an intelligent control unit, and obtaining a high-dimensional state embedding manifold in the intelligent control unit; and manifold positioning and similarity retrieval based on the high-dimensional state embedded manifold are executed, an unhooking control strategy is generated, a continuous control track of the unhooking control strategy is analyzed into a motor instruction sequence of robot joints, the motor instruction sequence is issued to a control end of an unhooking robot, and automatic unhooking driving management is carried out. The technical problems of how to improve the automation level of unhooking operation and avoid unsafe factors and low efficiency caused by human factors are solved. The technical effects that through automatic intelligent analysis control, manual intervention is reduced, and the unhooking operation efficiency, accuracy and safety are improved are achieved.

The application provides a train uncoupling control dynamic optimization method and system, and relates to the technical field of robot control. The method comprises the following steps: acquiring multi-modal sensing data according to front-end sensing collection of an uncoupling robot, mapping the multi-modal sensing data to a high-dimensional state embedding manifold in an intelligent control unit, performing manifold positioning and similarity retrieval based on the high-dimensional state embedding manifold, generating an uncoupling control strategy, analyzing a continuous control trajectory of the uncoupling control strategy into a motor instruction sequence of robot joints, and delivering the motor instruction sequence to a control end of the uncoupling robot to perform automatic uncoupling driving management. The technical problem of how to improve the automation level of uncoupling operation and avoid unsafe factors and low efficiency caused by human factors is solved. The technical effect of reducing manual intervention, improving uncoupling operation efficiency, accuracy and safety through automatic intelligent analysis and control is achieved.

The application discloses a kind of commercial vehicle EBS performance test control systems, six wheel speed motors are used to simulate the wheels of vehicle, wheel speed motor is connected with code disc spline, and speed sensor detects wheel speed motor speed and is fed back to EBS controller, by giving wheel speed motor instruction or replacing the code disc of incomplete tooth number, the speed detection function of EBS system is verified;Brake pedal motor simulates the braking process of driver, pedal force sensor is connected with brake pedal, detects brake intensity and is connected into EBS controller;The inner frame motor of three-axis turntable motor, middle frame motor, outer frame motor are used to simulate the lateral acceleration, longitudinal acceleration and yaw angular velocity of whole vehicle respectively, vehicle body posture sensor is installed on the inner frame motor, and its signal is connected into EBS system.The application dynamically simulates the operation of whole vehicle, and carries out closed-loop verification on EBS system, and can further verify the whole vehicle model;Fault diagnosis simulates hardware circuit fault, and verifies the fault handling function of EBS system.

The application discloses a flow and position variable motor control IP core and a motor control system, and the IP core comprises: an instruction analysis module which analyzes data injection instructions to obtain a flow type, and triggers a large flow disassembly module or a small flow parameter reading module; the large flow disassembly module sends a plurality of disassembled small flow instruction codes to the instruction analysis module; the small flow parameter reading module reads motor action parameters from a flow parameter table and a position parameter table; the small flow disassembly module disassembles the motor action parameters into motor action instructions, and generates corresponding small flow completion or fault flags by a motor to position or fault flag; a motor drive gating module outputs motor instruction step numbers and target positions to corresponding motor drive modules according to the motor type of a current step, and obtains a to position or fault signal; and the motor drive module generates a drive signal to a motor drive chip, obtains position information of a motor position acquisition chip, and judges whether the motor is to position or fault.

To provide an improved vapor compression distillation system.SOLUTION: The distillation device comprising a raw fluid input and an evaporator 6060 in fluid communication therewith, the device further comprising a compressor 6064 having an impeller coupled to a motor, the compressor having a low pressure inlet for vapor from the evaporator and a high pressure outlet for compressed vapor, the device further comprising a temperature sensor 6066 monitoring the temperature of the vapor at the inlet, and a condenser 6076 in heat transfer relationship with a plurality of external surfaces of the evaporator and in fluid communication with the outlet of the compressor; The device further comprises a controller 6034 for adjusting the rotational speed of the impeller with an impeller motor command based on a calibrated motor speed for the distillation device, wherein the controller is configured to determine an adjusted motor speed for a next device use and overwrite the calibrated motor speed with the adjusted motor speed.SELECTED DRAWING: Figure 2

A number of illustrative variations may include a method for use in a vehicle having an electronic steering system, a position control module, an electronic steering system rack force observer, and a rack force observer vehicle diagnostic, wherein the method includes the steps of providing a vehicle that may include an electronic steering system, a position control module, an electronic steering system rack force observer, and a rack force observer vehicle diagnostic; measuring the steering angle and steering velocity of the vehicle; communicating a steering angle of the vehicle to the position control module and the electronic steering system rack force observer; communicating a steering velocity of the vehicle to the electronic steering system rack force observer; communicating electronic steering system motor commands to the electronic steering system rack force observer; and estimating rack force data and communicating the rack force data to the rack force observer vehicle diagnostic; and determining a compensated target steering angle.

A seeding machine (32,100) includes a seeding mechanism (34,130,150) driven by a seeding motor (194,196). A motor command signal is compensated for accelerations based on a wheel based speed of a towing vehicle (10).

A control system for a humanoid robot includes at least one controller having a movement command circuit, an input interface, a force translation circuit, and a motor response circuit. The movement command circuit receives movement commands specifying desired movement of the humanoid robot. The input interface receives state information indicative of a condition of the humanoid robot, including joint position information. The force translation circuit determines a force-based control target in response to the movement commands and the state information. The motor response circuit receives motor feedback and generates at least one motor command signal in response to the force-based control target and the motor feedback to cause at least one motor to actuate at least one joint to produce the desired movement.

The invention belongs to the technical field of servo motor drivers, and particularly relates to a data analysis method for phase change along with frequency of an encoder operational amplifier circuit, which comprises the following steps: time domain delay between an input signal and an output signal of the operational amplifier circuit is acquired, and the input signal is generated by a sine wave signal source with adjustable frequency; calculating a phase delay angle under each frequency according to the time domain delay; drawing a phase-frequency curve of the phase delay angle and the frequency; segmenting the phase-frequency curve by taking a transition point of a local slope of the phase-frequency curve as a segmented trigger point; and performing linear fitting on each segment by adopting a least square method to obtain a phase compensation model of each segment, and compensating the phase delay angle according to the phase compensation model. According to the method, servo motor instruction identification errors caused by phase asynchronization are eliminated.

The present invention discloses a robust predictive current control method for a synchronous motor adapted to synchronous space vector modulation, belonging to the field of motor operation control, and comprising the following steps: S1, updating the disturbance voltage estimate at the previous sampling moment; S2, calculating the disturbance voltage estimate at the current sampling moment and predicting the observed value of the synchronous motor stator current at the next sampling moment; S3, calculating the voltage drop of the synchronous motor stator winding at the next sampling moment and calculating the observed value of the disturbance voltage at the next sampling moment; S4, mapping the motor command phase to discrete sampling points preset by the SSVM; S5, aligning the voltage command with the sampling points of the SSVM; S6, generating a voltage command; and S7, obtaining an SSVM pulse. The robust predictive current control method for a synchronous motor adapted to synchronous space vector modulation can adapt to changes in the sampling interval of the SSVM under low carrier ratio operating conditions and has extremely fast current tracking response and phase synchronization speed.

An aspect of this invention relates to a method for controlling motion of a climbing robot comprising the steps of receiving high-level commands; receiving sensory feedbacks comprising roll angle data; generating basic locomotion pattern signals based on received high-level commands; amplifying the generated basic locomotion pattern signals based on received high-level commands; adapting the basic locomotion pattern signals to obtain adaptation commands; generating motor commands based on received high-level commands, obtained adaptation command, and amplified basic locomotion pattern signals to drive a plurality of joint motors of the robot; and generating electromagnet activate signals based on received high-level commands and generated basic locomotion pattern signals. Another aspect of the invention relates to a system for controlling motion of the climbing robot, which comprises a sensory preprocessing module, a central pattern generator, a velocity regulating module, an adaptation module, a joint motor angle determine module, and an electromagnet activate module.

This application belongs to the field of servo motor driver technology, specifically a data analysis method for the phase change of an encoder operational amplifier circuit with frequency. The method includes: acquiring the time-domain delay between the input and output signals of the operational amplifier circuit, wherein the input signal is generated by a frequency-adjustable sine wave signal source; calculating the phase delay angle at each frequency based on the time-domain delay; plotting the phase-frequency curve of the phase delay angle versus frequency; segmenting the phase-frequency curve by using the transition points of the local slope of the phase-frequency curve as segmentation trigger points; performing linear fitting on each segment using the least squares method to obtain a phase compensation model for each segment; and compensating for the phase delay angle based on the phase compensation model. This method eliminates servo motor command recognition errors caused by phase asynchrony.

This invention discloses a high-precision miniature Z-axis positioning platform for use in the field of precision platforms. By integrating an encoder, displacement sensor, and reader to construct a multi-level displacement monitoring system, it can compare the matching relationship between the voice coil motor command, the middle plate displacement, and the stage displacement under normal load conditions. When jamming occurs, it can assist in locating the fault source based on the displacement error and displacement curve status among the three. Furthermore, a clamping and tilting roller mechanism controlled by a miniature electric actuator and a drive motor is introduced. At the moment jamming is detected, the sample is actively clamped and lifted, causing it to disengage from the abnormally vibrating stage. This reduces the shaking and displacement of the sample caused by stage jamming, ensuring the stability of the sample during precision operations.

The invention relates to a large-scale antenna feed source servo device and a pose resolving method thereof. The large-scale antenna feed source servo device comprises a feed source cabin base and a control device, a four-degree-of-freedom servo rack is arranged on the feed source cabin base, and the feed source is arranged at the tail end of the four-degree-of-freedom servo rack; each motion shaft of the four-degree-of-freedom servo rack is provided with a feedback measuring device for acquiring a pose signal of each motion shaft; the control device is used for generating servo motor instruction signals of all motion shafts of the four-degree-of-freedom servo rack according to the target pose of the feed source and outputting feedback control rates to servo motor drivers of all the motion shafts to generate corresponding current signals according to the deviation between the servo motor instruction signals and pose signals collected by the feedback measurement device. The time constant of the system is greatly reduced, the control bandwidth is improved, external disturbance can be better handled, and higher pointing precision is achieved. The multi-functional multiplexing of the servo device can be realized, the subsequent calibration time is saved, and an efficient and reliable solution is provided for solving the problem of feed source offset focus.

A control lever calibration system includes translating position signals of a control lever to traction drive motor commands for a work vehicle, determining if the position signals are within a stored range of control lever position signals, and expanding the stored range if position signals are outside the stored range.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and / or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.

The numerical control device (1) includes an analysis processing unit (10) that obtains movement data representing the operation commanded to the feed axis of the machine tool (2) by analyzing a machining program and determines a feed rate based on the movement data, a first acceleration / deceleration processing unit (11) that obtains a first speed, which is the speed after the first acceleration / deceleration processing, by performing a first acceleration / deceleration processing that is an acceleration / deceleration processing for the data of the feed rate, a second acceleration / deceleration processing unit (12) that obtains a second speed, which is the speed after the second acceleration / deceleration processing, by performing a second acceleration / deceleration processing that is an acceleration / deceleration processing for the data of the acceleration, which is the change rate per unit time of the first speed, and an interpolation processing unit (13) that generates a motor command, which is a speed command for the motor that drives the feed axis, based on the second speed.

Disclosed is a motor control device capable of suppressing heat generation of a motor coil and a switching element. The motor control device (control device 100) detects each phase current that flows through an electric motor (42) and detects the electrical angle of the electric motor (42). The motor control device creates a motor command value for operating the electric motor (42), and operates the electric motor (42) on the basis of the motor command value. The motor control device determines whether or not suppression of heat generation of the electric motor (42) is necessary. The motor control device calculates, for each phase, a heat generation suppression electrical angle at which the respective phase current is not more than a first threshold value. When it is determined that the suppression of heat generation is necessary, the motor control device rotates a rotor of the electric motor (42) by sequentially changing the electrical angle of the electric motor (42) between the heat generation suppression electrical angles of three phases.

A distillation device may comprise a source fluid input and an evaporator in fluid communication therewith. The device may further comprise a compressor having an impeller coupled to a motor, the compressor having a low pressure inlet for vapor from the evaporator and a high pressure outlet for compressed vapor. The device may further comprise at least one temperature sensor configured to monitor temperature of vapor in the inlet and a condenser in heat transfer relationship with exterior surfaces of the evaporator and in fluid communication with the compressor outlet. The device may further comprise a controller configured to govern rotation speed of the impeller with an impeller motor command based on a calibrated motor speed for the distillation device. The controller may be configured to determine an adjusted motor speed for a next use of the device and overwrite the calibrated motor speed with the adjusted motor speed.

A numerical control device (1) that controls a motor (21) based on an editing program (3) comprises the following: a first acceleration / deceleration processing unit (12) that issues a first post-acceleration / deceleration instruction, which is a post-acceleration / deceleration instruction in which an instruction described in the editing program is subjected to acceleration / deceleration processing with a predetermined first acceleration, based on a pre-fetch analysis result of the editing program; an interpolation unit (13) that calculates a motor instruction, which is an instruction for each control cycle with respect to the motor, based on the first post-acceleration / deceleration instruction;a state variable monitoring unit (14) that monitors a state variable indicating the motor load of the motor and outputs a motor load exceedance signal when the state variable exceeds a threshold; and a second acceleration / deceleration processing unit (15) that outputs the motor command as an output command to be issued to the motor until the motor load exceedance signal is issued and issues a second post-acceleration / post-deceleration command, which is obtained by performing acceleration / deceleration processing on the motor command by a second acceleration as an output command when the motor load exceedance signal is issued.

The invention discloses a synchronous motor robust predictive current control method adaptive to synchronous space vector modulation, and belongs to the field of motor operation control, and the method comprises the following steps: S1, updating a disturbance voltage estimation value at a previous sampling moment; s2, calculating a disturbance voltage estimation value at the current sampling moment, and predicting a stator current observation value of the synchronous motor at the next sampling moment; s3, calculating the voltage drop of the stator winding of the synchronous motor at the next sampling moment, and calculating a disturbance voltage observation value at the next sampling moment; s4, mapping the motor instruction phase to a preset discrete sampling point of the SSVM; s5, enabling the voltage instruction to be aligned with a sampling point of the SSVM; s6, generating a voltage instruction; and S7, obtaining an SSVM pulse. By adopting the robust predictive current control method of the synchronous motor adaptive to the synchronous space vector modulation, the sampling interval change of the SSVM can be adapted under the low-carrier-ratio operation condition, and the current tracking response and the phase synchronization speed are extremely high.

The application discloses a barrier-avoiding vehicle control method based on multi-sensor fusion and Kalman filtering, and particularly relates to the field of barrier-avoiding vehicle environment adaptation and control. A data acquisition module collects multi-sensor original data of the barrier-avoiding vehicle in different scenes; a Kalman filtering fusion module performs data fusion; an environment feature recognition module marks the features of the fused data; a local map construction module constructs a local map in a two-dimensional coordinate system according to different scenes; a path feasibility evaluation module differentially calculates the passing safety indexes of each node; the deviation between the actual safety indexes of each node and the reference values is calculated; and a barrier-avoiding control module generates corresponding motor control instructions. After the passing safety indexes of the nodes are calculated, the application generates different motor instructions, avoids the operation delay caused by excessive braking in the traditional fixed control strategy, or the safety hazards caused by insufficient control, and reduces unnecessary energy consumption waste and fault shutdown cost.

A numerical control apparatus (1) comprises: an analysis processing unit (10) that analyzes a machining program to acquire movement data representing an operation that is commanded to a feed shaft of a machine tool (2), and obtains a feed speed on the basis of the movement data; a first acceleration / deceleration processing unit (11) that, by first acceleration / deceleration processing, which is acceleration / deceleration processing for the data of the feed speed, obtains a first speed, which is the speed after the first acceleration / deceleration processing; a second acceleration / deceleration processing unit (12) that, by second acceleration / deceleration processing, which is acceleration / deceleration processing for acceleration data, which is the rate of change per unit time of the first speed, obtains a second speed, which is the speed after the second acceleration / deceleration processing; and an interpolation processing unit (13) that generates, on the basis of the second speed, a motor command, which is a command for the speed of the motor that drives the feed shaft.

Disclosed is a motor control device capable of suppressing heat generation of a motor coil and a switching element. The motor control device (control device 100) detects each phase current that flows through an electric motor (42) and detects the electrical angle of the electric motor (42). The motor control device creates a motor command value for operating the electric motor (42), and operates the electric motor (42) on the basis of the motor command value. The motor control device determines whether or not suppression of heat generation of the electric motor (42) is necessary. The motor control device calculates, for each phase, a heat generation suppression electrical angle at which the respective phase current is not more than a first threshold value. When it is determined that the suppression of heat generation is necessary, the motor control device rotates a rotor of the electric motor (42) by sequentially changing the electrical angle of the electric motor (42) between the heat generation suppression electrical angles of three phases.