32 results about "Motor commands" patented technology

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.

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 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.

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.

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.

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 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.

A method for controlling motion of a multi-segmented walking robot comprising the steps of: (A) generating walking pattern signals using a central pattern generator (CPG); (B) sending the generated walking pattern signals to a controller to generate motor commands to drive a plurality of joint motors of each leg of robot; (C) detecting motion feedback signals using a plurality of sensors; (D) processing the detected motion feedback signals to recognize the motion of robot; and (E) adapting the motion of robot, by a controller, based on the recognized motion of robot. Another aspect relates to a system for controlling motion of a multi-segmented walking robot comprising: a central pattern generator (CPG); a controller; a plurality of sensors; an artificial hormone system processing unit; and a torque processing unit.

Systems and methods for controlling a vehicle steering system under a detected fault condition. When a failure is identified in a torsion bar, a torque‑angle sensor, or an intermediate shaft, the processor selects a target angle from a signal source upstream of the failed component and a feedback angle from a source downstream of the failed component. An angle difference is computed and multiplied by a torsion‑bar stiffness value to obtain an estimated input torque. The estimated torque is shaped through a hysteresis function to reduce overshoot and oscillation, and a motor command for a steering motor is generated based on the shaped torque to maintain controllable steering during the fault condition. When a torque value from a torque‑angle sensor is used as the target source, a deviation angle equal to torque divided by torsion‑bar stiffness is summed with a sensor angle to form the target angle.

The present application belongs to the field of aircraft control technology, and relates to a kind of active stick control method based on double closed loop, comprising the following processes: obtaining aircraft state information, joystick position signal and stick force signal;Desired control force is obtained by calculation according to aircraft state information and joystick position signal;Desired control force and stick force signal of joystick are obtained through force closed loop control to obtain virtual sensing signal;Virtual sensing signal and position signal of joystick are output through position closed loop control to output closed loop motor instruction;According to the stick force signal of joystick, the force feedback motor instruction based on the stick force is obtained through force compensation;The closed loop motor instruction and the force feedback motor instruction are integrated, and the motor driving instruction is output through instruction conversion to drive the motor to move.After obtaining the force signal, the force signal is directly acted on the motor driving model through the force compensation control model, so that the motor follows the force sensed by the sensor to move quickly first, and the redundant force effect of the hand is inhibited.

A hardware-integrated system and method for validating electronic component parameters in pick-and-place machines is disclosed. The system retrieves manufacturer datasheets via a network transceiver, applies a neural-network model executed on a hardware-accelerated AI engine to extract validated component height, weight, length, and width, and compares these validated parameters to a job file containing human-transcribed data. Deviations are used to automatically update the job file or notify an operator. Validated parameters are then used to generate precise motor command signals for X, Y, and Z gantries and vacuum control signals for placement nozzles, reducing placement errors such as tombstoning, misalignment, component slippage, and nozzle detachment, thereby improving manufacturing yield and productivity.

An apparatus including computer program code configured to cause the apparatus to: receive a command defining a desired pose of an end effector of a robotic instrument; determine, based on the command, joint parameters for each joint of the robotic instrument using an inverse kinematics algorithm to enable the end effector to mimic the desired pose as closely as possible, wherein the algorithm is configured to reiteratively calculate a pose of the end effector and identify the calculated pose with the smallest tracking error as a global solution if the tracking error is smaller than that associated with a current pose of the end effector, otherwise identify the current pose as the global solution; and wherein the apparatus is configured to generate a motor command to reconfigure the joints according to the global solution if the calculated pose with the smallest tracking error is identified as the global solution.

Systems and methods for controlling a vehicle steering system under a detected fault condition. When a failure is identified in a torsion bar, a torque-angle sensor, or an intermediate shaft, the processor selects a target angle from a signal source upstream of the failed component and a feedback angle from a source downstream of the failed component. An angle difference is computed and multiplied by a torsion-bar stiffness value to obtain an estimated input torque. The estimated torque is shaped through a hysteresis function to reduce overshoot and oscillation, and a motor command for a steering motor is generated based on the shaped torque to maintain controllable steering during the fault condition. When a torque value from a torque-angle sensor is used as the target source, a deviation angle equal to torque divided by torsion-bar stiffness is summed with a sensor angle to form the target angle.

This control device controls a buffer motor supplied with power from a power source that is shared with a drive motor driving an industrial machine, the control device comprising: a motor speed specifying unit that specifies the current speed of the buffer motor; an emergency stop detection unit that detects an emergency stop state; a buffer motor command generation unit that establishes, as an initial speed, the speed of the buffer motor at a prescribed timing after the detection of the release of the emergency stop by the emergency stop detection unit specified by the motor speed specifying unit, and generates a command for returning the speed of the buffer motor to a predetermined base speed at a predetermined prescribed acceleration; and a buffer motor control unit that controls the buffer motor on the basis of the command generated by the buffer motor command generation unit.

The invention discloses a double-encoder calibration method for a mechanical arm joint. The double-encoder calibration method comprises the following steps of offline compensation table establishment and online real-time compensation. In the off-line stage, the actual angle value of the joint low-speed end is obtained through a measuring device, and a mapping relation table of motor instruction pulses and theoretical feedback pulses is established; in the online stage, the feedback value of the motor encoder is dynamically corrected based on the mapping relation table and the real-time feedback data of the low-speed end encoder. Calibration can be carried out in the whole mechanical arm state, disassembling is not needed, an original motor control loop is kept, the absolute angle precision of the joint module is improved, and therefore the absolute positioning precision of the whole mechanical arm is improved.

This invention discloses a method and control system for controlling the take-off and landing of a vehicle-mounted unmanned aerial vehicle (UAV) on a slope, belonging to the field of vehicle-mounted UAV control technology. The invention acquires point cloud data through a terrain perception module, fits a ground plane, and establishes a dynamic take-off and landing coordinate system based on this plane. Based on this coordinate system, the component of gravity on the slope is calculated, generating a feedforward thrust compensation amount and superimposing it onto the motor commands, enabling the UAV to achieve force balance before unlocking. During take-off, the UAV climbs vertically in the dynamic take-off and landing coordinate system and smoothly transitions the control target to the world coordinate system through linear interpolation to achieve stable hovering. During landing, it smoothly switches back to the dynamic take-off and landing coordinate system bound to the vehicle's posture, fusing relative navigation information to achieve precise landing. This invention fundamentally eliminates the risk of overturning during slope take-off and landing, improves control stability and environmental adaptability, and significantly enhances the operational capabilities of vehicle-mounted UAVs in complex terrain.

The application discloses a power distribution method and device of a UAV, the UAV and a storage medium. The power distribution method of the UAV comprises the following steps: obtaining an operation control instruction of the UAV, wherein the operation control instruction comprises a desired torque instruction for controlling the UAV; obtaining power distribution constraint information of a motor of the UAV; determining an actual torque instruction of the UAV according to the desired torque instruction and the power distribution constraint information; and calculating a motor instruction of the UAV according to the actual torque instruction. The application determines the actual torque instruction of each motor of the UAV according to the power distribution constraint information of the motor of the UAV, and then distributes the motor power of the UAV. When the motor instruction of the UAV touches the upper and lower boundaries of the motor control instruction, the stability of the attitude of the aircraft can be ensured by sacrificing the heading control ability and the vertical control ability of the aircraft, the accident rate caused by the unstable attitude of the UAV due to sudden disturbance or other reasons is reduced, and the performance boundary of the aircraft is improved.