17 results about "Motor commands" patented technology

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 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 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.

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 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.

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.

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.

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.

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 relates to a robot motion control method, a robot motion control device and a quadruped robot. The method comprises the following steps: extracting a motion feature vector of the robot according to a state vector sequence of the robot; extracting a visual feature vector according to a depth map sequence of the environment around the robot; obtaining a pre-constructed weight generation network, inputting the visual feature vector into the weight generation network, and outputting a weight coefficient of the visual feature vector; the weight coefficient is positively correlated with the complexity of the environment around the robot and the reliability of the visual feature vector; the weight generation network is a neural network representing the mapping relationship between the visual feature vector and the weight coefficient; performing weighted operation on the visual feature vector according to the weight coefficient, and combining the weighted visual feature vector with the motion feature vector to obtain a fusion feature vector; and converting the fusion feature vector into a motor instruction of the robot. The method can improve the motion stability of the quadruped robot.