4742 results about "Motor drive" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The invention relates to a remote-control system of a stratospheric airship and a control method thereof. The control system is divided to four levels: a decision-making level for executing the selection and switch of a remote-control flight mode according to the actual working state data, and sending a corresponding mode command; a planning level for dynamically planning and generating an airship motor drive command according to the mode command sent by the decision-making level; an executing level for realizing the drive control to an airship motor according to the motor drive command of the planning level; and a perceiving level for finishing the real-time monitoring and data collection of the airship working state, and providing the original data of the airship working state to the decision-making level. The four-level control system architecture design of the control system is capable of simplifying the control device, improving the control efficiency, and fundamentally solving the problems of the function, efficiency and reliability of the near space airship ground and airborne control system.

The invention relates to a cutting path generation system based on visual positioning, cutting equipment and a cutting method. The system comprises a scanning camera control module, an image acquisition and recognition module, an image processing module, a cutting path planning module and a cutting control module. According to the system, by combining a Laplace algorithm and an LBP and GLCM texture extraction technology, the boundary recognition problem under the condition that a pattern and a background are in the same color or low contrast is solved; the path smoothness and the cutting quality are improved by adopting contour optimization and curvature compensation algorithms, the cutting sequence is optimized by combining weighting functions of the area, complexity and overlapping degree, and material deformation is reduced. And motor driving is dynamically adjusted through PID control, and stable control over the speed of the tool bit is achieved. The method has the advantages of being high in recognition precision, high in adaptability, intelligent in path planning and stable in cutting process, the automatic cutting efficiency and the finished product quality of complex patterns or same-color materials are remarkably improved, and the overall cutting precision fluctuation is controlled within + / -2%.

The invention discloses a detection device and method for laser film production. Comprising a middle rotating shaft, upper and lower detection turntables, a middle assembly and a driving motor, the detection turntable is provided with a plurality of groups of laser detection heads, and outgoing lines of the laser detection heads are connected to a peripheral annular conductive track through a channel in the transfer shaft; an elastic shifting piece at a power leading end in a cavity of the middle assembly is in contact with the annular conductive track to realize rotary power transmission; the motor drives the middle rotating shaft to drive the detection turntable to rotate, so that the laser detection head scans the thickness of a film in a detection area between the turntables along a circumferential track; the detection rotating discs are connected through columnar discs, motor operation airflow is collected through internal annular air paths of the detection rotating discs, blowing airflow which is symmetrically divided and covers the film breadth is formed through peripheral airflow outlets, a detection area is synchronously cleaned, and static electricity is restrained. According to the invention, high-efficiency, high-precision and multi-channel online thickness measurement is realized, a self-cleaning function is integrated, and the problems of contradiction between efficiency and precision, high cleaning sensitivity and difficult production line expansion in the prior art are solved.

The invention relates to the technical field of galvanized sheet laser thickness measurement, in particular to a galvanized sheet laser thickness measurement device and method, which comprises a base, an overhead frame is fixedly mounted on the upper side of the base, a detection table is fixedly mounted on the overhead frame, and a fixing assembly is fixedly mounted on the inner wall of the detection table. A first-stage moving opening is formed in one side of the detection table, a thickness measuring assembly is slidably installed in the first-stage moving opening, and stable sliding rods are fixedly installed on the upper side and the lower side of the detection table; the output end of a cleaning motor drives a secondary driving threaded rod to rotate, the secondary driving threaded rod drives a cleaning moving block to move, the cleaning moving block drives a corresponding cleaning box to horizontally move through two transmission rods, and two driving blocks drive a corresponding reciprocating frame to reciprocate. And the cleaning scraper performs high-frequency staggered scraping, so that an oxide layer on the surface of the galvanized sheet is cleaned, and the accuracy of thickness measurement data is improved.

The invention is suitable for the field of motor driving and control, and provides a uniform demagnetization fault-tolerant control method and system for maintaining high-performance operation of a motor, and the method comprises the following steps: selecting a motor performance evaluation index sensitive to flux linkage information; determining a demagnetization inflection point of the motor according to the motor performance evaluation index, and setting a compensation strategy at the demagnetization inflection point to establish a demagnetization compensation model; continuously performing demagnetization control on the motor, recording a demagnetization inflection point and setting a compensation strategy at the demagnetization inflection point, establishing a demagnetization compensation model, and integrating the established demagnetization compensation model to obtain a multi-inflection point-multi-model database; obtaining motor performance real-time data through the established observer, querying the database to perform scheme matching in the demagnetization compensation model, and outputting a demagnetization compensation scheme of the motor; according to the method, the compensation model is built, the weakening condition of the motor performance is observed, the motor performance is restored to be normal, and demagnetization fault-tolerant control of motor performance maintenance is achieved.

According to the real-time clamping force zero point confirmation method, device and equipment and the readable storage medium, in a preset triggering scene, a motor of an EMB actuator is controlled to rotate in the forward clamping direction, motor rotation angle and torque parameters are synchronously collected in real time, and a motor rotation angle-torque curve is generated; according to the characteristic difference of the torque along with the change of the rotation angle before and after contact, selecting a preset calibration torque point on the rotation angle-torque curve, constructing a tangent line through the point, and positioning an intersection point of the tangent line and a motor rotation angle coordinate axis, the intersection point corresponding to a motor rotation angle reference in a contact critical state of a friction block and a brake disc; and the current zero point of the clamping force is obtained after the reference rotation angle is superposed with the comprehensive compensation amount. Accurate capture of a contact critical position is realized through real-time detection of motor rotation angle and torque and curve characteristic analysis, dynamic drift factors are adapted in combination with comprehensive compensation quantity, and zero point real-time updating can be automatically completed in the whole life cycle of the whole vehicle without depending on a fixed calibration value.

The invention belongs to the related technical field of welding, and particularly discloses an air energy water heater water tank inner container welding device which comprises a first machine base, a motor driving device, an industrial camera, a lifting machine and a second machine base, a lead screw loading table is arranged above one end of the first machine base, and a lead screw is rotationally arranged on the inner side of one end of the lead screw loading table; the lead screw is connected with an output shaft of the motor driving device, a sliding base is slidably installed outside the lead screw loading table and is in threaded fit with the lead screw, the lifting machine is arranged on the upper surface of the sliding base, a plasma welding gun is connected to the outer side of the lifting machine through an arranged movable frame rod, and the second machine base is arranged on one side of the outer wall of the first machine base. A pipe fixing mechanism is arranged on the upper surface of the second machine base, a frame base is arranged at the position, close to the middle, of the upper surface of the second machine base, and hanging and pulling mechanisms are arranged at the two ends in the frame base correspondingly.

The invention relates to the field of co-extrusion production control, and particularly discloses an efficient film bag feeding control system, which is applied to a multi-raw-material synchronous conveying device of a co-extrusion process, and comprises a full-link data acquisition module, a full-link data processing module and a full-link data processing module, the raw material characteristic parameters comprise a melting point T, a stacking density rho and a magnetic sensitive particle loading amount M; the instantaneous load pressure P of each raw material conveying channel, the temperature Tm of a co-extrusion die head melting area, the real-time thickness H of a co-extrusion film layer, stock bin liquid level data and motor rotating speed data are collected and integrated to obtain a full-link original data set; the single-drive linkage conveying mechanism comprises a main servo motor, a plurality of sets of electromagnetic clutches and a plurality of sets of spiral conveying assemblies, and the main servo motor drives a transmission shaft through a synchronous belt. According to the technical scheme, for the co-extrusion process, the multi-raw-material synchronous conveying precision can be matched, and the problems that parameter adjustment lags behind, adaptability is poor and a downstream process feedback closed loop is lacked are solved.

The invention relates to the technical field of gas analysis and detection instruments, and discloses a gas analysis and detection instrument which comprises a gas analysis and detection instrument body, a transverse adjusting piece is arranged above the gas analysis and detection instrument body, a transverse and longitudinal connecting piece is mounted on the transverse adjusting piece, and a longitudinal adjusting piece is connected to the bottom of the transverse and longitudinal connecting piece; wherein the gas analysis detector main body is in sliding connection with the front surface of the longitudinal adjusting piece, multi-dimensional accurate positioning of environmental gas sampling is realized, and the core advantage is reflected on a transverse adjusting system: a mechanical transmission mode of driving a threaded rotating rod by a servo motor is adopted, and dual guidance of a sliding rail and a limiting sliding block is matched, so that the positioning accuracy is improved; and the detector main body can stably move along the horizontal direction. Due to the unique combined design of the buffering device and the adjustable limiting mechanism, flexible buffering protection of the moving terminal point is achieved, and a user is allowed to customize the stroke range according to actual requirements.

The invention belongs to the technical field of low-voltage switch cabinets, and particularly relates to a low-voltage switch cabinet with a good on-off effect, which comprises a cabinet body, an exhaust cavity formed at the bottom of the cabinet body, an air exhaust box fixedly mounted at the top of the cabinet body, a filter screen plate mounted on the side wall of the air exhaust box, a plurality of drawers slidably connected in the cabinet body, and an auxiliary heat dissipation box fixedly connected to the back of the cabinet body. When a second motor drives a rotating shaft to rotate to adjust the position of a movable seat, the rotating shaft rotates to drive a linkage shaft to rotate through a belt ring and a belt pulley, the linkage shaft is meshed with one transmission shaft through a bevel gear, and therefore when the rotating shaft rotates, the annular dehumidification net can be driven to rotate through the transmission shaft; and the position of a drying agent arranged in the annular dehumidification net is adjusted, so that the dehumidification effect is improved, and the problems that air with relatively high humidity enters the cabinet body, easily corrodes electrical components and seriously affects the on-off effect of the electrical components are solved as much as possible.

The invention discloses a high-frequency motor drive multi-rate control method for time sequence disturbance compensation, and the core principle of the method is that low-rate disturbance compensation and a reference tracking trajectory are improved and converted into a time sequence processing process matched with a high-rate control instruction; specifically, a single disturbance compensation value which can be known only at a sampling moment Ts is expanded into time sequence prediction of disturbance changes on N control points in the future through a generalized proportional-integral observer; meanwhile, a low-frequency single reference instruction is constructed into a smooth high-frequency reference trajectory covering N control points through a Lagrange interpolation method, and closed-loop correction of disturbance compensation and reference tracking is achieved on each high-frequency control point Tc. The problem that open-loop prediction errors are continuously accumulated and spread due to mismatching of information updating rates in traditional multi-rate control is fundamentally solved, and therefore high-precision robust control over the high-frequency motor driving system is achieved.

The invention discloses detection equipment and method based on the basic diameter of a piston, and relates to the technical field of piston detection, the detection equipment comprises a mounting seat and a U-shaped frame mounted on one side of the mounting seat, and a distance measurement calibration piece is arranged on one side, away from the U-shaped frame, of a positioning seat. According to the device, the distance measurement calibration part is arranged, an infrared distance measurement sensor is started to measure the distance between a first calibration plate and one end of the infrared distance measurement sensor, and when a first servo motor drives a transmission shaft to rotate by 90 degrees, the first calibration plate moves to the inner side of a first storage bin; when the variable quantity of the numerical value on the infrared distance measuring sensor is equal to the distance between the first calibration plate and the second calibration plate, it is indicated that the infrared distance measuring sensor is in a normal operation state. In this way, the measurement data of the infrared distance measuring sensor can be calibrated, and the accuracy of the data detected by the infrared distance measuring sensor is further improved.

The utility model relates to a polarized lens cut-in, cut-out and autorotation mechanism based on an optical camera, and aims to solve the problem that the imaging quality is influenced by stray light of the optical camera in a photoelectric pod in a complex environment and ensure the light incoming amount of the camera in a general environment. When the polarized lens cutting-in and cutting-out device works, the cutting-in and cutting-out motor drives the cutting-in and cutting-out driving gear to rotate so as to drive the target wheel and the self-rotating lens cone and the flat lens which are arranged on the target wheel to rotate, so that cutting-in and cutting-out of the polarized lens are realized; when the polarized lens is cut into a light path, the rotation driving motor drives the rotation driving gear to rotate so as to drive the transmission gear and further drive the rotation lens cone and the polarized lens installed in the rotation lens cone to rotate, thereby realizing rotation of the polarized lens.

The invention discloses an open-circuit fault diagnosis method for a motor driving system, and the method comprises the steps: constructing a fault index of each phase through mathematical transformation, filtering and sliding average processing according to a zero-state conservation equation of a multi-phase motor; according to the characteristic value expression of the fault index under the fault condition, a threshold value judgment method is designed; meanwhile, performing absolute value, average value and filtering processing on the fault index of each phase to construct a fault diagnosis index of an upper switch and a lower switch of each phase; and finally, integrating the upper and lower switch fault diagnosis indexes to obtain each phase fault flag variable, and combining the fault diagnosis table to obtain a fault diagnosis result of the multi-phase motor driver. In a fundamental wave period, the open-circuit fault position of the motor winding and the power device can be rapidly and accurately detected, the universality is high, the diagnosis precision is high, the algorithm is simple, the real-time performance is high, particularly, the robustness to non-sinusoidal current is high, and an effective basis is provided for further fault-tolerant control and system fault processing.

The invention provides an efficiency optimization control method of a permanent magnet synchronous motor and related equipment. The method comprises the following steps: acquiring an output current of an inverter; constructing an inverter loss model based on the output current of the inverter and the inverter loss coefficient; constructing a total loss model based on the electromagnetic loss model, the inverter loss model and an equivalent conversion method; constructing a current population by taking the plurality of d-axis current values as individuals; and performing optimization solution based on the total loss model, the current population, a PID search algorithm and an artemisinin optimization algorithm to obtain a global optimal solution and control the permanent magnet synchronous motor. According to the scheme, the driver loss is added into the total loss model, and efficiency optimization can be carried out on the whole motor driving system; in order to solve the problem that a traditional method is not suitable for an IPMSM, a PID search algorithm and an artemisinin optimization algorithm are combined, parameter search is carried out on a motor efficiency optimal point by simulating an incremental PID controller adjusting mechanism, a global optimal solution is obtained, and therefore optimal control over the click efficiency is achieved.

The invention relates to the technical field of ore particle screening, and discloses high-recovery-rate micro-fine-particle magnetite ore dressing equipment which comprises a mounting frame, a protective shell is fixedly mounted on the mounting frame, a screening assembly is arranged on the protective shell, and the screening assembly comprises a three-way pipe. In order to enable the high-recovery-rate micro-fine-particle magnetic iron ore preparation equipment to be suitable for efficient separation of high-added-value micro-fine-particle iron ore, the screening assembly is arranged, the screening assembly is matched with a power motor to drive a large belt wheel through a small belt wheel and a transmission belt, an output shaft drives an auger rod to push ore in a three-way pipe, feeding blockage is avoided, and the high-recovery-rate micro-fine-particle magnetic iron ore preparation equipment is suitable for efficient separation of high-added-value micro-fine-particle iron ore. And meanwhile, a centrifugal motor drives a trilateral frame to drive a centrifugal screen drum to rotate at a high speed, fine particles fall into a discharging hopper through screen holes by utilizing centrifugal force, and coarse particles are discharged from a first discharging pipe through a mounting drum. And the stirring paddle rotates synchronously to prevent the fine particles from accumulating in the funnel.

The utility model discloses a desulfurization device with angle-adjustable guide plates, which relates to the technical field of desulfurization devices, and comprises a desulfurization tower main body, the lower part of the desulfurization tower main body is provided with a smoke inlet, the desulfurization device drives a gear II and a driving rack through a self-cleaning guide mechanism and a starting motor so as to drive a plurality of guide plates to synchronously turn over, so that the guide plates can be synchronously turned over. When cleaning is needed, the first telescopic rod can be started to drive the movable frame to move and drive the scraping plate and the cleaning rod to move in a transmission mode, smoke impurities and dust particles on the flow guide plates are cleaned and scraped, and therefore the cleaning effect is improved. The influence on normal use of equipment due to blockage of a flue gas guide channel between the adjacent guide plates after long-term use is avoided, and the practicability is higher; and through a recovery plate, a telescopic rod II and a push plate, desulfurizer particles screened out from the flue gas can be pushed to a guide pipe and flow back into a desulfurizer pipe for reutilization.

The invention discloses a capacitance method measuring device and method for the thickness of a lubricating oil film between mechanical friction pairs based on a dynamic correction model, and belongs to the technical field of electrical measurement. Wherein the point contact ball disc testing machine comprises a point contact friction pair formed by a conductive disc and a steel ball; the conductive disc is electrically isolated by arranging insulating rubber pads on the upper surface and the lower surface of the conductive disc, and the steel ball is electrically isolated by arranging an insulating ceramic ball bearing in a transmission mechanism where the servo motor is connected with the steel ball. The two independent servo motors respectively drive the steel ball and the conductive disc to rotate, so that test working conditions at different speeds can be realized. According to the invention, the capacitance distribution in the Hertz contact area can be effectively calculated, the problem of measurement errors caused by peripheral capacitance interference of the Hertz contact area in a traditional capacitance method is solved, and accurate measurement of the oil film thickness between common metal friction pairs in engineering is realized.

The invention belongs to the technical field of experimental instruments, and particularly relates to a slice preparation device, which comprises a cutting part for cutting a wax block into wax slices; a conduction assembly is obliquely arranged on the cutting part; the collecting part is located on one side of the cutting part; the end, away from the cutting assembly, of the conduction assembly abuts against the collecting part. The wax sheet slides into the collecting part along the conduction assembly; the collecting part is filled with liquid; the fishing part comprises a mechanical arm and a working arm; the mechanical arm is provided with at least two rotating joints; the working arm is rotationally connected with the mechanical arm; the end, away from the mechanical arm, of the working arm is provided with a guiding camera, a clamping device and a limiting piece. The clamp holder is hinged to the working arm; the guide camera and the limiting piece are fixedly connected with the working arm; a shifting motor is arranged on the working arm; and the shifting motor drives the clamp holder to rotate.

The invention relates to the technical field of fan monitoring, in particular to a BMC (Baseboard Management Controller)-based fan state monitoring method and system. Demand level and energy efficiency modeling; matching coupling judgment is abnormal; carrying out abnormal mechanism cross positioning; performing combined construction of trend portraits; and outputting classification abnormity prompts. According to the invention, on the basis of a collaborative acquisition and hierarchical coupling analysis mechanism of BMC multi-source operation parameters, parameters such as a complete machine load rate, power supply input power, a fan rotating speed, a PWM duty ratio, a motor driving current, an air inlet and exhaust speed and a key heating device temperature are brought into a unified energy efficiency response relation set for modeling and analysis; the sensitivity, the accuracy and the interpretability of abnormal recognition are greatly improved, and the problems that due to the fact that only a single temperature parameter and fault triggering type control are relied on, fan performance degradation is recognized in time, the precision is low, and the response speed is low are effectively solved.

The invention discloses a deep desulfurization device and process based on an adjustable flat sheet membrane and intelligent cooperative control, the deep desulfurization device comprises a desulfurization tower and an intelligent adjustment and control system, a variable-configuration flat sheet absorption membrane device is arranged in the desulfurization tower body, and the variable-configuration flat sheet absorption membrane device is formed by arranging a plurality of groups of hydrophilic corrosion-resistant flat sheets in parallel; a plurality of blades with adjustable angles are uniformly distributed on one side or two sides of the flat plate, and can simultaneously drive the blades to synchronously and accurately rotate under the control of a motor driven by an intelligent control driver, so that the device can actively adjust the geometrical morphology and fluid mechanics conditions of a gas channel according to real-time working conditions; meanwhile, by means of the design of an absorbent circulation loop in the tower, the flow of the absorbent entering the desulfurization tower is dynamically adjusted, and therefore rapid response to working condition fluctuation and online optimization of the desulfurization process are achieved.

The invention relates to the technical field of battery defect detection, and discloses a new energy automobile battery surface deformation defect detection device and method based on visual inspection, and the device comprises a battery body, the bottom end of the battery body is symmetrically provided with conveying belt assemblies, and the bottom ends of the conveying belt assemblies are fixedly connected with a supporting frame; the two sides of the supporting frame are fixedly connected with guide rails, the two sides of the guide rails are symmetrically distributed and slidably connected with sliding blocks, the outer sides of the sliding blocks are fixedly connected with detection assemblies used for shooting and detecting a battery body, and the detection assemblies are electrically connected with a control cabinet. The battery is conveyed to the detection position through the conveying belt, the light sources on the two sides are lightened to irradiate multiple faces of the battery, the two side detection assemblies are crossed and overlapped for shooting, and the defect verification accuracy is improved. The transverse plate is connected with the detection assembly, the sliding block overturns along with the battery along the guide rail, and equipment cost is reduced. After detection, the stepping motor drives the sucker mechanism to turn over the battery, so that the bottom end faces upwards, and the detection assembly performs supplementary shooting to complete comprehensive detection.

The invention relates to the technical field of reverse osmosis filtration, and discloses a reverse osmosis membrane filter element assembly and a use method thereof.The reverse osmosis membrane filter element assembly comprises two annular plates, a hollow cylinder is rotationally connected between the two annular plates, a motor is fixedly connected to the top of the upper annular plate, and the motor drives a large gear to rotate through a small gear on a first rotating shaft; the large gear drives the hollow cylinder to rotate, the hollow cylinder drives the first filter screen and the fixing plate to rotate when rotating, and the second filter screen slides in the sliding groove to extrude the spring to generate elastic force, so that the first filter screen and the second filter screen are staggered, the size of a filter screen opening is reduced, large particles in water are blocked in the first filter screen, and the filtering effect is achieved; when the hollow cylinder stops rotating, the filter screen II resets under the action of the elastic force of the spring, so that the filter screen openings are aligned, particles in the filter openings are thrown out under the action of inertia force, and filtered water flows into the next process through the water outlet, so that impurities are prevented from flowing out from the filter openings, and the filtering effect is improved.

The utility model discloses a projection screen, a sky screen and a vehicle, the projection screen is used for the vehicle, the vehicle comprises a top frame, the projection screen comprises a screen and a driving mechanism, and the screen is rotatably connected with the top frame through a rotating shaft; the driving mechanism comprises a first driving motor, a driving sliding block and a driving rod, the first driving motor is in transmission connection with the driving sliding block, the driving rod is hinged between the screen and the driving sliding block, and the first driving motor drives the screen to rotate around the rotating shaft through the driving sliding block and the driving rod. According to the projection screen, the first driving motor drives the screen body to rotate around the rotating shaft through the driving sliding block and the driving rod so that the screen body can move between the containing position and the unfolding position, the screen body does not occupy the space in a vehicle when located at the containing position, the screen body is used by passengers in the vehicle when located at the unfolding position, and the screen body is driven to rotate through the first driving motor. Practicality and convenience of storage and unfolding of the screen can be improved.

The invention discloses a method and device for quickly switching multiple working modes of a grating spectrometer, and the method comprises the steps: 1, laying a grating and a detector on a working turntable, and adjusting the grating and the detector to be concentric and coaxial; and step 2, rotating the working turntable and the grating respectively, adjusting different incident angles of the grating and adjusting the angle of the detector to match the working wave band. The grating, the camera system and the detector are mounted on the same rotary table, so that the consistency of an optical system in the mode switching process is ensured, and the grating, the camera system and the detector are ensured to be coaxial in the working mode switching process. The mode that the rotary table rotating motor drives the rotary table to rotate as a whole and the grating rotating motor drives the grating to rotate independently is combined, rapid switching of multiple working modes of the grating spectrometer is completed, and broadband wavelength coverage of the grating spectrometer with multiple exposure combined is achieved.

The invention relates to the technical field of reinforcement learning, motor driving and the like, provides a reinforcement learning-based adaptive search self-tuning method for a motor driving algorithm, and realizes an optimal decision of an individual search behavior by performing adaptive switching among various heuristic search operators by introducing a Q learning mechanism. And meanwhile, in combination with a neighborhood search strategy based on differential evolution, the local search capability is enhanced, and the global optimization performance is improved. The method is applied to the setting problem of key parameters of the motor driving system, the I TAE performance index serves as an optimization target, the search behavior is dynamically adjusted through a self-adaptive strategy, and therefore better control performance is obtained. Compared with an existing method, the method has the remarkable advantages in the aspects of convergence speed, self-adaptive capacity and anti-interference performance.

The utility model relates to the technical field of clamping jigs, and discloses a rotatable lettering clamping jig which comprises a device base, a rotating block is rotatably installed on the device base, a transmission cavity is formed in the rotating block, a driving motor is arranged in the transmission cavity, and a part to be lettered can be placed on the top of the rotating block. The servo motor drives the rotating disc to rotate, and the moving direction of the sliding shaft is limited through the guide sliding groove, so that when the rotating disc rotates, the sliding shaft slides along the arc-shaped sliding groove, and then the purpose that the three movable blocks get close to one another synchronously is achieved; the three clamping blocks are driven to get close to each other to well clamp and fix a part, the irregular part can be well clamped and fixed in the middle due to the fact that the V-shaped grooves are formed in one ends of the clamping blocks, and the rotating block can rotate along the device base, so that angle adjustment can be conveniently conducted when the part is lettered.

An output node of a high-side driver circuit 220 is connected to a gate of a high-side transistor MH. The high-side driver circuit 220 is operable in a first mode in which the high-side driver circuit 220 outputs a drive current IHG_ON of a first current amount in a first period after a high-side control signal HGCTL transitioned from off-level to on-level, and outputs, in a second period following the first period, a drive current of a second current amount less than the first current amount.

The invention discloses a self-adaptive apple maturity lossless picking flexible claw and a picking method. The device comprises a base assembly, and a visual recognition module, a flexible clamping jaw assembly, a distributed pressure sensing module, a transmission execution module and a control unit are integrated on the base assembly. And the visual module adopts a depth camera and a YOLO11n model, judges the maturity grade in real time based on the apple red area proportion and is matched with the corresponding grabbing threshold force. The pressure sensing module is a thin film pressure sensor, and multi-point pressure feedback is achieved through a plurality of pressure detection points. The transmission module adopts a single motor to drive a lead screw nut lifting table, opening and closing of clamping jaws are synchronously controlled, the structure is light and simple, and cost is low. The picking method follows the process of recognition, matching, force control and picking, a cutter is not needed, lossless and high-success-rate self-adaptive picking is achieved, the problem of damage or failure caused by traditional fixed force control is effectively solved, the method is suitable for dense orchards, and the intelligent and lossless levels of apple picking are improved. The control unit is low in response delay and small in overshoot, and it is ensured that the grabbing force is accurately matched with the fruit state.