646 results about "Motor load" patented technology

The invention relates to the technical field of data processing, and discloses a real-time data processing analysis method and system of an industrial PLC. The method comprises the following steps: transmitting temperature, pressure, current, vibration and acoustic parameters acquired by multiple sensors to an industrial PLC (Programmable Logic Controller) in real time to obtain multi-source heterogeneous original data; preprocessing the multi-source heterogeneous original data to obtain standardized fusion data; correlation calculation and anomaly recognition are carried out through the multivariate analysis model, and an abnormal state classification result is obtained; dynamically adjusting data interaction frequency and sampling rate between the edge nodes and the central PLC, and generating a real-time control decision instruction; and matching the real-time control decision instruction with the current motor load fluctuation state, and outputting the optimal frequency conversion control parameter. According to the invention, the response delay of the system is reduced, the control precision and reliability are improved, the dynamic balance between the safety and the energy efficiency is realized, and the system can intelligently adjust the control strategy according to the real-time safety situation.

The invention relates to the technical field of industrial motor faults, in particular to an industrial robot motor fault early warning method and system. The method comprises the following steps: acquiring a motor control instruction of the industrial robot in real time, and then judging an instruction value change event to obtain a motor load change event; monitoring transient working condition characteristic data of the motor in real time according to the motor load change event; flexible gear jump response abnormity evaluation is carried out based on the motor transient state working condition characteristic data, and a flexible gear comprehensive response abnormity score is generated; electromagnetic fault feature analysis is carried out according to the transient working condition feature data of the motor to obtain electromagnetic fault feature coupling data; and according to the electromagnetic fault feature coupling data and the flexible gear comprehensive response abnormal score, performing motor flexible gear health state analysis so as to realize industrial robot motor fault early warning. According to the invention, through working condition jump point detection and motor flexible gear health state analysis, the motor fault can be accurately identified, and multi-stage fault early warning is realized.

The invention discloses an empirical knowledge and data fusion driven motor load fault diagnosis method, which comprises the steps of constructing an empirical knowledge feature space of a current / vibration signal, and obtaining a plurality of simulation signal samples; inputting the simulation signal sample into an improved generation network DDGAN for processing to obtain an expanded simulation signal sample, and combining an actual fault sample with the expanded simulation signal sample to obtain a fault signal sample; constructing an ICNLCNDTL diagnosis model, inputting the fault sample signal into the ICNLCNDTL diagnosis model for diagnosis processing, and obtaining a current signal diagnosis result and a vibration signal diagnosis result; and fusing the current signal diagnosis result and the vibration signal diagnosis result through a multi-sensing signal collaborative fusion motor composite fault diagnosis model to complete final fusion identification and obtain a fault diagnosis result. According to the invention, the composite fault cross-domain diagnosis performance is further improved.

The invention discloses an electromobile EMB system clamping force estimation method based on a non-pressure sensor, and relates to the technical field of distributed electric drive-by-wire automobiles, the viscous effect between a brake disc and a friction plate during actual braking is considered, and a clamping force dynamic stiffness model is established for predicting the clamping force; discretizing a description equation of the clamping force dynamic stiffness model, and establishing a discretized clamping force state space equation; according to the motor torque balance equation, designing a sliding-mode observer of the motor load torque for observing the load torque of the motor in real time in the braking process; according to a transmission model of the EMB system, a load torque observation value observed by the sliding mode observer in real time is converted into a clamping force observation value; and calculating an optimal clamping force estimated value at the current moment according to an optimal clamping force estimated value obtained at the previous moment by using a Kalman filtering algorithm in combination with the discretized clamping force state space equation and the clamping force observed value, so as to realize real-time optimal estimation of the clamping force. The problems that under the control of the pressure sensor, due to high temperature and high pressure during braking, the measuring precision of the pressure sensor is reduced, and even the whole pressure sensor is invalid are solved.

The invention relates to the field of fault detection, and discloses a fault online diagnosis method for a low-speed large-torque motor control system, and the method comprises the steps: collecting the multi-dimensional parameters of the three-phase current of a motor, the voltage of a DC bus, the position of a motor rotor, the speed of the motor rotor, and the temperature of a radiator based on a sensor group; carrying out data preprocessing on the collected multi-dimensional parameters to remove noise interference; extracting fault features related to current, voltage, rotor motion and temperature from the preprocessed data; a dynamic threshold value is constructed based on fault features, non-fault parameter fluctuation and fault abnormity are distinguished through multi-feature correlation analysis, and online fault diagnosis is achieved; and finally, outputting a diagnosis result containing the fault type and the fault early warning information. Through multi-dimensional parameter acquisition and dynamic correlation diagnosis, the comprehensiveness and accuracy of fault diagnosis are improved, the false alarm rate is effectively reduced, and the method can adapt to the complex working conditions of load fluctuation and rotating speed switching of the low-speed large-torque motor.

The invention discloses a shear forklift steering control method and system based on central point dynamic differential, and the method comprises the following steps: S1, sensor module calibration: collecting the angle values of the right limit and the left limit of a shear forklift steering mechanism, calculating the difference value between the right limit and the left limit, converting the difference value into an actual degree, and carrying out the calibration of a sensor module; calibrating a scale factor and a straight-going intermediate value; s2, real-time steering angle calculation: reading a current measured value of an angle sensor, judging whether a left wheel is an inner side wheel or an outer side wheel, and calculating a current steering angle alpha in combination with a scale factor; s3, dynamic differential ratio calculation: based on the steering angle alpha in the step S2, calculating a central point turning radius R through a central point steering geometric model, and deriving an inner and outer wheel differential ratio K; and S4, adjusting and outputting the target rotating speeds of the inner wheel and the outer wheel according to the differential ratio K to realize dynamic differential control. By dynamically adjusting the rotating speed of the motor, the load difference of the motor can be reduced, the service life is prolonged, and the steering stability is improved.

The invention discloses an anti-interference linear motor module motion control method, and relates to the technical field of linear motor module control. The method comprises the following steps: monitoring and analyzing multiple parameters of displacement error # imgabs0 #, acceleration fluctuation value # imgabs1 #, motor load capacity # imgabs2 #, motor working current I, motor real-time voltage value U, dragging force # imgabs3 # and guide rail friction force # imgabs4 # in the operation process of a motor module in real time, and interference of external environmental factors (such as airflow velocity # imgabs5 #, airflow pressure # imgabs6 #, deposition thickness # imgabs7 # and electrostatic effect coefficient # imgabs8 #); according to the method, the motion state of the motor module can be comprehensively evaluated, so that the deviation of the motion track is effectively reduced, and the motion stability of the motor module is remarkably improved. An interference model is established by collecting external environment interference parameters (airflow interference, deposition thickness, environment vibration and the like) and combining a neural network technology, a motion control strategy of a motor module can be dynamically adjusted, and different types of interference factors are compensated in real time.

The invention discloses an automobile EMB system clamping force accurate control method based on an extended state observer, and belongs to the technical field of electric automobile EMB systems, and the method comprises the following steps: S1, building a novel EMB system five-degree-of-freedom dynamic model containing a LuGre friction model by using an EMB system dynamic relationship; s2, simplifying the five-degree-of-freedom dynamic model of the novel EMB system, estimating the load torque of an EMB driving motor according to the extended state observer, and then estimating the clamping force of the EMB system according to the load torque and the simplified five-degree-of-freedom dynamic model of the novel EMB system; and S3, replacing the measured value to be a feedback value of clamping force closed-loop control of the EMB system according to the estimated EMB clamping force, and accurately controlling the clamping force by adopting fuzzy PID control. By the adoption of the automobile EMB system clamping force accurate control method based on the expansion state observer, the problems that a pressure sensor is high in cost and automobile braking performance is prone to being reduced are solved, and clamping force response is accurately controlled through a fuzzy PID closed loop.

The invention relates to the field of robot additional shafts, in particular to an additional shaft servo motor type selection method for a robot, which comprises the following specific steps of: S1, determining a transmission system structure at a load end of an additional shaft motor; s2, determining a mechanical structure and motion characteristic parameters of the transmission system; s3, importing into a motor library; s4, performing calculation; s5, judging and checking; s6, model selection is completed; for three mainstream transmission systems of a gear rack, a ball screw and a belt at a load end of a robot additional shaft motor, calculation and accurate model selection are performed on parameters of the motor, and the dynamic response characteristic of the motor and the system compatibility of the model selection method are improved; the model selection tool can support a user to import and modify a motor database by himself / herself, and quickly and conveniently recommend an accurate model selection result from the motor database according to the rotation speed, torque, power and load inertia ratio judgment and check conditions of the motor, thereby improving the model selection efficiency of the servo motor and improving the user experience. And resource redundancy and manufacturing cost caused by a traditional empirical selection method are reduced.

The invention discloses an intelligent detection system for a range hood, and the system employs a pressure difference sensor and a motor current sensor to collect the front and rear pressure differences of an air duct and the working current time sequence of a motor, and carries out the feature-level deep fusion of the two. Oil stain state multi-sensor time sequence fusion representation capable of comprehensively reflecting multi-dimensional information such as air duct blockage and motor load is obtained; meanwhile, in order to ensure the reliability of a final decision result, a plurality of independent oil stain indexes are obtained through different input characteristics, confidence coefficient verification is carried out on a fusion model output result based on fluctuation values among the indexes, and then the oil stain state of the range hood is determined based on a verification result. Through the mode, the risk caused by abnormal samples or accidental misjudgment is remarkably reduced, the overall stability and credibility of the system are improved, and a solid foundation is provided for efficient, safe and intelligent kitchen environment management.

The invention discloses a variable frequency motor load testing device and method, and relates to the technical field of variable frequency motor testing, and the device comprises a motor testing installation platform, a fastening T-shaped bolt, two variable frequency speed regulation asynchronous motors of the same model, a drum-shaped coupler, two inverters, a rectifier, a three-phase voltage regulator, a frequency converter and an intermediate DC link. According to the invention, two frequency conversion speed regulation asynchronous motors of the same model are coaxially connected, and the power generation electric energy of the accompanying test motor is fed back to an intermediate direct current link through an inverter, so that the cyclic utilization of the electric energy and the dual-motor structural design are realized, complex load equipment does not need to be configured, and the fixed asset investment is reduced; for motors of different models, only corresponding accompanying test motors need to be replaced, the universality is improved, through voltage and current monitoring in an intermediate direct current link and motor rotating speed and torque parameter collection, and by combining a multi-dimensional performance evaluation model, precise evaluation of the motor load performance is achieved, the test efficiency is improved, and the strict test requirements are met.

The invention discloses a numerical control machine tool dynamic error cooperative compensation control method adaptive to high-speed machining, and relates to the technical field of numerical control machine tool error control. According to the method, a multi-source dynamic error sensing system comprising a grating displacement sensor, a six-dimensional force sensor and the like is constructed to acquire data; after wavelet threshold denoising and Kalman filtering preprocessing, inputting a three-layer LSTM error coupling prediction model combined with an attention mechanism, embedding a servo motor load characteristic curve in the model, and outputting three types of error compensation amounts; through servo-level compensation and machining-level compensation, the position of a feed shaft, the rotating speed of a main shaft, the cutting feed rate and the behavior of a micro-displacement actuator are corrected, and machining errors caused by deflection and vibration conduction of the main shaft are counteracted. And iteratively updating model parameters by using a gradient descent algorithm. According to the method, through multi-source error synchronous sensing, error coupling modeling and hierarchical cooperative compensation, dynamic error cooperative control more adaptive to a high-speed processing scene is realized, and the method has a wide application value.

The invention relates to the technical field of gear detection, in particular to a gear wear detection method and system of a gear motor. According to the method, firstly, all fault characteristic frequencies are obtained based on historical vibration signals of a fault gear, then vibration signals of a to-be-detected gear are divided into a plurality of local impact sub-segments, and the local frequency spectrum of each local impact sub-segment and the kurtosis of each frequency in the local frequency spectrum are obtained; fitting a fuzzy estimation signal of the vibration signal in combination with power distribution under each fault characteristic frequency in the time-frequency spectrum, and then modulating the vibration signal in combination with a motor load condition; and finally analyzing a frequency spectrum signal of the modulation vibration signal, and evaluating the early wear type of the gear to be detected. According to the method, the vibration signal is modulated by analyzing the covering interference of noise and motor load on local wear impact, and the frequency modulation effect and the amplitude modulation effect are further analyzed in the frequency domain of the modulated vibration signal, so that the early wear type is accurately distinguished, and the gear wear detection effect is improved.

The invention relates to the technical field of motor control, in particular to a control method and system for a motor. The method comprises the following steps that a motor main control unit MCU obtains a motor angle parameter by obtaining a corresponding target motor rotating speed set by a receiving user and carrying out angle parameter reverse solution endowing; obtaining a direct axis direction current and a cross axis direction current and carrying out motor load control calculation to obtain a direct axis voltage control quantity and a cross axis voltage control quantity; transmitting the motor angle parameter, the direct axis voltage control quantity and the cross axis voltage control quantity to a space vector pulse width modulation (SVPWM) module and carrying out SVPWM modulation processing to generate a motor rotor control SVPWM waveform; and determining a phase voltage control value applied to each motor winding, carrying out control duty ratio adjustment analysis, and controlling the corresponding rotating speed and direction of each motor at the same time. The operation efficiency and the response speed of the motor can be improved.

The invention belongs to the technical field of electric power output control of motors, and particularly discloses a mute permanent magnet generator control system, which comprises the following steps of: defining information entropy of a motor load data set by acquiring a bearing working condition of a motor in a historical cycle operation process; accordingly, the corresponding complexity and uncertainty of the load change in the operation process of the motor are reflected, and then the power output demand of the generator in future periodic operation is predicted and evaluated; proper control modes of power output are selected according to actual requirements, including vector control and direct torque control, so that accurate matching of the power output of the generator and load power requirements is ensured; by detecting the influence state of each variable factor of motor operation in the vector control module and performing precision correction control on the voltage component in the corresponding voltage equation of the d-q rotating coordinate system, the precision control on each variable in the motor can be realized, and the efficiency and the stability of the generator can be improved.

The invention relates to the technical field of hydraulic engineering control, and discloses a hoist opening degree stroke data processing method and system.The hoist opening degree stroke data processing method comprises the steps that in the valve closing process, two sets of real-time data of motor loads and valve displacement are continuously obtained; when continuous lifting exceeding background noise appears in the motor load data for the first time, marking the moment as an initial contact point; starting from the initial contact point, recording two groups of real-time data of motor load and valve displacement at a preset sampling frequency, and calculating a resistance change rate = delta load / delta displacement; the resistance change rate and a preset collision threshold value are compared to control opening and closing, motor load and valve displacement data are monitored in real time, and the resistance change rate is calculated, so that in the valve closing process, the contact point of the valve and a water seal or a foreign matter is accurately recognized, flexible compression and rigid collision are effectively distinguished according to the change trend of the resistance change rate, and the safety of the valve is improved. Misjudgment is avoided, and the safety and reliability of operation of the hoist are improved.

The invention relates to an electro-hydraulic speed regulator testing device, and relates to the field of diesel engine speed regulator testing equipment, the electro-hydraulic speed regulator testing device comprises a speed regulator testing table for driving an output shaft of a to-be-tested piece to rotate, the speed regulator testing table is provided with a torque loading motor, and a motor shaft of the torque loading motor is opposite to the to-be-tested piece. A motor shaft of the torque loading motor is oppositely connected with a to-be-tested piece through a torque connecting assembly, the torque loading motor loads the to-be-tested piece, one side of the speed regulator test bench is provided with a control assembly, and the control assembly is in signal connection with the torque loading motor and the to-be-tested piece. The device can shorten the time for assembling the device on a diesel engine to carry out a reliability test so as to save the cost; and corresponding test parameters can be configured according to actual application working conditions, so that the developed durability and reliability test is closer to the actual application working conditions.

The invention relates to the field of permanent magnet synchronous motor control, in particular to an RANF adaptive harmonic suppression method based on dustpan line optimization, which comprises the following steps: S1, establishing a d-q axis control model for a permanent magnet synchronous motor, listing voltage, current and electromagnetic torque equations, giving a harmonic current equation, and adopting an ANF adaptive notch extraction algorithm to obtain a harmonic current control model for the permanent magnet synchronous motor; obtaining estimated values of specific-order harmonic amplitude and phase, and generating harmonic compensation quantity from the estimated values by adopting a PI regulator so as to realize a steady-state indifference-free harmonic suppression effect; and S2, in order to solve the problem that the ANF adaptive harmonic suppression algorithm is difficult to follow the d-q axis current rapidly changing along with the direct current amount, an RANF adaptive harmonic suppression algorithm adopting an R regulator is proposed, the ANF following performance is greatly accelerated, and the practicability of the ANF is improved. When the motor load or the rotating speed changes, quick response can be achieved, system instability is avoided, the dynamic stability of the system is remarkably improved, and the application scene of ANF adaptive harmonic suppression in the permanent magnet synchronous motor is widened.

The invention relates to the technical field of multi-motor driving, and discloses a multi-motor load distribution method, which comprises the following steps: acquiring rotating speeds and torques of a plurality of motors; calculating the average power of the plurality of motors according to the torques of the plurality of motors; calculating the load power of each motor according to the rotating speed and the torque of each motor; constructing an average power closed-loop controller according to the average power of the plurality of motors and the load power of each motor, and determining the droop adjusting quantity of each motor; and superposing the droop adjustment quantity of each motor and the rotating speed of each motor to obtain the adjusted rotating speed of each motor. According to the invention, the droop adjusting amount is calculated through the average power closed-loop control module, so that no-static-error load power distribution is realized.

The invention relates to the technical field of electromechanical hydraulic systems, and particularly discloses a low-temperature cold start control method based on high-frequency injection, which comprises the following steps: analyzing a motor state, and carrying out observation and feed-forward compensation on disturbance caused by the motor state to a load torque and a viscosity coefficient through a sliding mode observer algorithm; according to the motor state, obtaining a state equation, constructing an extended sliding mode observer equation, deriving to obtain an observer error equation, and observing the load torque; analyzing the obtained load torque, wherein the motor load torque reflects the oil viscosity; high-frequency current injection, injection frequency control, skin effect enhancement and current amplitude control are carried out in a low-temperature state according to an oil viscosity result, copper loss and a high-frequency magnetic field eddy current effect are used for assisting heat generation, and according to a final oil viscosity result, when electromagnetic heat generation viscosity is reduced and a load is reduced, an injection voltage amplitude is gradually reduced. And after a normal starting condition is reached, switching to normal id = 0 control.

The invention discloses an electric control system of an electric workover rig, which comprises a control module, a driving module, an execution module, a data acquisition module and a monitoring module, and is characterized in that the control module is used for controlling the starting, stopping, up-down moving and rotating actions of the workover rig through a PLC, the driving module comprises a variable-frequency inverter and a bidirectional DC / DC converter, the variable-frequency inverter is used for driving a motor load to operate, and the bidirectional DC / DC converter is used for controlling the motor load to operate. The bidirectional DC / DC converter is used for carrying out charging and discharging management on the energy storage battery, and the execution module is used for completing the control action of the workover rig according to an instruction sent by the control module. According to the invention, the visual monitoring module, the fault detection and alarm module and the multi-modal data fusion analysis module are matched, and real-time data acquisition and image capture are carried out on key parts of the electric control system, so that real-time safety monitoring is carried out on the key parts; and key parts are monitored in real time, and the use condition can be checked at any time, so that the use safety of the electric workover rig is improved.

The invention relates to the technical field of motor fault monitoring and early warning, and discloses a motor fault monitoring and early warning system which comprises a motor data collection module, a motor data analysis module and a motor fault detection and early warning module. The motor data collection module comprises a motor temperature data collection unit, a motor cooling fin data collection unit, a motor load data collection unit and an operation data collection unit. According to the system, temperature data in the working process of a motor are analyzed, whether the temperature data in the working process of a battery exceed a set reasonable range or not is judged, and if the temperature data exceed the set reasonable range, a motor heat dissipation analysis unit and a motor load analysis unit are called to analyze the reason of heating in the working process of the motor; at the moment, a motor heat dissipation analysis result is obtained through calculation of a motor heat dissipation analysis unit and a motor load analysis unit, and high-grade early warning, middle-grade early warning and low-grade early warning are output according to the motor heat dissipation analysis result, so that management personnel can quickly confirm motor fault causes.

The present invention provides a crane with a winding and lifting synchronous coordination function, which can synchronize and coordinate the load sharing of each hook when three or more hooks are used for joint lifting. The present invention controls the speed of the winding and lifting motors (IM) of the plurality of hooks (H) by respectively controlling the speed to become slower when the motor load becomes larger during winding and faster when the motor load becomes smaller, and to become faster when the motor load becomes smaller during winding and lowering, respectively. Thus, the following actions are performed, namely: during winding and lifting, the speed of the winding and lifting motors (IM) of the plurality of hooks (H) is controlled to become slower when the motor load becomes larger and faster when the motor load becomes smaller. When the lifting and closing hoisting is in linkage, the speed of the hook (H) with a larger load share than other hooks (H) becomes slower than that of other hooks (H), and the speed of the hook (H) with a smaller load share than other hooks (H) becomes faster than that of other hooks (H); and when the lowering and closing hoisting is in linkage, the speed of the hook (H) with a larger load share than other hooks (H) becomes faster than that of other hooks (H), and the speed of the hook (H) with a smaller load share than other hooks (H) becomes slower than that of other hooks (H). Thus, when multiple hooks (H) are in linkage for closing and closing, the multiple hooks (H) share the load with each other.

A personal care device drive unit comprises a main body housing a motor and enabling releasable connection to any selected one of a set of different functional units. A controller of the personal care device drive unit generates an output signal associated with the selected one of the functional units connected to the main body in dependence on a sensed motor current and a sensed vibration occurring in the main body. The use of both vibration sensing and current sensing (which detects the electrical motor load resulting from driving the selected one of the functional units connected to the main body) enables multiple different functional units to be identified more reliably.

The invention relates to the technical field of voice recognition, and discloses a voice instruction recognition and cleaning control method for a sweeping robot, which comprises the following steps: synchronously reading a dust collection motor driving pulse width modulation value and a rolling brush motor load current value of the sweeping robot while acquiring an audio signal acquired by a microphone; retrieving and interpolating in a preset working condition noise spectrum mapping table according to the non-acoustic operation state data, determining a predicted mechanical noise power spectrum at the current moment, taking the predicted mechanical noise power spectrum as a priori reference, calculating an instantaneous signal-to-noise ratio of the predicted mechanical noise power spectrum and the frequency domain feature sequence, and constructing a frequency domain confidence mask; according to the method, a feedforward prediction mechanism is constructed by introducing non-acoustic prior information, and response lag of traditional acoustic posteriori estimation during sudden change of working conditions is avoided.

The invention discloses a fan coil abnormal state diagnosis method and system, and the method comprises the steps: obtaining a fan current waveform and a coil vibration signal, and building a heat exchange efficiency reference based on a motor load change characteristic and a heat exchange tube vibration mode; identifying an efficiency sudden drop area, positioning a heat exchange dead zone expansion range, generating heat transfer coefficient jump data, and determining a heat exchange abnormal position table; obtaining temperature difference of supply water and return water and opening change of a water valve, and forming waterway unbalance characteristics through coupling analysis of water flow pulse characteristics and flow state conversion points; identifying an airflow field offset based on the heat exchange abnormal position table and the waterway imbalance feature, determining a diagnosis focusing area and generating a layered detection sequence; carrying out active and passive damage classification, extracting a damage development rate, and generating a damage superposition coefficient; and a fault coupling amplification area is identified, damage synergistic effect data is generated through chain propagation analysis, comprehensive diagnosis of the abnormal state of the fan coil is completed, and accurate identification of multiple abnormalities and accurate positioning of fault root causes are realized.

The invention provides a micro-torque precision reducer performance test system. Comprising a test calculation end, a measurement and control instrument, a driving motor, a load motor, an electric control cabinet, a control cabinet, an automatic locking mechanism, a precise moving mechanism, a torque sensor, a circular grating, a vibration sensor, a displacement measurement system, a control display system, a temperature sensor, a noise sensor and a precise guide rail mechanism. The torque sensors are used for measuring the input torque and the output torque of a measured piece in real time, are respectively arranged near an input shaft and an output shaft, and output real-time signals to the measurement and control instrument; the driving motor provides driving torque for a tested piece and is provided with a torque sensor and a driver. The load motor provides a resistance moment for a tested piece, and is equipped with a motor driver, so that the tested piece can be tested under an externally applied load; the electric control cabinet is used for controlling a tested piece and a power supply; the control cabinet is used for installing a driving motor, and an emergency stop control circuit is arranged in the driving motor.

The invention relates to the technical field of automatic control of tool magazines, in particular to a storage tool magazine multi-motor load control method and a storage medium, and the method comprises the steps: collecting the operation data of a first motor, a second motor and at least one redundant motor in a storage tool magazine in real time, generating a first dynamic load index of the first motor and a second dynamic load index of the second motor; establishing a control strategy based on the first dynamic load index and the second dynamic load index; when the first dynamic load index exceeds the limit and the second dynamic load index is lower than a safety threshold value, a task migration rule is triggered, and sub-task distribution is dynamically adjusted; when the first dynamic load index and the second dynamic load index both exceed the limit, a redundant motor activation rule is triggered, and a high-load task is distributed to the redundant motor. According to the invention, the problems of low efficiency and equipment overload risks caused by uneven load distribution of a traditional storage tool magazine multi-motor system are effectively solved.

A method for controlling a DC brush motor includes: determining a speed difference signal based on a difference between a speed command signal and a motor speed; determining an initial voltage command based on the speed difference signal; determining a final voltage command based on the initial voltage command; applying a DC voltage based on the final voltage command to cause the DC brush motor to rotate a lead screw and move a load along a path; determining a disturbance torque; and compensating for the disturbance torque by at least one of: determining a feedforward voltage command based on a position of the load along the path and determining the final voltage command as the sum of the initial voltage command and the feedforward voltage command;or determining a speed compensation signal based on the disturbance torque and determining the speed difference signal further based on the speed compensation signal.;

The invention discloses a self-adaptive steering control method and system for a heavy electric transmission tracked vehicle, and the method is realized through cooperation of two core modules: firstly, a motor load inertia identification module adopts an improved recursive least square method; a dual-mode covariance matrix updating mechanism is dynamically triggered based on state parameters such as vehicle yaw velocity and load inertia difference, system changes are sensed in real time, and load inertia identification convergence is accelerated; and secondly, the driving motor control module automatically adjusts proportional integral parameters according to an identification result and generates a self-adaptive inner and outer side steering torque instruction, so that the steering trajectory tracking precision is remarkably improved. Traditional parameter debugging limitation is broken through, the steering response speed is increased under the complex working condition, the manual debugging cost is reduced, meanwhile, driving safety is guaranteed through a fault degradation mechanism, and various transmission frameworks such as pure electric / hybrid power are compatible.