522 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 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 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 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 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 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 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 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.

The utility model provides a planetary gear motor load torque test device which is characterized in that an installation platform is horizontally fixed on a first installation support, a second installation support is erected above the installation platform, a carrier assembly, a detector assembly and a parameter adjustment assembly are all fixed on the installation platform, and a master control box is fixed above the second installation support. The sliding table is fixed above the installation platform in the front-back direction and corresponds to the front side of the detector assembly, the lower end of the sliding block is in sliding connection with the sliding table, the first connecting frame is fixed to the installation platform and corresponds to the front side of the sliding table, the front end and the rear end of the reset spring are fixed to the sliding block and the first connecting frame respectively, and the carrier body is fixed above the sliding block. The elastic telescopic end of the elastic telescopic piece is installed on the carrier body, the front end of the elastic telescopic piece is fixed to the insulation push block, the metal connecting column is fixed to the insulation push block and corresponds to the front side of the carrier body, the limiting component corresponds to the rear side of the sliding block, and the detection efficiency can be effectively improved.

The invention provides experimental equipment and method for simulating determination of adhesion strength of a deep sea substrate and a track shoe, the experimental equipment is composed of a sample loading assembly, a measuring disc assembly, a mechanical loading rack, a servo motor loading device and a data acquisition and control system, and three servo motors are used for controlling a metal test piece and vertical displacement and tangential torsion; dynamic pressure servo on a deep-sea substrate-metal contact interface is completed through a data acquisition and control system, cyclic load generated by a thrust wheel of a mining vehicle is simulated, and the influence of dynamic load on the adhesion characteristic of the deep-sea substrate-metal interface is explored. And an effective means is provided for measuring the adhesion strength of the deep-sea substrate-metal interface and selecting a deep-sea mining vehicle caterpillar band tooth material.

The air conditioner comprises a rectifying circuit, a motor load and a control module, the rectifying circuit is used for rectifying alternating-current voltage provided by a power supply to obtain direct-current voltage, the motor load operates based on the direct-current voltage, and the control module controls the motor load to operate on the basis of the direct-current voltage when the motor load is in a shutdown state. Acquiring a first input voltage provided by the power supply, analyzing a third harmonic of the first input voltage to obtain a first characteristic value, acquiring a second input voltage provided by the power supply and analyzing a third harmonic of the second input voltage to obtain a second characteristic value under the condition that the motor load is in the running state, the control module determines the power supply type of the power supply according to the first characteristic value and the second characteristic value, so that the power supply type can be identified without arranging a special signal generator, and the hardware cost of power supply type identification is reduced.

The invention requests to protect a multi-sensor fusion adaptive motion control system and method for a boat-type lotus root harvester, and the system comprises a multi-sensor array which is used for obtaining the position, posture, speed, inclination angle and motor load information of the lotus root harvester, and comprises a GPS, an IMU, a current sensor and an encoder; the microcontroller is used for running an extended Kalman filter (EKF) data fusion algorithm, a multi-mode PID self-adaptive control algorithm, a pure tracking path planning algorithm and a nonlinear model prediction control algorithm, and comprehensively considering path tracking precision, control smoothness and multiple constraint conditions in a prediction time domain through a rolling time domain optimization strategy; generating an optimal control instruction according to the state estimation; the executing mechanism comprises a walking motor and a steering engine and is used for responding to the control instruction and driving the lotus root harvester to move; the invention discloses a Simulink hardware-in-the-loop verification system.

The utility model discloses a brushless motor load detection device, and specifically relates to the motor load detection device technology field, the brushless motor load detection device comprises a control panel, a load assembly, a torque sensor and a limiting mechanism, the side surface of the control panel is provided with the load assembly, and one side of the load assembly far away from the control panel is provided with the torque sensor; a torque sensor is arranged on the load assembly, a limiting mechanism is placed on the side, away from the load assembly, of the torque sensor and comprises a clamping assembly, a moving assembly and a sliding assembly, the moving assembly is installed above the sliding assembly, the clamping assembly is installed above the moving assembly, and all the assemblies can be controlled and monitored in a centralized mode through a control panel; the automatic detection process and data recording are realized, and the working efficiency and the accuracy of measured data are improved.

The invention discloses a large-bore high-density joint motor for a humanoid robot, which comprises a stator and a rotor, and is characterized in that the rotor comprises a hollow shaft and magnetic steel surface-mounted on the outer wall of the hollow shaft; the stator comprises a stator core outside the magnetic steel, insulating end plates are arranged at the two ends of the stator core, windings are arranged at the outer ends of the insulating end plates, a leading-out wire is arranged at the outer end of one winding, a thermal resistor is arranged on the winding, and a temperature sensor of the thermal resistor is embedded in the winding; by arranging the thermal resistor on the winding, the temperature can be monitored at any time, so that the load of the motor can be adjusted according to the monitored temperature, the influence on normal operation caused by overhigh temperature rise of the motor is prevented, the diameter of the rotor is increased and the crack ratio is increased by arranging the inner cavity of the hollow shaft into a large inner hole structure and matching the pole slots of the stator and the rotor to adopt 18 slots and 20 poles, and the reliability of the motor is improved. The magnetic conduction thickness of the hollow shaft can be reduced by selecting multiple poles, and the purpose of reducing the weight of the hollow shaft is achieved.

The invention relates to the technical field of motor testing devices, and provides a propeller motor load characteristic simulation testing device, which comprises a bracket (10), a turntable (20), a plurality of electromagnets, a load motor (50) and a detector (40), the turntable (20) is arranged in the bracket (10), and the propeller motor (100) can drive the turntable (20) to rotate; the electromagnets are used for providing radial force load, axial force load and unbalanced bending moment load for the output shaft; the load motor (50) is used for applying torque to the output shaft; the detector (40) is used for detecting the radial force load, the axial force load, the unbalanced bending moment load and the torque of the output shaft. The propeller motor load characteristic simulation test device can simultaneously, independently or compositely test the radial force load, the axial force load, the unbalanced bending moment load and the torque of the output shaft of the propeller motor (100), and multi-dimensional simulation of the load of the propeller motor is realized.

The invention discloses a lifting type stirring reaction kettle which comprises a base, a stand column, a first moving assembly, a second moving assembly, a first fixing assembly, a second fixing assembly and a glaze spraying assembly, the bottom of the base is fixed to the ground, the stand column is vertically fixed to the top of the base, and the second moving assembly is arranged on the first moving assembly. The glaze spraying assembly is arranged on the second moving assembly, the first fixing assembly and the second fixing assembly are arranged in parallel and located on the two sides of the stand column, and the second moving assembly drives the glaze spraying assembly to move to the position above the first fixing assembly or the second fixing assembly. The first moving assembly drives the glaze spraying assembly to be close to the bottom of the first fixing assembly or the second fixing assembly. The lifting type stirring reaction kettle is high in stirring efficiency, small in motor load and simple and reliable in structure.

The invention relates to a multi-motor load balance control method based on a normalized current average value, and the method comprises the following steps: S1, collecting an actual torque current feedback value and a corresponding rated current value of each loop motor, S2, carrying out the normalization processing of the current feedback values according to the rated value, and calculating a normalized current average value, s4, an extreme value search control algorithm framework is established, and a gain coefficient is optimized by using the framework; S5, gain adjustment is carried out on a deviation value; and S6, respective speed compensation is superposed to an original speed instruction to form a new target speed instruction, and the new target speed instruction is sent to a frequency converter, so that real-time closed-loop adjustment of the multi-motor load is realized. According to the scheme, real-time closed-loop coordination of the power of each motor in the multi-motor driving system is realized, and the operation consistency and robustness of the system are enhanced.

The invention provides a self-adaptive control method and system for an extrusion screw of a plastic extruder, and relates to the technical field of plastic recovery and regeneration, and the method comprises the following steps: collecting operation data of the plastic extruder; calculating a change trend and an effective value according to the machine head melt pressure; a three-level partition model is constructed, a pressure deviation value is calculated based on the effective value and the target reference value, and a pressure control area is generated according to a comparison result of the pressure deviation value and a pressure threshold value; performing consistency judgment on the change trend and the pressure demand direction to generate an adjustment coefficient, and performing step length correction by combining a pressure control region and a motor load current to generate a rotating speed adjustment amount; the to-be-executed rotating speed of the screw is calculated in combination with the real-time rotating speed of the screw, acceleration limiting processing is carried out to generate the target rotating speed of the screw, and the target rotating speed is coded into a control instruction to be sent to the driving unit, so that the self-adaptive control effect of the extrusion screw can be achieved, and false pressure fluctuation caused by material hardness change is effectively prevented; the extrusion stability and the response speed are obviously improved.

The invention relates to the technical field of automobile maintenance equipment, and discloses a new energy automobile chassis maintenance manipulator which comprises a base, a first mechanical gripper arm is fixedly connected to the upper surface of the base, a second mechanical gripper arm is rotatably connected to the interior of the first mechanical gripper arm, and a replacement mechanism is rotatably connected to the interior of the second mechanical gripper arm. A first protection mechanism is fixedly connected to the lower surface of the base, a second protection mechanism is fixedly connected to the outer surface of the first mechanical claw arm, and the first protection mechanism enables the manipulator to move conveniently, reduces the load of a motor, eliminates interference of circular motion and stabilizes operation of the claw arms. The clamping jaw replacing mechanism can replace clamping jaws according to needs, and the grabbing force is dispersed; the second protection mechanism is provided with an elastic rod piece at a key part to buffer external force; the first protection mechanism and the second protection mechanism cooperate with each other, the tremor risk of the claw arm is reduced, and the manipulator is assisted to operate flexibly and stably during maintenance.