81 results about "Motor system" patented technology

The invention relates to the technical field of motor fault diagnosis, and discloses a motor overload fault detection method and system based on locked-rotor current characteristics. The method comprises the following steps: collecting a one-phase working current signal of a target driving motor; extracting three types of locked-rotor precursor features; calculating a locked-rotor risk score by using a nonlinear integral enhancement mechanism; judging whether to enter a motor overload state or not by adopting a multi-factor dynamic threshold joint judgment mechanism; compared with the prior art that locked-rotor judgment depends on single current amplitude abrupt change or an overcurrent threshold, and especially in a climbing scene that instantaneous locked-rotor current of a motor rises suddenly due to rapid load increase, stable perception and fault-tolerant response to overload faults cannot be achieved, the technical problem that in the prior art, locked-rotor judgment depends on single current amplitude abrupt change or overcurrent threshold judgment, and in the climbing scene that the instantaneous locked-rotor current of the motor rises suddenly is solved. Due to the fact that multi-dimensional precursor feature extraction and a nonlinear integral enhancement mechanism are combined, the problem of overload misjudgment or missed judgment is avoided, and the fault detection accuracy of the motor system under the complex working condition is improved.

The invention discloses a motor micro-channel heat dissipation online optimization method based on deep reinforcement learning. The method comprises the following steps: firstly, modeling a control problem of a motor micro-channel heat dissipation system as a Markov decision process; secondly, a double-delay depth deterministic strategy gradient algorithm is adopted, a deep neural network based on an actor-commentator framework is constructed to serve as a strategy network, and mapping from a state vector to an optimal control action is achieved; then, in a digital twinborn simulation environment, performing security pre-training on the strategy network to obtain an initial agent model; and finally, deploying the model to an embedded controller of an actual motor system, carrying out online fine adjustment with security constraints through online acquisition of interaction data, and adding a security fault-tolerant mechanism to ensure stable operation of the system. According to the method, self-learning can be carried out, a global optimal balance point of heat dissipation efficiency and energy consumption can be found, on-demand heat dissipation and prospective control are realized, local hot spots are effectively inhibited, and the temperature control precision and the energy-saving effect under complex working conditions are remarkably improved.

The present disclosure provides a movement system. The movement system includes a foot-plate exercise machine and a chair. The foot-plate exercise machine implements repetitive lower limb movement accompanied by extension and flexion of at least a knee joint and a hip joint. The chair is a component for a user to sit on while the user uses the foot-plate exercise machine to perform the lower limb movement. The chair has a seating portion for the user to sit on, and a support mechanism that supports the seating portion in a manner that allows the seating portion to rock laterally. By the seating portion rocking laterally during the lower limb movement, a movement chain of the lower limb and the torso is generated.

The invention relates to a dual three-phase permanent magnet synchronous motor model-free prediction repetitive control method and system based on a double-subspace virtual vector, and the method comprises the steps: decomposing the vector of a motor into a fundamental wave subspace and a harmonic wave subspace which are orthogonal to each other based on an obtained operation parameter, and constructing an independent super-local model in the two subspaces; constructing a linear expansion state observer in the fundamental wave subspace, and constructing a repetitive expansion state observer based on repetitive control in the harmonic wave subspace; respectively synthesizing an independent virtual voltage vector set and a decoupling virtual voltage vector set in the two subspaces; and calculating reference voltage vectors of the two subspaces, selecting an optimal virtual voltage vector and an optimal decoupling virtual voltage vector, respectively calculating optimal duty ratios, synthesizing control signals applied to each bridge arm of the inverter, and driving the dual three-phase permanent magnet synchronous motor. According to the method, model-free control of double sub-spaces is realized, model parameters of a motor system of an algorithm are controlled, and better robustness is shown when the parameters are mismatched.

The invention discloses an active pneumatic buffering ankle joint artificial limb system and a control method thereof. The system comprises a sensing module, a control module and a pneumatic execution module. The pneumatic execution module adopts a closed loop composed of a miniature diaphragm air pump, an air storage tank and a damping air bag, and pre-storage and quick release of high-pressure air are achieved through the air storage tank. The control method is based on multi-sensor data fusion, high-strength impact can be pre-judged before the heel touches the ground, and the rigidity of the damping air bag can be adjusted in advance. The problems that a traditional artificial limb buffering system is lagged in response and fixed in parameter and an active motor system is high in energy consumption are solved, low-power-consumption, fast-response and self-adaptive intelligent buffering is achieved, and the walking comfort and safety of an amputee are remarkably improved.

The invention discloses a motor three-phase current imbalance compensation method and device and a motor system, which can dynamically compensate the three-phase current imbalance of a motor through a control algorithm, can avoid the repair of the motor, solves the problem of three-phase imbalance operation, does not need to perform off-line measurement on the motor system in the compensation process, and improves the compensation efficiency. And the three-phase current unbalance compensation efficiency is high.

The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium of current sensor, it is related to motor system field.The application discloses a kind of fault detection methods, device and medium

The application discloses a kind of space end effector adaptive fingers and its transmission and control method, belong to spaceflight control machinery field, the manipulator tool is sequentially included from top to bottom: finger part, motor layer, drive layer, flange layer;The finger part includes: first mobile finger, second mobile finger, fixed finger;The first mobile finger, second mobile finger, fixed finger all have three knuckles, from top to bottom are far knuckle, middle knuckle and near knuckle, there is a recess on each knuckle for embedding sensor;The structure of first mobile finger, second mobile finger, fixed finger is same;The application realizes multiple finger actions by different contact and cooperation between multiple motor systems, can control a small amount of motor system and drive device to carry out rotating drive two fingers to carry out fixed shaft relative rotation, and single finger alone carries out gripping action and restores multiple actions such as etc.;And the application guarantees efficiency while making space utilization reach maximum.

The embodiment of the invention discloses a specified time anti-interference motor control system and method, and the method comprises the steps: building a mathematical model of a permanent magnet synchronous motor through motor mechanism analysis and parameter measurement setting, designing a practical specified time disturbance observer, and estimating the lumped interference of a system in real time; and a specified time self-adaptive anti-interference composite controller is constructed based on a backstepping method and a dynamic inverse method, so that accurate control of the rotating speed of the motor is realized. According to the system, virtual control quantity is designed through a backstepping method, and a controller adopts an instruction filter and an interference adaptive compensation mechanism to realize effective compensation of system uncertainty, modeling errors and external disturbance. The method can effectively cope with uncertainty caused by system parameter perturbation, unmodeled dynamics and external load dramatic change, gives consideration to dynamic and static performance, has the advantages of closed-loop bounded stability, adaptive disturbance compensation and strong interference resistance, and is suitable for rotating speed control of a motor system under complex working conditions.

The invention relates to the field of communication control, in particular to a driving control method and device of a motor topological structure and a motor system. The method comprises the steps that execution parameters are sent to a motor, and real-time parameters are acquired; when the real-time parameter of one motor is obtained, if the real-time parameter of the motor is not consistent with the execution parameter sent to the motor, determining the motor as an abnormal motor; determining the emergency degree and adjustment parameters of the abnormal motor; determining correlation values of the abnormal motor and other motors, and sorting the other motors to obtain a correlation sequence of the abnormal motor; selecting execution parameters of which the number is the same as that of the abnormal motors from the execution parameters which are not sent in the current polling period to perform deletion operation; and inserting the adjustment parameter of the abnormal motor into the execution parameter which is not sent in the current polling period, reordering the execution parameter which is not sent in the current polling period, and sending the execution parameter to the corresponding motor. According to the invention, the problem that the total duration is increased is solved.

The invention provides a control method of a motor system and electronic equipment, the motor system comprises a target motor and a plurality of sensors, the plurality of sensors comprise a target sensor and an associated sensor, the target sensor is used for detecting a target parameter to obtain a detection value of the target parameter, and the associated sensor is used for predicting the target parameter to obtain a detection value of the target parameter; the method comprises the following steps: determining a weight coefficient according to the working state of a target sensor; the weight coefficient represents the credibility of the detection value of the target parameter; determining a final control parameter corresponding to the current moment of the target motor according to the weight coefficient, the detection value and the predicted value; and controlling the target motor based on the final control parameter. Therefore, the working state of the sensor, such as a fault, can be quantified into the weight coefficient, and the final control parameter is determined based on the predicted value corresponding to the associated sensor in combination with the weight coefficient, so that control disorder or shutdown of the motor can be avoided when the sensor fails, and the system stability is improved.

A table that includes a base, a tabletop and an operationally-coupled motor system. The tabletop of the table is movably mounted on the base of the table. The motor system of the table is operationally coupled to the tabletop for actuating movement thereof relative to the base of the table.

The invention discloses a motor fault diagnosis method and system based on multi-dimensional data under a small sample condition, is applied to intelligent diagnosis of motor faults, and aims to solve the problem of small samples. The fault diagnosis model fusing the ball convolution operator and supervised branch and self-supervised branch cooperative training is constructed, and efficient and accurate fault diagnosis of the motor system can be realized under the condition that only a small number of labeled samples are used and multiple complex working conditions are used. In the model training stage, a label is generated through a pseudo label generation mechanism and participates in training together with original data, and a weighted loss function structure and an adaptive weight adjustment strategy are designed in a matched manner, so that the learning efficiency and generalization ability of the model on different fault categories are optimized. In conclusion, high-precision motor fault diagnosis can be realized only by depending on a small number of labeled samples, and the cost of the electric driving system in the two aspects of sample labeling and fault diagnosis is effectively reduced.

In summary, this involves controlling a kinematic system to assume a (previously obtained / predefined) target pose. For this purpose, a pose measurement system is integrated into the kinematic system. The pose measurement system comprises a first and a second solid body. The pose measurement system is configured to measure a solid body pose. The solid body pose is a pose that the first and second solid bodies assume relative to each other. The pose measurement system is integrated into the kinematic system by: (i) attaching the first solid body to the end effector and attaching the second solid body to the base, or (ii) attaching the second solid body to the end effector and attaching the first solid body to the base. One or more solid body poses are measured by the attached pose measurement system when the kinematic system is controlled with the respective configuration vector(s).The target configuration vector is determined based on the target pose and the measured solid pose(s), and the kinematics are controlled with the determined target configuration vector.

An exercise system is disclosed that includes a walking exercise device having a pedal stepped on by a patient and one or more linked pedal drives driving the pedal, and a system control device that performs a patient walking training in accordance with a patient's individual training plan, the system control device includes: an index prediction unit that determines a walking evaluation index of a patient based on basic information including patient personal information and initial walking state information; a training planning unit having a self-discipline training planning model for establishing a patient individual-targeted training plan performed by the walking exercise unit on the basis of the result of the walking training; and a training evaluation unit that evaluates a training result on the basis of training result data of a rehabilitation training result of the patient performed by the walking exercise unit.

A surgical instrument system comprising a motor system and a control circuit is disclosed. The motor system comprises a motor and a drive train coupleable to the motor and configured to actuate a firing member through a staple firing stroke. The control circuit is coupled to the motor, wherein the control circuit comprises a motor controller configured to control the motor, and wherein, during the staple firing stroke, the control circuit is configured to actuate the firing member through the staple firing stroke, monitor a parameter of the motor system during the staple firing stroke, identify when the firing member is within an active adjustment portion of the staple firing stroke; and automatically adjust, at a frequency, tuning parameters of the motor controller with based on the monitored parameter of the motor system during the active adjustment portion of the staple firing stroke.

This invention discloses a surgical instrument comprising an end effector and an articulation joint configured to allow the end effector to joint in place. The surgical instrument also includes an articulation drive system driven by at least one electric motor for performing articulation on the end effector.

The invention discloses a heat dissipation control method and device of a motor, a motor system, a storage medium and a computer program product, the motor comprises a piezoelectric heat dissipation assembly and a power device, and the piezoelectric heat dissipation assembly is used for dissipating heat of the power device; the method comprises the following steps: acquiring the internal temperature of the power device and the peripheral area temperature of the power device; judging the heat dissipation state of the power device based on the internal temperature and the peripheral area temperature; and working parameters of the piezoelectric heat dissipation assembly are controlled according to the heat dissipation state so as to adjust the heat dissipation efficiency of the piezoelectric heat dissipation assembly on the power device. According to the scheme, dependence of a power device on a high-heat-conductivity-coefficient material is reduced, stress increase of the device caused by the material is avoided, the service life of the device is prolonged, and stable operation of the motor is guaranteed.

The application discloses a motor stall determination method, a motor control method, a controller and a motor system. The motor stall determination method is used for determining whether a single motor stalls. The motor stall determination method comprises the following steps: collecting a current of the motor to obtain a sampling current when the motor operates; and determining whether the motor stalls according to a difference between a current in an Nth period and a current in an N+1th period in the sampling current, wherein N is an odd number greater than 0. In the manner, the motor stall detection can be realized in a low-cost manner.

This invention discloses a dual-power output mechanism for an intelligent prosthetic hip joint, relating to the field of medical rehabilitation equipment. The mechanism includes a prosthetic motion system and a power transmission system. The prosthetic motion system includes a standard L-shaped plate for the socket, a prosthetic connector, double-row connecting rods, a Y-shaped connecting rod, an auxiliary connecting rod, a power-shaped rod, and a prosthetic leg bone. The power transmission system includes a flexible transmission wheel, an end cap, a two-stage reduction gear set, a one-stage reduction gear set, a second power motor, a drive gear, a second support column, a first power motor, a third support column, a battery, a spring, a hinge ball, a reinforcing rib, an adjusting screw, a guide rod, and a power shaft. This invention increases joint torque by superimposing motor power, and balances the overall mass distribution of the prosthesis through a spatially symmetrical structure. The addition of a flexible transmission structure prevents motor stalling and improves system stability.

The application discloses a motor fault diagnosis method and system based on multi-dimensional data under a small sample condition, is applied to intelligent diagnosis of motor faults, and aims to solve a small sample problem. The technical scheme of the application constructs a fault diagnosis model which fuses a spherical convolution operator and a supervised branch and a self-supervised branch for collaborative training through three-dimensional point cloud and spherical mapping technology, and can realize efficient and accurate fault diagnosis of a motor system under the condition of using only a small amount of labeled samples and various complex working conditions. In the model training stage, a label is generated through a pseudo-label generation mechanism and cooperates with original data to participate in training, and a weighted loss function structure and an adaptive weight adjustment strategy are also designed to optimize the learning efficiency and generalization ability of the model under different fault categories. In conclusion, the application can realize high-precision motor fault diagnosis only by relying on a small amount of labeled samples, and effectively reduces the cost of sample labeling and fault diagnosis of an electric drive system.

The invention relates to the technical field of a non-contact rotor stress on-line monitoring method for a direct current brushless motor, discloses a non-contact rotor stress on-line monitoring method for a direct current brushless motor, and aims to solve the problems that a contact sensor is difficult to install and a non-contact method is insufficient in precision under strong electromagnetic interference in the prior art. A high-coherence laser interference unit is arranged on the inner wall of a stator, nanoscale micro-deformation signals on the surface of a rotor are collected, and motor operation parameters are synchronously obtained; constructing a multi-physical field coupling feature vector fusing electromagnetic, thermal and mechanical responses; training a deep convolutional neural network based on finite element simulation data, and inverting rotor equivalent stress distribution; and combining adaptive Kalman filtering to dynamically suppress electromagnetic interference, and triggering graded early warning and health assessment according to a stress over-limit condition. According to the invention, shutdown or rotor modification is not needed, high-precision, full-circumferential and real-time online monitoring can be realized, and the operation safety and the service life of a motor system are remarkably improved.

The present disclosure relates to a dynamic exercise system comprising: a first rigid member comprising a first trolley configured to maintain a substantially fixed rotational position about the first rigid member; a second rigid member comprising a second trolley configured to maintain a substantially fixed rotational position about the second rigid member. The first trolley and second trolley are configured to be movable linearly along a longitudinal axis of the respective first and second rigid members. The system further comprises a third rigid member attached to the first trolley and to the second trolley via respective first and second connectors, the first and second connectors configured such that the third rigid member is rotatable relative to the first and second trolleys about an axis substantially perpendicular to the longitudinal axis of the first and second rigid members. The third rigid member and / or the first and second connectors are configured such that the distance between the first and second connectors is variable. A third trolley is provided mounted on the third rigid member configured to be movable linearly along the third rigid member, the third trolley comprising means for connection to an exercise device.

An exoskeletal kinematic system (100) comprising a first frame (10) configured, in use, to be rigidly constrained to the back of a user; a first articulated quadrilateral comprising a first link (101), a first rotational joint (101' ) arranged to allow a rotation of the first link (101) with respect to the first frame (10), a second link (102), a second rotational joint (102' ) arranged to allow a rotation of the second link (102) with respect to the first frame (10), a third link (103), a third rotational joint (103' ) arranged to allow a rotation of the third link (103) with respect to the first link (101), and a fourth rotational joint (104' ) arranged to allow a rotation of the third link (103) with respect to the second link (102); a second articulated quadrilateral comprising a fourth link (104) integrally connected to the third link (103), a fifth link (105), a fifth rotational joint (105' ) arranged to allow a rotation of the fifth link (105) with respect to the fourth link (104), a sixth link (106), a sixth rotational joint (106' ) arranged to allow a rotation of the sixth link (106) with respect to the fourth link (104), a seventh link (107), a seventh rotational joint (107' ) arranged to allow a rotation of the seventh link (107) with respect to the fifth link (105), and an eighth rotational joint (108' ) arranged to allow a rotation of the seventh link (107) with respect to the sixth link (106). The exoskeletal kinematic system (100) further comprises an eighth link (108) integrally connected to the seventh link (107), a ninth link (109), a ninth rotational joint (109' ) arranged to allow a rotation of the ninth link (109) with respect to the eighth link (108), a tenth link (110), a tenth rotational joint (110' ) arranged to allow a rotation of the tenth link (110) with respect to the ninth link (109), an eleventh link (111), an eleventh rotational joint (111' ) arranged to allow a rotation of the eleventh link (111) with respect to the tenth link (110), and a second frame (20) integrally connected to the eleventh link (111) and configured, in use, to be rigidly constrained to an upper limb of the user at the humerus.

The invention discloses a motor three-phase current imbalance compensation method and device and a motor system, which can dynamically compensate the three-phase current imbalance of a motor through a control algorithm, can avoid the repair of the motor, solves the problem of three-phase imbalance operation, does not need to perform off-line measurement on the motor system in the compensation process, and improves the compensation efficiency. And the three-phase current unbalance compensation efficiency is high.

This invention provides a method and apparatus for fault diagnosis of a motor system. The method includes: collecting actual characteristic data of the motor system to be observed; obtaining the motor system fault type corresponding to the actual characteristic data based on the actual characteristic data and a pre-established motor system fault diagnosis model; the motor system fault diagnosis model is trained based on feature data generated by a joint simulation model of the motor drive system corresponding to the motor system to be observed, and the feature data corresponds to a preset fault type. This application utilizes deep neural networks to diagnose motor system faults, possessing advantages such as good real-time performance, low cost, simple operation, and high fault diagnosis accuracy. This application utilizes simulation software for motor drive system modeling and reinforcement learning for training deep neural networks, solving the problem of obtaining a large amount of reliable and analyzable fault data of various types in existing model training.

This invention relates to a multidimensional electrical fault diagnosis method for a dual-three-phase motor system based on magnetomotive force balance trajectory, belonging to the field of electrical fault diagnosis. The method includes: preliminary judgment of the phase with an open-circuit fault based on image similarity theory, identifying whether the open-circuit fault occurs in phases ABC or DEF; if the fault occurs in phases ABC, calculating the theoretical real-time MMF balance value after the fault occurs in phases ABC respectively, and using SSIM to compare the actual balance of phases ABC with the theoretical MMF balance to locate the faulty bridge arm; the same applies to the DEF phase bridge arm; determining that the fault is located at the switching transistor S. j1 / S j2 Or S j3 / S j4 When in the high modulation region, S is distinguished based on the average current value. j1 With S j2 Fault, or S j3 With S j4 Fault; When in the low modulation region, a three-to-two level hybrid modulation scheme is used to distinguish S. j1 With S j2 Fault, or S j3 With S j4 Fault.

The application discloses a kind of high-order full-drive motor control methods of prediction compensation, belong to the technical field of motor control, comprising: the dynamic model of motor is discretized, and high-order full-drive discrete model is obtained;Predictive high-order full-drive observer is constructed;Synthesis includes stable and tracking component compound control law;Determine high-order full-drive discrete model gain and predictive high-order full-drive observer gain;Compound control law is applied to motor system, and the stable tracking of reference trajectory is realized.The application can maintain the internal consistency between motor system and physical law;While real-time estimation and compensation are carried out to unmeasurable state;And the collaborative design of controller and observer is realized by parameterization design method, so as to guarantee the stability and high-precision trajectory tracking performance of system under discrete time condition, which can effectively improve the control precision, response speed and robustness of motor system under high dynamic working condition.