132 results about "Motor system" patented technology

The invention relates to a multi-parameter fusion motor performance evaluation method, equipment and a medium. The method comprises the following steps: firstly, acquiring electrical signals, mechanical vibration signals and thermal temperature data in operation of a motor, and performing preprocessing and standardization to form a first data set; secondly, dimension reduction is carried out on multi-dimensional parameters of the first data set, and core parameter combinations are extracted to generate a second feature data set; then, classifying and marking the second feature data set by utilizing a classification algorithm, and determining a key performance index distribution interval to obtain a third classification result set; and finally, constructing a time sequence anomaly detection model based on the third classification result set, analyzing an index change trend, identifying an abnormal point deviating from a preset threshold value, and generating a fourth anomaly detection result. According to the method, the data quality and consistency can be improved, the abnormal state in motor operation can be effectively identified, data support is provided for motor performance evaluation and fault early warning, and the method is suitable for real-time monitoring and operation optimization of a motor system.

The invention discloses a high-precision linear vibration feedback motor system, and relates to the technical field of precise electromagnetic driving, and the system comprises a core driving module which is a moving magnet type linear motor of a Halbach array magnetic circuit structure, and is integrated with a multi-physics field sensing unit; the dynamic parameter tracking module is used for acquiring a reed rigidity coefficient, a damping coefficient and a magnetic constant in real time when the motor runs, and establishing a dynamic displacement model based on a recursive least square method; a double-closed-loop control framework is adopted, an inner loop adopts field-oriented control, and an outer loop is based on model prediction control; the aging prediction unit activates a temperature rise compensation algorithm when the accumulated number of vibration times is greater than a set threshold value; the self-adaptive calibration engine is used for injecting a sweep frequency excitation signal when the system is started, and automatically compensating individual difference parameters according to the harmonic peak offset; and the digital twin mapping unit is used for establishing a real-time mapping relationship between the physical parameters of the motor and the virtual model, and dynamically correcting the model parameters by comparing the actual displacement with the model displacement.

The invention relates to the field of fault diagnosis, discloses a brushless motor controller fault diagnosis method and system, and is used for providing powerful guarantee for reliable operation of a brushless motor controller. The method includes the steps that three-phase current and bus voltage signals are collected in real time through current and voltage sensors, and a characteristic frequency interval is extracted; the method comprises the following steps: extracting topological invariants by adopting a fractional order derivative and a continuous coherence algorithm, describing mechanical damage characteristics, taking the topological invariants and the mechanical damage characteristics as inputs, simulating motor system dynamic behaviors by virtue of a quantum state evolution model, calculating phase space trajectory divergence, triggering a graded fault decision according to the divergence, and accurately distinguishing parametric, mechanical, winding and pre-out-of-step faults. And outputting the highest-level fault instruction according to the priority and executing protection during multi-fault concurrence. The method comprehensively and accurately extracts fault features, has a dynamic adaptive capability, can predict a fault trend and effectively process a multi-fault concurrency condition, provides a solid guarantee for reliable operation of a brushless motor controller, and is suitable for multiple fields.

The invention relates to the technical field of multi-motor cooperative control, and discloses a multi-motor cooperative control system and method based on digital twinning. The multi-motor cooperative control method based on digital twinning comprises the following steps: acquiring real-time operation data of each motor in a multi-motor system, and generating a physical parameter data set containing time sequence information; based on the physical parameter data set, calculating digital twinborn model parameters of each motor, and generating a motor digital twinborn body; analyzing a topological connection relationship between the motors, and generating a cooperative control constraint condition; and inputting the real-time state data of the motor digital twin and the cooperative control constraint condition into a cooperative optimization algorithm, and outputting a multi-motor cooperative control instruction. According to the method, the problem that accurate digital mapping between a physical motor and a control system is lacked in a traditional method is solved, and the technical problem that a cooperative control strategy cannot be optimized in real time is solved.

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 invention discloses a model-free predictive control method and device for a permanent magnet synchronous motor, and the method comprises the steps: constructing a hyper-local model, carrying out the disturbance observation of the hyper-local model through an ESO observer, and generating a model-free current prediction controller; obtaining current and voltage vectors of a plurality of historical control periods, constructing a first cost function, and calculating a first descent gradient of the first cost function about an input gain value of the hyper-local model and a second descent gradient about a bandwidth value of the ESO observer; performing parameter updating based on the first descent gradient and the second descent gradient, and calculating a current prediction value at the (k + 1) th moment through the model-free current prediction controller after parameter updating; and constructing a second cost function, and based on the current predicted value at the (k + 1) th moment, selecting a switching state which enables the second cost function to be minimum to control the motor system. The method can get rid of dependence on motor parameters, and the prediction precision and control robustness of the control system are improved.

The present invention proposes a position sensorless predictive control method and system for a permanent magnet synchronous motor, relating to the field of motor control technology. The method comprises calculating the d- and q-axis voltages and d- and q-axis currents of the motor; using the q-axis stator current observation value, the motor speed observation value, and the load torque observation value as state variables, and the q-axis stator current error as feedback, to determine the observed value of the motor speed; calculating the motor stator current based on the observed value of the motor speed; using the total unknown part of the motor system and the motor stator current as state variables, and the current observation error as feedback, to determine the αβ-axis stator current values ​​of the motor; and obtaining the desired stator voltage value based on the αβ-axis stator current values ​​of the motor, thereby controlling the motor using the desired stator voltage value. The present invention can effectively improve the observation accuracy and the anti-disturbance capability of the control system, and combines position sensorless control with predictive control to effectively improve the dynamic characteristics of the control system.

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 invention discloses a three-axis linear arc interpolation motion control system and method, and relates to the field of three-axis motor motion control, and the method comprises the steps: building a space rectangular coordinate system according to the space information of an operation point location and a distance proportion; based on the two-point equation, determining a motion track of linear interpolation of the three-axis motor; according to a method of determining a circle by three coordinate points, calculating the circle radius and point location information of the motor arc interpolation motion; setting a unified unit for motion control of the three-axis motor according to the requirements of a product process; parameter information of the three-axis motor is set and used for displaying and controlling the linear arc interpolation motion trail of the three-axis motor. The method has the advantages that the points of the three-axis motion trail are connected in series to form a complete curve in a linear arc interpolation mode, so that the complete curve can work coordinately according to a certain time sequence, dispensing and winding of irregular products are achieved, a three-axis motor system operates stably at the maximum speed, and higher response speed and precision are achieved.

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

This motor control device, on the basis of the rotational speed of the motor, switches current detection methods between a first method and a second method that differ in how the duty ratio is adjusted. With the first method, for the PWM signal of each phase, the signal level varies over the entire period of a single cycle at arbitrary points in time that differ from each other, and the current of a current detector is detected over the entire period. With the second method, a single cycle of the PWM signal of each phase includes a first period and a second period, and for the PWM signal of each phase, the signal level varies at points in time that are according to an established duty ratio in the first period, while in the second period, the signal level varies at fixed points in time that differ from each other and the order in which the PWM signal of each phase is replaced is fixed regardless of the set value of the duty ratio, and the current of the current detector is detected during the second period.

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 utility model discloses a fixing structure and a motor system, and the fixing structure comprises a connecting part which extends along a first direction; the holding part comprises a first part and a second part, the first part and the second part are connected with the connecting part and arranged on the two sides of the connecting part, the first part and the second part are used for being bent in the opposite directions to form a holding space, and the holding space is used for holding the temperature sensor; the clamping part and the holding part are arranged in a spaced mode in the first direction, the clamping part and the connecting part are arranged in a spaced mode in the second direction to form a first clamping space, the first clamping space is used for clamping the bottom of the temperature sensor, and the second direction intersects with the first direction. The temperature sensor is simple in structure and high in strength, and the temperature sensor is not easy to fall off.

The present application discloses an improved motor control method and controller, which belongs to the field of motor control technology. The method includes obtaining the real-time position of the mover when the motor is running; calculating the difference between the real-time position and the pre-stored expected position to obtain position error information; calculating the adjustment item based on the position error information and a predetermined adjustment coefficient; adjusting the expected current value of the motor using the adjustment item to obtain the adjusted expected current value; calculating the difference between the adjusted expected current value and the real-time current value to obtain a current error signal; and controlling the motor movement based on the current error signal. The present application optimizes the controller structure and introduces a new adjustment item, which can increase the stability of the system, obtain a better expected current value, and suppress the residual jitter of the motor system.

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.

The invention relates to the technical field of motor control, in particular to a hyper-local model predictive control method and system and a storage medium, and the method comprises the following steps: sampling the three-phase current of a motor, constructing a hyper-local model based on Poincare mapping causality, discretizing the hyper-local model, constructing a gain recursive vector and a data recursive vector, and carrying out the prediction control of the hyper-local model. And updating the gain recursion vector and the data recursion vector, constructing a control equation, obtaining a modulation signal, converting the modulation signal into a pulse control signal through a modulation module, and controlling a motor driver. According to the method, the hyper-local model based on Poincare mapping causal is introduced, and the coupled current component of Poincare mapping and the electrical angular velocity additional factor are brought into the causal relationship, so that the hyper-local model can effectively process multiple input signals, time-varying physical parameters do not need to be identified in the control process, and the adaptability is good; meanwhile, the motion state of the motor system can be accurately represented, and the description precision is good.

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.