186 results about "Position control" patented technology

A method of controlling position of a trawl net is provided. The method may comprise: receiving, by a processor, a control input, wherein the control input comprises: (i) a selection of one of a plurality of position control modes, and (ii) a position control setpoint for the trawl net; receiving, by the processor, sensor data indicating a sensed position of the trawl net; and generating, by the processor, a trawl position control output based on the control input, the sensor data and predicted trawl net position data. The predicted trawl net position data may be generated by: defining, by the processor, a plurality of parameters; receiving, by the processor, input data comprising vessel speed data, tow line payout data, and a candidate drag coefficient value for the trawl net; and determining, by the processor, a tow angle based on the plurality of parameters and the input data.

The invention discloses a three-bin type vacuum plug hole resin printing control system and method, and belongs to the technical field of printed circuits, and the three-bin type vacuum plug hole resin printing control system comprises the following modules: a feeding control module, an alignment control module, a feeding control module, a plug hole printing control module and a discharging control module. The three cabins which can be separated independently and communicated with one another are controlled, the telescopic feeding and discharging mechanism is matched, the vacuum state of the hole plugging cabin is guaranteed, meanwhile, one-way flow type product circulation can be completed, and the device is suitable for a PCB hole plugging printing production line with the high-beat and high-consistency requirements.

The invention discloses a process-in-the-loop numerical control device and method, and belongs to the technical field of numerical control. The process-in-the-loop numerical control device comprises a non-real-time process optimizer, and the non-real-time process optimizer carries out process optimization processing on original track data input by a user based on a track error prediction model of deep learning; comprehensive errors generated in the multi-axis machining process are effectively compensated; the interpolator and the position controller are used for calculating a middle point coordinate of the movement track and accurately controlling the cutter to reach a target position; the process prediction observer constructs a dynamic observer by using a neural network technology, and carries out real-time feed-forward compensation in the processing process; and the physical machine tool carries out machining operation. According to the technology-in-the-loop numerical control device and method, the non-real-time technology optimizer and the technology prediction observer are added, the machining technology is subjected to deep fusion prediction, optimization and dynamic closed-loop control through virtual machine tool simulation and physical machine tool feedback, the machining track is optimized in real time, and errors are compensated.

The invention discloses a crane position control method and system based on MPC and a control obstacle function. The method comprises the steps that S101, all to-be-controlled parameter values are calculated according to given positions; s102, solving an optimal control sequence u at the moment according to a predictive control algorithm; s103, designing a state observer according to the output y, the input u and the state at the moment, observing the state at the next moment, designing by adopting a full-dimensional linear state observer method, and adjusting parameters by adopting a DLQR method to obtain state information at the next moment for the step S102 at the next moment; and S104, the output of the real system is measured and sent to the step S103 at the next moment, and the predictive control algorithm is a model predictive control algorithm fused with the control barrier function. According to the crane position control method and system based on the MPC and the control barrier function provided by the invention, the model prediction control is combined with the control barrier function, so that the crane can reach a specified position.

The invention discloses a precise drilling and milling equipment control method and system for a PCB, and relates to the technical field of intelligent manufacturing, and the method comprises the steps: collecting heat sensor data and visual camera data in real time, carrying out the preprocessing, and generating a coordinate data stream; constructing a thermal deformation model, deducing a three-dimensional thermal drift amount through the coordinate data flow, and generating a predicted compensation value and a target position of drilling and milling equipment; the drilling and milling equipment is controlled to execute the intermediate instruction after the first compensation, and the visual offset and the current thermal field data when the drilling and milling equipment moves are collected in real time; according to the visual offset and the current thermal field data, performing space-time gradient coupling optimization on the intermediate instruction after the first compensation to obtain a secondary fine tuning instruction and inputting the secondary fine tuning instruction into the drilling and milling equipment; and outputting a comprehensive precision report after the drilling and milling equipment finishes processing, and carrying out persistent storage. According to the method, the thermal deformation model and the Nash equilibrium trajectory decision-making mechanism are constructed, and space-time gradient online compensation is combined, so that the problem of high-precision trajectory dynamic drift suppression is solved.

The application provides a performance function self-adjusting control method for improving the performance of a quad-rotor flight, first constructs a global performance function with self-adjusting capability, sets an infinite initial value to adaptively constrain the tracking error of the quad-rotor unmanned aerial vehicle; then sets a performance indicator function as a dynamic feasibility monitoring benchmark of the quad-rotor unmanned aerial vehicle, monitors and judges the current flight state of the unmanned aerial vehicle in real time; then constructs a segmented continuous auxiliary system to adjust the boundary parameters of the performance function; for the position control layer of the quad-rotor unmanned aerial vehicle, a control law is designed and deployed based on the self-adjusting performance function; in an indoor obstacle environment, the autonomous flight task of the quad-rotor unmanned aerial vehicle is executed in combination with multiple modules, the performance function is automatically adjusted, and the dynamic balance between safety and precision of the trajectory tracking of the quad-rotor unmanned aerial vehicle is realized.

The application provides a hydraulic valve positioning control method and control system based on a sensorless stepping motor, and the method comprises the following steps: controlling the sensorless stepping motor to drive the spool of the hydraulic valve to move for system initialization, and determining the absolute zero point position and coordinate establishment by detecting the locked-rotor of the stepping motor; in the position control process, the total micro-step number is calculated according to the target position and the absolute zero point position, and the planned micro-step increment of each control period is determined according to the motor speed; before the execution of each control period, it is judged whether the planned micro-step increment will exceed the remaining micro-step number after execution, and the actual execution micro-step number is corrected; the cumulative execution micro-step number and the remaining micro-step number are updated according to the actual execution micro-step number, and the target position is reached until the remaining micro-step number is 0 in a certain control period. The application does not depend on any physical position sensor, realizes high-reliability locked-rotor detection and zero-point self-calibration through a magnetic field orientation control algorithm, and then realizes accurate and reliable positioning of the spool.

A method for controlling a flow regulating valve (6) of a filling machine (1) forming composite packages (2) from a multilayer composite packaging material and filling the composite packages with a pourable filling product, wherein a position of the regulating valve controls the flow of the product filling the packages, the method envisages: implementing a flow feedback control, receiving a flow set point (FSP) and an inlet flow measurement (FIN) and generating a feedback control contribution (CFB) indicative of a difference between the inlet flow measurement and the flow set point; implementing a flow feed-forward control, receiving the flow set point (FSP) and generating a feedforward control contribution (CFF) using fluid-dynamic maps, which map an output position of the regulating valve with respect to flow and pressure values of the filling product; generating a virtual pressure (PV) based on the feedback control contribution (CFB) generated at the output of the flow feedback control module, wherein the flow feed-forward control receives the virtual pressure (PV) and generates at its output the feedforward control contribution (CFF) based on the flow set point (FSP) and the virtual pressure (PV) using the fluid-dynamic maps. The feedforward control contribution (CFF) determines a control signal (Sc) for adjusting an operating position of the flow regulating valve (6).

An input device is proposed comprising one or more control elements (22) with a first surface (24) facing the user and a second surface (25) opposite the first surface (24) and facing away from the user, and comprising one or more actuators (26) for moving one or more of the control elements (22) between a starting position and an end position. The input device (20) includes a receiving element (28) with a user-facing surface (29) for receiving one or more control elements (22), wherein the user-facing surface (29) of the receiving element (28) and the first surface (24) of one or more control elements (22) are arranged on the same plane in the starting position, and wherein the first surface (24) of the control element (22) is extended or lowered relative to the receiving element (28) in the end position.The input device (20) comprises a cam disk (36) which is rotatable by means of the actuator (26) and a rod (27) which is arranged with a first end on the control element (22) and with a second end opposite the first end on the cam disk (36) such that the rotational movement of the cam disk (36) can be converted into a movement of the rod (27) and wherein the control element (22) can be moved between the starting position and the end position by the movement of the rod.

The application relates to the technical field of joint modules, in particular to a position control method of a joint module, a mechanical arm and a body robot, which comprises the following steps: when a zero position setting instruction is received at any time, collecting a current reference output shaft angle of an output shaft of a transmission mechanism through a first angle sensor and collecting a current reference motor shaft single-turn angle through a second angle sensor; storing the reference output shaft angle and the reference motor shaft single-turn angle as zero position parameters corresponding to a target logical zero point; after the joint module is powered off and restarted, acquiring current position parameters of the joint module; determining a relative position of the joint module relative to the target logical zero point according to the current position parameters and the zero position parameters; and performing position control on the joint module according to the relative position. Therefore, the problem of zero position fixation is solved, the logical zero point can be set by a user at any time, accurate position control after power-off and restart is ensured, and the flexibility and precision of the joint module are improved.

The invention discloses a greenhouse cotton quilt position control method based on metal detection, relates to the technical field of greenhouse curtain rolling and unrolling automatic control, solves the technical problems of inaccurate positioning and frequent maintenance in the existing technical scheme, and comprises the following steps: 1, fixedly installing at least one metal marker in a greenhouse cotton quilt; 2, at least one metal detector is installed at a preset control point of a cotton quilt winding and unwinding path, the control point at least comprises an uplink detection point and a downlink detection point, and the control logic of reference point real-time calibration is adopted. In each descending process, when the cotton quilt runs to a descending detection point, the controller can utilize a metal detection signal to reset position data. Accumulated errors caused by factors such as cotton quilt stretching, slipping and rolling diameter change are eliminated, and it is ensured that the cotton quilt can be accurately stopped at a preset final position every time.

The invention discloses an automatic target ball fixing device of a laser tracker for measuring the inner diameter and the outer diameter of a shaft part, and belongs to the technical field of crossing of precision measurement and automatic control. Comprising a visual upper computer, a target ball fixing device unit and a controller driving unit, and communication control is achieved through an RS-485 bus. The target ball fixing unit adopts a two-phase hybrid closed-loop stepping motor to drive a left-handed and right-handed precision ball screw, and a measuring claw is driven to realize synchronous opening and closing movement; a controller driving unit adopts an STM32 single-chip microcomputer as a core, adopts a'position-speed-current 'three-closed-loop cascade control strategy, and combines a fuzzy PID algorithm and an S-shaped acceleration and deceleration algorithm to realize clamping force control with + / -5N precision. The device has the characteristics of full-automatic operation, stroke self-calibration and wide adaptability, solves the problems of large manual operation error, poor force / position control collaboration and the like, improves the measurement precision and efficiency of the large shaft parts, and is particularly suitable for precise detection of the large shaft parts.

The application relates to a force-position hybrid servo stepping closed-loop control method and system, and the method comprises the following steps: obtaining a position deviation and a speed deviation according to an actual angle position and an actual speed of a stepping motor rotor end, constructing a system error dynamics equation of the stepping motor, constructing a proportional differential auxiliary variable based on the position deviation and the speed deviation and a approaching equation for guaranteeing that the proportional differential auxiliary variable converges to 0 in a limited time; combining the system error dynamics equation, the proportional differential auxiliary variable and the approaching equation to construct a force-position hybrid controller, obtaining a system control input through the force-position hybrid controller, obtaining two-phase reference currents based on the system control input, and realizing driving control of the stepping motor by adopting a hardware current closed loop. Compared with the prior art, the application can improve the position control precision of the stepping motor when the system has interference and uncertainty, and realizes hybrid control of torque and position.

Method for determining a controller output variable (104) of a control device (100) with a controller (102) for a controlled system (200), in particular for a rack and pinion position control of a steering system (400), for example a steer-by-wire steering system, comprising: determining a plurality of sub-controllers (102a, 102b, 102c, 102n) of the controller (102) depending on a variable dynamics (202), in particular an axle behavior, of the controlled system (200); acquiring at least one characteristic parameter (12) of a system (10) comprising the controlled system (200), which characterizes a variation of the dynamics (202) of the controlled system (200); Determining a sub-controller (102a, 102b, 102c, 102n) from the multitude of sub-controllers (102a, 102b, 102c, 102n) depending on the at least one acquired characteristic value (12); Determining the controller output variable (104) depending on the determined sub-controller (102a, 102b, 102c, 102n) and a specified setpoint (106).A steering system comprising the control device (100) and a vehicle comprising the steering system.

The invention provides a control system and an anti-disturbance method of an electromagnetic bearing, a rotor position outer ring is controlled by a non-singular fast terminal sliding mode controller, external disturbance borne by the system is estimated in real time by introducing a non-linear disturbance observer, and an estimation result is fed back to a position controller for compensation; the input of the position controller is the difference value between the given position and the feedback position of the magnetic bearing rotor, and the output value is the reference value of the current loop control current; a stator coil inner ring is controlled by a nonsingular fast terminal sliding mode controller, input values of the controller comprise a current bias value + a current reference value output by a position ring and a current bias value-a current reference value output by the position ring, and an output quantity is a driving PWM signal duty ratio of a magnetic bearing stator coil; driving the PWM signal to be output to the power amplifier; the power amplifier supplies power to the stator coil; the axial thrust load sudden change anti-disturbance capability can be enhanced, it is ensured that when the thrust load suddenly changes, the magnetic bearing maintains stable suspension of the rotor, and anti-disturbance control is achieved.

This application discloses a positioning control method, system, equipment, and medium for aerospace forgings, relating to the field of intelligent manufacturing technology for aerospace forgings. The method includes the following steps: acquiring a theoretical digital model of the target forging and a three-dimensional digital model of the target mold to obtain the theoretical placement pose of the target forging; acquiring a three-dimensional scanning digital model of the target forging after the manipulator grips it to obtain a rotation matrix R and a translation vector T; wherein the rotation matrix R represents the rotational transformation from the actual pose of the target forging to the theoretical placement pose, and the translation vector T represents the spatial offset of the target forging; and inputting the rotation matrix R and translation vector T into a preset trajectory planning model to generate the optimal motion trajectory for the manipulator to transport the target forging to the target mold. This application has the advantages of improving the placement positioning accuracy and efficiency, and improving the performance of the final product.

The present application relates to the control field, specifically to a kind of AGV relative position control method based on kernel function prediction, method includes: AGV relative motion state feature is collected and constructs timing sequence and expected timing sequence;For each feature, based on the bandwidth adjustment coefficient of multiple cycle length analysis calculation, the feature adaptive bandwidth adjustment is carried out to Gaussian kernel function, and the adaptive kernel similarity between current and historical time is calculated;Based on the similarity and Gaussian process regression model, obtain the initial prediction value under each cycle length, and are fused into comprehensive prediction value by confidence weight;Finally, according to the deviation of comprehensive prediction value and expected value, the relative position of AGV is closed-loop controlled.The present application realizes feature adaptive kernel similarity calculation and multiple cycle prediction fusion, and improves the control precision and robustness under the disturbance such as tire slip, load change etc.

The invention belongs to the related technical field of hydraulic servo control systems, and discloses a humanoid robot hydraulic driver position servo self-adaptive control method and system oriented to variable load working conditions. The method comprises the following steps: establishing a mathematical model of a to-be-controlled object hydraulic driver and converting the mathematical model into a state-space equation; according to the state-space equation of the to-be-controlled object, establishing an extended state observer to observe the state and total disturbance of the to-be-controlled object in real time; according to the state and the total disturbance observed by the expansion state observer in real time, a backstepping controller is designed to control the to-be-controlled object, so that the actual displacement of the to-be-controlled object is close to the expected displacement, when the backstepping controller is designed, an adaptive law is established for the load quality in the backstepping controller, and the actual displacement of the to-be-controlled object is controlled. Therefore, the dynamic change of the load in practical application is met. According to the invention, the problems of low tracking precision and weak robustness of hydraulic driver position control under a variable load working condition are solved.

The invention provides a reverse power source type cementing power system. The reverse power source type cementing power system comprises a cementing frame and a single-drive servo motor arranged above the cementing frame through a support. The gear belt conveying structure, the gear belt transmission structure and the encoder are arranged on the cementing frame; a gear belt conveying structure is directly driven by an upper-arranged independent-drive servo motor, and a reverse power source type mechanical structure which transmits power to a bottom power distribution structure at the same time is adopted, so that the problem of large motor load fluctuation in a traditional driving mode is solved. The invention further provides a position control method for the system. The method comprises the following steps that the reference sensor senses and triggers a signal; and acquiring a position value as a reference encoder value b, determining a coordinate system offset compensation amount according to a preset sensor reference position value a, and converting an absolute position A in combination with a position value B fed back by the encoder. Through intelligent combination of reference sensor triggering and encoder sampling, a set of position sensing system independent of the absolute origin of the encoder is constructed.

The invention provides an automatic modeling method and device, electronic equipment and a storage medium, and relates to the technical field of automatic modeling, and the method comprises the steps: obtaining an input parameter; the input parameters comprise a modeling surface, a front section lap joint surface, a rear section lap joint surface and a position control point; based on the input parameters, generating a basic large surface of the part through parametric modeling; presetting a plurality of features on the basic large surface; determining the number of target features based on the length of the basic large surface and the size parameters of the features; on the basis of the number of the target features, the activity states of the multiple features are controlled through a preset rule so as to dynamically activate or cancel activation of the features; and updating the model to obtain a part structure meeting design requirements. In the mode, the structure of the whole part can be controlled according to the input parameters, and it is ensured that the part can meet the performance requirement at the same time.

This application discloses a robot dynamic control method, system, device, and medium, belonging to the field of artificial intelligence technology. The method includes: acquiring real-time status data of the master motor according to a first cycle threshold; generating a control data packet based on the verified real-time status data and sending the control data packet to the slave controller; the slave controller parses the target joint angle of the slave end according to the received control data packet and motion mapping function, performs trajectory planning on the target joint angle of the slave end, generates target values ​​for each joint of the slave end, and generates a position control algorithm by comparing the target values ​​of each joint of the slave end with the actual values ​​fed back by the robot joint encoder; generates a safe interactive control algorithm based on impedance control and admittance control; and performs dynamic control of the robot through the position control algorithm and the safe interactive control algorithm. This application can achieve low-latency and high-precision reproduction of the robot arm's actions of the operator, and supports advanced control modes such as torque and speed.

The application discloses a kind of double-bridge type hoisting equipment anti-interference trajectory tracking and anti-swing control method, construct the dynamics model of variable rope length double-bridge type hoisting equipment under the condition of unknown external disturbance, the dynamics model is expressed as the dynamics model of cascade system form by separating the dynamics model of energy drive state and cannot drive state, the actual coordinates of load centroid are subtracted from the desired trajectory vector of load centroid to obtain trajectory error vector, the load position error integral is obtained by trajectory error vector, then LSNF function is constructed, position control parameter matrix and speed control parameter matrix are defined, then pseudo-controller is constructed, speed error vector is constructed, finally actual controller is constructed according to speed control parameter matrix, speed error vector, trajectory error vector, pseudo-controller and the dynamics model of cascade system form.Using the technical scheme, the load positioning is more accurate, and the anti-interference ability of cable is stronger.

A motor control unit (101) that switches between position control and non-position control of an object (7) to avoid causing a sudden change anomaly in the operation of the object includes a reference model unit (5A) that determines a model position (Xm) which is a filtered position command, a model initial value setting unit (12) that sets a model position initial value (Xm0) based on a detected position (XFB) at the time of switching from non-position control to position control, the model position initial value being used to calculate the model position at the time of switching, and a position command initial value setting unit (13) that sets a position command initial value (Xr0) which is used to generate the position command at the time of switching.At the time of switching, the position command initial value is set based on velocity information (V) of the object at the time of switching, the detected position of the object at the time of switching and a transfer characteristic of a filter, and a torque command (Tr1) corresponding to the position command generated on the basis of the position command initial value is issued to a drive device (14).

A heave tolerant pile guiding device for guiding a pile including a cylindrical section and above said cylindrical section a tapered section that narrows in upward direction. The device includes a frame to be mounted to a vessel having a hull subject to sea-state induced motion during installation of a pile. At least one pair of first and second pile engaging devices is arranged on the frame diametrically opposed relative to a center axis. Each pile engaging device comprises a pile engaging member and a hydraulic cylinder to move the member radially relative to the center axis. A hydraulic system includes a position control circuit and a sphincter control circuit. The sphincter control circuit is configured to operate the pair of first and second hydraulic cylinders in particular when the pile engaging members engage on the tapered section of the pile. The sphincter control circuit is a rotary flow divider.

The present application relates to the technical field of four-edge flanging machine, in particular to a kind of intelligent control method for multiple positioning and flanging of flanging machine.The flanging machine includes operating mechanism, centering mechanism, flanging mechanism and pressing mechanism.First, the shaft of operating mechanism and centering mechanism is respectively moved to position by sheet material raw material centering positioning control rule to carry out raw material centering, then the shaft of operating mechanism, pressing mechanism and flanging mechanism is respectively moved to sheet material positioning and bending by feeding flanging control rule, secondly, the shaft of operating mechanism and pressing mechanism is respectively moved to carry out clamping positioning adjustment by clamping positioning adjustment control rule, thirdly, the shaft of operating mechanism and centering mechanism is respectively moved to position by sheet material process centering positioning control rule to carry out process centering.Through raw material centering, feeding flanging, clamping adjustment, process centering and its specific execution sequence, the production efficiency problem that needs multiple program and die replacement under special working condition (such as small size, non-centering clamping workpiece) is solved.

The invention discloses an intelligent control system of an elastic floating clamping self-locking mechanism, and relates to the technical field of mechanical and electrical integration equipment and automatic control. The intelligent control system comprises a core processing module which is in communication connection with a sensing module and is used for receiving physical state information and controlling the clamping target to be in a self-adaptive state based on pre-stored clamping target parameters and a self-adaptive control strategy; generating a dynamic control instruction; and the driving execution module is in communication connection with the core processing module and is used for receiving the dynamic control instruction and driving an action part of the elastic floating clamping self-locking mechanism to generate corresponding self-adaptive motion. A self-adaptive control strategy fusing feedforward prediction, fuzzy PID closed-loop adjustment and multivariable comprehensive compensation is executed through the core processing module, force control and position control parameters can be dynamically optimized, vibration is effectively restrained, deformation and load disturbance are effectively compensated, and it is ensured that the clamping process is rapid and stable and finally converges to the ideal uniform clamping and stable locking state.

The application provides a kind of anchor rod drilling rig automatic hole finding positioning system and method based on machine vision, belongs to anchor rod drilling rig automatic hole finding positioning technical field;In order to solve the technical problems of low precision, poor efficiency and poor adaptability of automatic scheme when artificial operation during anchor rod support, the technical scheme is that: binocular vision camera and laser displacement sensor are arranged on the anchor rod drilling rig vehicle body, drilling rig controller, inclination sensor, industrial switch, drilling rig electric control box and communication module are arranged inside the anchor rod drilling rig vehicle body, the drilling rig controller is connected with other modules or components through wire, positioning target and wireless AP base station are also arranged in the roadway, and the communication module is wirelessly connected with the wireless AP base station through wireless network;Positioning console is arranged in the control room, and positioning control computer, core switch and drilling positioning server are also arranged in the positioning console;The application is applied to anchor rod drilling rig automatic hole finding positioning.