530 results about "Position control" patented technology

The invention relates to the technical field of program control, in particular to a servo position control method and system applied to an engraving and milling machine. The method comprises the following steps that real-time temperature data and real-time load data of lead screws of all shafts in the engraving and milling machine are obtained; collecting multi-node temperature distribution data of the engraving and milling machine; obtaining cutting force data and resonant frequency characteristic values in the engraving and milling machine; constructing a screw rod reverse clearance prediction model based on the real-time temperature data and the real-time load data of the screw rod, and generating a clearance compensation value; performing pre-compensation control before the servo position direction of each axis is changed based on the clearance compensation value to obtain a correction position instruction; and performing thermal deformation simulation on the engraving and milling machine based on the multi-node temperature distribution data to generate thermal deformation compensation amounts of all shafts. Through multi-source data fusion and intelligent control, comprehensive optimization of the servo position system of the engraving and milling machine is achieved, the machining precision, dynamic response and stability are effectively improved, and efficient and reliable operation of high-speed and high-precision machining is guaranteed.

The invention discloses a grinding and polishing control method and system based on sliding mode control, and relates to the field of robot industrial control. The method comprises the steps that a force signal of a force sensor at the tail end of a mechanical arm is collected and decomposed into a normal force component perpendicular to the surface of a workpiece; determining a deviation value between the normal force component and preset target pressure, and constructing a sliding mode surface expression of sliding mode control; determining a force control component according to the force control gain coefficient; position deviation and speed deviation are determined according to the position signals of the joint encoders and a preset polishing track; determining a position control component according to the position deviation, the speed deviation, the position gain coefficient and the speed gain coefficient; constructing a selection matrix, and performing orthogonal decomposition and superposition on the force control component and the position control component to obtain a comprehensive control instruction; and the driving signals are converted into driving signals of the joint motors, and the driving signals are transmitted to the mechanical arm for grinding and polishing. By implementing the method, force control of robot grinding and polishing can be optimized, and response delay is reduced.

The invention relates to the technical field of robot control, in particular to a force control method and system based on an impedance model for a rope-driven robot. Comprising the steps of system dynamics modeling and parameter identification, real-time axial compression sensing and model updating, Cartesian space impedance model design, adaptive impedance parameter adjustment, inner ring position control based on feedback linearization, force error compensation and expected trajectory generation, real-time control circulation and anti-interference processing and experimental verification and iterative optimization. According to the method, through real-time axial compression sensing and equivalent Young modulus dynamic updating, the problem of model mismatch caused by material rigidity sudden change in the phase change process of the hyperelastic material is solved. Specifically, a traditional method depends on static material parameter calibration, and real-time compensation of the nonlinear characteristic of the material is achieved through online estimation of the axial compression amount of the main beam and iterative correction of the Young modulus.

The invention relates to the technical field of aircrafts, and discloses an aircraft attitude control method, device and equipment and a storage medium, and the method comprises the steps: collecting flight state parameters of an aircraft; the pitch angle data in the flight state parameters are compared with a preset angle threshold value, corresponding flight mode switching is executed, and the attitude deviation value is calculated; power distribution calculation is conducted on the three ducts, and the target rotating speed of each duct paddle is obtained; performing position optimization calculation on the guide plates below the duct to obtain the position control quantity of each guide plate; the three flow guide plates are configured as triangular control points, the position compensation amount of an aileron, a yaw rudder and an elevator is calculated and determined through vector synthesis, and the angle control amount of each control surface is obtained; according to the method, the attitude of the aircraft is converted into an execution signal, execution feedback data is acquired to correct a control instruction in real time, closed-loop attitude control of the aircraft is realized, the attitude control precision of the aircraft is improved, and the stability of the flight process is ensured.

The invention provides a quadrotor unmanned aerial vehicle suspension swing suppression flight control method based on a DDPG. The method comprises the steps that a kinetic model of a quadrotor unmanned aerial vehicle suspension system is established; performing input shaping processing on an expected reference track signal by using a ZVD input shaper; the unmanned aerial vehicle suspension system is decoupled into position control of a position loop and attitude control of an attitude loop by adopting a cascade trajectory tracking control strategy, and a fuzzy PID controller of the position loop is designed based on a fuzzy theory; the shaped track signal is input into a fuzzy PID controller, and parameters of the PID controller are adjusted on line; performing attitude settlement on the virtual control quantity output by the fuzzy PID controller, and inputting the virtual control quantity into an active disturbance rejection controller; roll, pitch, and yaw torque control quantities are generated based on the virtual control quantity of the attitude loop and the control quantity generated by the DDPG-based tilt angle controller. Under a complex external interference environment, a preset track is tracked with high precision, load swing is effectively suppressed, reliable execution of a transportation task is successfully guaranteed, and meanwhile, the control precision and the anti-interference capability of the system are remarkably improved.

The invention belongs to the technical field of parallel robot controllers, and discloses a high-performance parallel robot controller based on an arm + fpga architecture, through deep heterogeneous fusion of an ARM and an FPGA, the control period is shortened to be within 10 microseconds, the trajectory tracking error is controlled to be 0.1 mm or below, and the performance bottleneck of a traditional architecture in a high-speed scene is solved; the multi-core ARM undertakes complex tasks such as global trajectory planning and dynamics solution, and realizes parallel processing by means of an NEON instruction set; the FPGA fully releases the hardware parallel characteristic of the FPGA, real-time tasks such as multi-axis motion control and sensor data fusion are synchronously completed through a distributed logic unit, and a complex decision-real-time execution assembly line cooperation mode is formed. Inertial parameters and load changes of the mechanical arm are estimated in real time through an LSTM neural network, and feedforward compensation is carried out on interference such as mechanical vibration and load abrupt change in combination with an extended state observer achieved through FPGA hardware; the innovatively designed double closed-loop control architecture supports seamless switching between a force control mode and a position control mode.

The invention relates to a four-axis unmanned aerial vehicle PID parameter setting method based on a whale optimization algorithm, and belongs to the technical field of unmanned aerial vehicle control. The method aims at solving the problems that in the traditional PID parameter setting process, experience is relied on, time is consumed, and optimal parameters are difficult to obtain. According to the method, the whale optimization algorithm is introduced, and the characteristics of high global search capability and high convergence speed are utilized, so that the parameters of the four-axis unmanned aerial vehicle PID controller are automatically optimized. The method comprises the steps that firstly, a kinetic model of the four-axis unmanned aerial vehicle is established, a control target of a PID controller is determined, PID parameters serve as optimization variables, and a fitness function is defined to evaluate control performance; then, performing global search in a parameter space by using a whale optimization algorithm, and gradually optimizing PID parameters by simulating a whale predation behavior; the optimized PID parameters are applied to a flight control system of the four-axis unmanned aerial vehicle, and stable attitude, height and position control is achieved. The method has the advantages that PID parameters are automatically set through the whale optimization algorithm, the low efficiency and subjectivity of a traditional trial and error method are avoided, and the parameter setting efficiency and precision are remarkably improved; meanwhile, for an unmanned aerial vehicle control system with high nonlinearity and complexity, the WOA can adjust parameters based on actual feedback under the condition that accurate modeling of the system is not needed, and dependence on system modeling is reduced.

The invention discloses a dual-ring active-disturbance-rejection trajectory tracking control method for a four-rotor unmanned aerial vehicle, and the method comprises the steps: representing a dynamic coupling effect of the unmanned aerial vehicle caused by the load mass change and dynamic center-of-gravity shift through a six-degree-of-freedom flight dynamic model containing an asymmetric inertia matrix; an outer ring position control loop and an inner ring attitude control loop are constructed on the basis of an active disturbance rejection controller, and the following control cycles are executed in real time on the basis of integrating an extended state observer: the outer ring position control loop generates a position control signal and an attitude expected angle according to an expected track; the inner loop attitude control loop generates a control quantity for driving the unmanned aerial vehicle according to the attitude expected angle, and the two loops cooperatively work through decoupling logic to realize expected trajectory tracking; estimating and compensating unmodeled dynamics and external interference of the unmanned aerial vehicle in real time through the extended state observer; and dynamically adjusting parameters of the active-disturbance-rejection controller by adopting a particle swarm optimization algorithm.

The invention relates to the technical field of motor control, in particular to a control and parameter intelligent optimization method for an anti-impact high-precision PMSM (permanent magnet synchronous motor) feeding servo system, which comprises the following steps of: S1, establishing a physical structure and a dynamic model of a PMSM driving feeding system; s2, designing a variable gain fractional order super-spiral sliding mode controller VGFSTSMC, realizing finite time convergence of position tracking errors by dynamically adjusting and controlling gain coefficients, and inhibiting system jitter; s3, designing an adaptive sliding mode disturbance observer ASMDO, and estimating and compensating unknown disturbance in real time through adaptive gain adjustment and an integral sliding mode surface; s4, identifying a system Stribeck friction model based on a least square method, and inputting the system Stribeck friction model as a friction feedforward compensation FFC to a current loop to reduce the disturbance uncertainty of the system; s5, dynamically adjusting and optimizing control parameters of the VGFSTSMC and the ASMDO by adopting an optimization algorithm so as to minimize a root-mean-square value RMSE of a position tracking error and a maximum instantaneous error; and S6, VGFSTSMC, ASMDO and FFC are combined with an optimization algorithm, and the PMSM is driven to realize high-precision position control.

The invention relates to the field of hydroelectric generation automation control, discloses an intelligent flow-pressure double closed-loop control method and system for a water inlet ball valve of a water turbine, and aims to solve the technical problems that flow stability and pressure fluctuation suppression are difficult to consider, dynamic response is delayed and working condition adaptability is poor in existing single-loop control. The method comprises the steps that inlet pressure and flow data are collected in real time through a pressure sensor and an ultrasonic flowmeter, a cascade structure of outer ring flow control and inner ring pressure control is constructed in combination with working condition parameters such as the rotating speed of a unit and the opening degree of a guide vane, and a working condition self-adaptive weight distribution module is introduced to dynamically adjust the double-ring gain coefficient; meanwhile, a feed-forward compensation mechanism and an optimal efficiency curve database are fused, and dynamic matching of set values and advanced response of load instructions are achieved. The system comprises a data acquisition unit, a double-closed-loop control unit, a weight distribution unit, an electro-hydraulic servo execution mechanism and a safety interlocking module, and supports microsecond-level gain updating and high-precision valve position control. According to the technical scheme, the adjusting precision and the response speed of the water turbine under the complex working condition are remarkably improved, the actual measurement efficiency is improved by 2.5%-4.8%, the adjusting time is shortened to be within 3 seconds, the positioning precision reaches + / -0.5 degree, and safe and stable operation of the system is guaranteed.

The invention discloses position-free control based on a set time sliding mode observer and a time-varying parameter expansion state observer, and belongs to the technical field of permanent magnet synchronous motor sensorless control. The invention provides a composite control method combining a set time sliding-mode observer and a time-varying parameter extended state observer, and aims to solve the problems that the convergence time of a traditional sliding-mode observer depends on an initial state, buffeting is serious, disturbance is sensitive and the like. The method specifically comprises the following steps: designing a sliding-mode observer with a set time convergence characteristic, and ensuring that an observation error is converged in a preset time and is irrelevant to an initial value by dynamically adjusting a sliding-mode surface index item; high-frequency buffeting is suppressed by combining an integral filtering effect; a time-varying parameter expansion state observer is further designed by utilizing the saturation characteristic of a bitangent function and the characteristics of small error, large gain, large error and small gain of a fal function, the initial differential peak value is effectively inhibited, and the total disturbance of the system is compensated in real time. And the advantages of controllable convergence time, small buffeting and high interference resistance are verified through simulation. The anti-interference capability and the dynamic response speed of the system are remarkably improved, and the method is suitable for permanent magnet synchronous motor sensorless control under medium and high speed working conditions.

The invention discloses an EHA drive control system three-closed-loop control system and a dynamic hysteresis compensation method. The technical problems that an existing electro-hydrostatic actuator is large in hydraulic hysteresis error, poor in dynamic response and insufficient in environmental adaptability are solved. The method comprises a three-stage control structure of a position control loop, a speed control loop and a current control loop, the position control loop introduces load disturbance feed-forward compensation based on a state observer, the speed control loop adopts an adaptive sliding mode control strategy, the current control loop executes a decoupling vector control algorithm, and the load disturbance feed-forward compensation is realized. And a dynamic hysteresis compensation model based on historical input and disturbance estimation is established in the controller. According to the system, the servo motor, the gear pump, the hydraulic cylinder and the sensor module are integrated into an integrated drive control structure, and the effects of improving the control precision, reducing the response time delay and correcting the hydraulic hysteresis error are achieved.

The invention discloses an unmanned aerial vehicle hovering control method and system based on a laser scanning reference, and belongs to the field of unmanned aerial vehicle control. The control method comprises the following steps: when a laser receiver receives a laser signal generated by a swinger through scanning at an elevation benchmark, obtaining the relative height of the laser receiver and an elevation datum plane according to the laser signal, and setting the target hovering height of the current unmanned aerial vehicle according to the relative height, in each control period, the following steps are executed: acquiring position information through the RTK module, and acquiring attitude data through the inertial measurement unit; three height data are obtained according to the real-time laser signal, the position information change and the attitude data change, the height feedback quantity in the gravitational acceleration direction is obtained after the height data are preprocessed and filtered, and real-time hovering control is conducted on the unmanned aerial vehicle according to the height feedback quantity. And the gravity acceleration direction parameter change information of the laser receiver, the inertial measurement unit and the RTK module is fused to realize high-precision position control.

The invention relates to a multi-parameter recursive optimization lead screw module precision detection method and device. The method comprises the following steps: carrying out motion trail and load detection on a screw rod module to obtain displacement error data and load response data; constructing a three-dimensional error parameter model according to the displacement error data and the load response data, and calculating initial error characteristics through the three-dimensional error parameter model; performing working condition adaptive analysis on the initial error features to obtain a multi-dimensional compression error matrix; inputting the multi-dimensional compression error matrix into a recursive optimization algorithm for hierarchical parameter iteration to obtain an error compensation parameter; and thin plate spline fitting is carried out on the error compensation parameters to obtain a space error mapping function, the position compensation amount is calculated according to the space error mapping function, and a lead screw module accurate positioning control instruction is generated. According to the method, the error characteristics of the lead screw module under different working conditions are comprehensively captured, so that the lead screw module can keep stable high-precision performance under the standard working condition, the limit working condition and the variable working condition.

The invention relates to the technical field of intelligent control of injection molding machines, in particular to an injection molding machine closed-loop mold adjustment control system and method based on multi-sensor fusion and a self-adaptive algorithm, and the system comprises a sensing layer which adopts a multi-sensor fusion closed-loop feedback architecture and comprises a pressure sensing array, a displacement sensing unit and a temperature sensing array. The data acquisition module is used for synchronously acquiring mold clamping force, position and temperature data of a mold, constructing a three-dimensional error compensation model and realizing dynamic correction of the parallelism of the mold through space force field analysis; the execution layer comprises a servo motor, a belt wheel and a ball screw and is used for adjusting the position of the template; a double-closed-loop control module is arranged in the control layer, the double-closed-loop control module comprises outer ring mold clamping force control and inner ring position control, mold clamping force deviation serves as input of an outer ring, position correction is generated through a self-adaptive PID algorithm, the inner ring converts the position correction into a servo motor rotation angle instruction, and therefore precise control over the mold clamping force is achieved.

The invention discloses a double-screw synchronous control system, and relates to the technical field of control systems, and the system comprises an error feature extraction module which is used for collecting multi-mode perception data, and constructing a thermal deformation gradient potential and an actual measurement asynchronous error; the error dynamic decoupling module is used for predicting and obtaining a predicted thermally-induced error based on the thermal deformation gradient potential, and separating and obtaining a force-induced error from the actually-measured asynchronous error; the self-adaptive compensation module is used for constructing a feed-forward compensation signal based on the predicted thermally-induced error and the force-induced error; and the synchronous control module is used for fusing the feed-forward compensation signal with a position control instruction to generate a differential motor control instruction for synchronous driving. Through multi-mode sensing, error dynamic decoupling, self-adaptive compensation and feed-forward control, the error recognition comprehensiveness and compensation real-time performance are improved, and the error recognition accuracy is improved. Thermally-induced error prospective prediction and force-induced error accurate separation are realized, asymmetric load disturbance is inhibited, and variable working condition adaptability and machining stability are enhanced.

The invention relates to the technical field of friction welding machines, and discloses a friction welding machine sliding table control method and device.The method comprises the following steps that movement data of a friction welding machine stirring head are collected in real time, and a stirring head kinetic model is established; based on the mobile data and the dynamic model, outputting a preliminary control strategy through an optimal linear quadratic regulation control algorithm; on the basis of the movement data, future movement data of the stirring head are predicted through a prediction control algorithm, and a preliminary control strategy is optimized; a control signal is sent to a servo motor of the sliding table to control the servo motor; and the difference between the real-time movement data of the stirring head and the prediction result is used as feedback data, and control strategy parameters are adjusted. According to the method, the difference between the real-time movement data of the stirring head and the prediction result is used as feedback, a closed-loop control mechanism is formed, and control parameters are continuously monitored and optimized. The position control precision of the stirring head is improved, the problem of response lag in high-speed welding is effectively solved, the consistency of welding line tracks is ensured, and position deviation is avoided.

The invention provides an aerial cleaning robot system and a control method, and aims to solve the problems of high danger, low coverage rate of a wall-climbing robot, poor mobility and inaccurate system positioning in a cleaning process when a glass curtain wall of a high-rise building is cleaned manually in the prior art. The system is composed of a six-rotor unmanned aerial vehicle and a cleaning device. The unmanned aerial vehicle main body comprises a special rack, a power system and a control system, the power system is composed of a servo motor, a rotor wing, a motor and a battery, and the control system is integrated with a flight control and GPS module. The cleaning device comprises a sensing module, a three-connecting-rod mechanical arm and a cleaning system. Through the integrated design, the flying capability of the unmanned aerial vehicle is combined with the cleaning function, and the safety and efficiency of high-altitude cleaning are improved. The special arm design enables the unmanned aerial vehicle to realize front and back power output without adjusting the attitude, and the positioning and control process is simplified. The mechanical arm adopts an inner and outer ring control method, high-precision position control and excellent anti-interference performance are achieved, and it is ensured that cleaning work is stable and reliable.

The invention relates to the technical field of self-adaptive control, in particular to a self-adaptive dynamic positioning control method for a semi-submersible platform, which establishes a control model for the motion characteristics of the semi-submersible platform, pays attention to the nearest error data through a sliding window, avoids the influence of long-term accumulated errors on a controller, and improves the positioning accuracy of the semi-submersible platform. The response speed and the stability of the control system are improved; the PSO algorithm combined with the real-time wave parameters can effectively restrain the search space, blind optimization is avoided, the control precision and adaptability of the control strategy under different sea conditions are improved, and the response speed and safety are greatly improved especially for extreme sea conditions.

The invention discloses a parallel six-degree-of-freedom platform pose control method based on a PSO-GA method, and the method comprises the following steps: S1, simplifying a six-degree-of-freedom platform model, and facilitating the mathematical modeling; s2, constructing a target function according to the six-degree-of-freedom platform structure parameters; s3, solving an objective function by using a PSO-GA method; s4, according to the solution of the objective function and the geometrical relationship of the six-degree-of-freedom platform, the platform pose is obtained; and S5, a position servo controller is designed, the difference between the pose obtained through the positive solution and the given pose is obtained and input to the position controller, and the rod length of each rod of the six-degree-of-freedom platform is controlled. The invention provides a kinematics algorithm capable of quickly solving the platform position and realizing stable control so as to realize quick and stable control on the parallel platform.

The invention relates to the technical field of position control, in particular to a servo closed-loop full-automatic plugging visual control method and system, and the method comprises the following steps: obtaining a static direction and an attitude angle of a plugging interface, constructing a reference configuration, calculating a current attitude deviation and an inclination angle to generate an offset configuration, extracting an offset angle comparison tolerance, and adjusting a servo actuator. According to the method, the attitude judgment precision is improved by collecting the attitude angles of the contact pin and the interface to construct the angle vector, calibrating and generating the reference configuration, the direction deviation index is formed by combining the attitude deviation and the inclination angle, and the direction recognition accuracy is enhanced; an adjusting instruction is generated through the difference value of the deviation angle and the Euler angle, dynamic response and self-adaptive adjustment are achieved, current, position and speed changes in disturbance signals are synchronously collected, disturbance vectors are constructed, the trend is analyzed, the plugging state is judged, stability monitoring and closed-loop adjustment are achieved, and plugging consistency and control precision are improved.

The invention discloses a TWDS online wheel set detection data acquisition system and equipment, and particularly relates to the technical field of data processing, the data acquisition system comprises a position control module, an identification module, a protection module, a measurement module and a management and operation module; the position control module is used for monitoring the position of a train on a track through an inductive sensor; the identification module is used for carrying out serial number identification on the compartment and the wheel set and sending a confirmation signal to the protection module after identification is completed; after receiving the confirmation signal sent by the identification module, the protection module controls a mechanical protection device of the laser scanner and keeps the temperature stable; the measuring module is used for acquiring geometric data of a wheel set by using a laser scanner and transmitting the data to the management and operation module for processing; the management and operation module is used for analyzing a data change trend according to the scanning data and generating a measurement report; the data acquisition device comprises an inductive sensor, a laser scanner, a measuring unit, a data processing server and a communication module.

The invention discloses a hydraulic system preset time dynamic surface position control method, which is based on a dynamic surface control framework, innovatively introduces a preset time-varying function, and designs a nonlinear robust position controller with preset time. Aiming at the position control problem of the hydraulic cylinder of the hydraulic system, the differential explosion problem frequently occurring in the classic backstepping control design of the hydraulic system is avoided, the influence of measurement noise on the control precision is reduced, the controller design is simplified, and the excellent transient performance of the system within the preset time is guaranteed; and the convergence time can be clearly determined and does not depend on initial conditions of the system, so that the method has high-precision tracking performance.

The invention provides a control system and method for a high-speed galvanometer motor, and the method comprises the steps: generating a speed instruction signal according to the difference between a position instruction signal and an estimated position signal, generating a current instruction signal according to the difference between the speed instruction signal and the estimated speed signal, generating a drive voltage according to the difference between the current instruction signal and a feedback current, and outputting the drive voltage. A driving current is generated according to the driving voltage, an actual angle is output according to the driving current, the actual angle is converted into a position signal, the position signal output by the grating encoder and the driving voltage output by the current control module are received, and signal processing is carried out by adopting a dynamic adjustment observation noise covariance strategy; according to the invention, filtering processing is carried out by using a dynamic adjustment observation noise covariance strategy, a high-precision feedback signal is provided for the position and speed control module, and then corresponding control is carried out. And high-speed and high-precision position control of the galvanometer motor is realized.

The utility model discloses an air cylinder control system and related pneumatic equipment. The cylinder control system comprises at least one cylinder; the high-frequency valve and the quick response switch valve are connected with the air cylinder and used for achieving stretching or retracting movement of an air cylinder piston; the position sensor is arranged on the air cylinder and used for feeding back an air cylinder displacement signal to the controller; the controller is electrically connected with the high-frequency valve and the quick response switch valve, the flow of gas flowing into the two cavities of the air cylinders is controlled by adjusting the opening and closing time of the high-frequency valve, then the speed and position control over the air cylinders is achieved, meanwhile, the controller can be connected with the multiple air cylinders, and cooperative action of the multiple air cylinders can be achieved. According to the utility model, the high-frequency valve is introduced into the cylinder control system, so that the cylinder control system has the advantages of high control frequency, high-speed response, high repetition precision and low price, the high-frequency valve is controlled by the controller, the position and the speed of the cylinder can be conveniently and accurately controlled, and meanwhile, the overall cost of the cylinder control system is also reduced.

The invention discloses a manipulator control method and device and electronic equipment, and the method comprises the steps that a first task is acquired, a first neural network is determined according to the first task, a plurality of pre-trained neural networks are configured in a control unit of a manipulator, and the first neural network is a neural network matched with the first task in the neural networks; reconstructing the first task by using a first neural network to obtain a control strategy of the reconstructed first task, the control strategy comprising a series of basic control instructions; control parameters for controlling the manipulator are obtained based on the control strategy, the manipulator is controlled to execute the control action according to the control parameters, and the control parameters comprise parameters corresponding to the basic control instruction. Due to the fact that spatial position control is completed through the neural network configured in the manipulator control unit, the method can well adapt to application scenes without networking, and computing resources of the control unit do not need to be additionally consumed.

The invention relates to the technical field of alignment control, in particular to a cloth turning seam allowance alignment control system based on machine vision, which comprises a gray wave crest identification module, a seam allowance edge identification module, an image segment alignment judgment module, a tension direction correction module and an alignment track adjustment module. According to the method, the recognition capability of image processing on edge distribution is enhanced by constructing a gray wave crest track, analyzing the distance stability and slope change between wave crests and accurately extracting a pattern rhythm region, structure recognition is carried out by utilizing the direction features and coordinate positions of gray abrupt change points, the dependence on a static feature template is avoided, and the accuracy of structure recognition is improved. According to the method, the adaptability of edge recognition is improved, alignment judgment is carried out between image segments through the direction consistency and coordinate trend relation of abrupt change points, dynamic recognition of inter-segment continuity is enhanced, the change of the included angle between the tension direction and the target connecting line drives selection of standby points and updating of target points, and the direction adaptability of the target points under tension disturbance is improved.

The invention discloses a positioning control method and system for metal cutting, and relates to the technical field of metal cutting. The method comprises the steps that when a laser cutting machine cuts a metal workpiece according to a cutting control scheme, a cutting monitoring data set is synchronously obtained; performing multi-dimensional cutting accident deduction according to the cutting monitoring data set to obtain a cutting accident deduction map; performing multi-degree-of-freedom adjustment on the cutting control scheme to obtain a first cutting adjustment space; performing cutting evaluation optimization on the first cutting adjustment space to obtain a second cutting adjustment space; performing cutting guarantee degree analysis optimization on the second cutting adjustment space to obtain a first cutting guide population meeting the preset cutting guarantee degree; and multiple rounds of propagation optimization are carried out, a cutting adjustment optimization result is determined, and optimized positioning control is carried out on the metal workpiece. The technical problems that in the prior art, the metal cutting positioning precision is insufficient, and the cutting process stability is poor are solved, and the technical effect of improving the metal workpiece cutting positioning precision and the cutting process stability is achieved.

The invention discloses a robot self-adaptive force control and admittance control method and system for wallboard assembly, and the method comprises the steps: firstly, measuring the pose of the tail end of a robot in real time in combination with a high-precision photogrammetry system, carrying out the track correction according to a measurement result and an expected pose, achieving the positioning of the robot in a position control direction, and carrying out the positioning of the robot in a force control direction; the method comprises the following steps: establishing a mapping relation between robot end force and contact force of a contact surface through a heterovariance neural network mapping model, and jointly training an inverse model to map expected contact force back to expected end force, thereby controlling the contact force on the contact surface by adjusting the end force, and constructing a self-adaptive force control and admittance control model; a virtual energy tank is connected with a self-adaptive force control and admittance control model, so that updating of parameters of the control model is guided, and the passivity of a system is ensured; meanwhile, the parameters of the virtual energy tank are dynamically adjusted according to the system state, passivity can be kept, and the assembly precision and performance of the robot can be improved to the maximum extent.

The invention relates to a force / position mixed impedance control method and system with a self-adaptive selection matrix, and the method comprises the following steps: 1, unifying torque control and position control into force / position mixed impedance control through a selection switching matrix according to the compliance control theory of a mechanical arm; 2, the selection switching matrix is associated with the output torque of the mechanical arm, the selection switching matrix is dynamically adjusted according to the normalization result of the output torque of the mechanical arm, and design of the matrix is completed; thirdly, the joint angular speed of the mechanical arm joint is converted into the speed of the mechanical arm tail end in an actuator through a Jacobian matrix, and the accelerated speed of the mechanical arm tail end is obtained according to the first step and the second step; fourthly, the contact process of the mechanical arm and the environment is designed into a spring system to add environment virtual compliance conditions, and fractional order impedance control force is designed; and 5, correcting the target acceleration by using a fractional order PD controller. According to the method, torque control and position control are balanced, and the flexibility and robustness of compliant control of the mechanical arm are improved.