183 results about "Position loop" patented technology

The invention relates to the technical field of servo motor control, and discloses an intelligent servo motor control method and device and computer equipment. The method comprises the following steps: carrying out multi-dimensional data acquisition and preprocessing on a position loop, a speed loop and a current loop of the intelligent servo motor to obtain standard structured parameter data; identifying a working condition characteristic parameter set of the intelligent servo motor; establishing a two-stage optimization architecture comprising a motor parameter layer and a control algorithm layer, and generating a dynamic parameter adjustment mapping table; a depth deterministic strategy gradient network is trained based on the characteristic parameter set and the dynamic parameter adjustment mapping table, and an optimal control strategy model for different working conditions is generated; and the optimal control strategy model is utilized, control parameters are automatically switched according to the working condition types recognized in real time, and smooth transition control of the intelligent servo motor among different working conditions is achieved. Smooth switching among different working conditions is achieved, system oscillation caused by sudden change of control parameters is avoided, and the disturbance influence in the working condition switching process is greatly reduced.

The invention discloses a photoelectric turntable servo tracking control method, a storage medium and a system, and relates to the technical field of servo control, and the method comprises the steps: receiving target deviation value information; caching the actual position information for a corresponding time length based on the target calculation and the transmission delay time length, and using the actual position before transmission and calculation when processing the target deviation information, so that the target deviation is consistent with the actual position information in time, and the target position is obtained; according to the target deviation and the actual position information, a predicted speed is calculated and output through feedforward control, the obtained target position is input into a position ring to obtain speed output, and the speed output and the predicted speed input are combined to a speed ring. According to the established data caching and feed-forward compensation model, the servo system compensates system predictive interference in advance, carrier motion and other interference factor influences are effectively restrained, response delay is reduced, the system tracking precision is improved, the dynamic response speed is increased, and real-time smooth tracking control is achieved.

The invention relates to the technical field of unmanned aerial vehicle flight control, and provides an unmanned aerial vehicle trajectory tracking control method and system based on self-adaptive dynamic programming, and the method comprises the steps: obtaining a position subsystem control input through a control law of a position subsystem based on a position loop expected value, an external interference estimated value and a position tracking error, and carrying out the control of the position subsystem; a position coordinate vector and a first-order derivative thereof are calculated by adopting a position subsystem so as to update a position tracking error, and an external interference estimated value is updated through an interference observer; based on an Euler angle vector reference signal, feedforward control input is obtained through calculation, attitude subsystem control input is obtained through calculation in combination with optimal feedback control input, an Euler angle vector and a first derivative of the Euler angle vector are calculated through an attitude subsystem, an optimal feedback controller is designed for a nominal error system by adopting a self-adaptive dynamic programming method, and the optimal feedback controller is used for controlling the nominal error system. And updating the optimal feedback control input. And the unmanned aerial vehicle system is ensured to have the optimal tracking performance while having relatively high robustness in finite time.

The invention discloses an unknown environment-oriented rotor unmanned aerial vehicle fixed time control method, which comprises the following steps of: 1, simultaneously considering output constraint and unknown external interference under the condition of system uncertainty, and constructing a rotor unmanned aerial vehicle position ring and attitude ring nonlinear system model; 2, designing a safety expectation tracking signal # imgabs0 #, obtaining other expectation signals # imgabs1 # through inverse solution, calculating an error # imgabs2 # of a position ring and an error # imgabs3 # of an attitude ring, combining nonlinear system model characteristics of the position ring and the attitude ring of the rotor unmanned aerial vehicle, designing a barrier Lyapunov function, and selecting proper upper and lower bounds; and 3, designing a tracking controller based on the obstacle Lyapunov function in combination with a fuzzy logic system, a fixed time disturbance observer, a filter and a self-adaptive backstepping method. The method has the advantage that the rotor unmanned aerial vehicle can complete tracking of the preset expected tracking signal within fixed time on the basis of ensuring the system safety and stability under the condition that the influence of output constraint, system uncertainty and unknown external interference is considered.

The invention discloses a servo parameter adjusting method, device and equipment of a numerical control machine tool, and relates to the technical field of numerical control machine tools. According to the method, the relation between the part contour error and the position loop gain and the relation between the part contour error and the speed feed-forward coefficient are established, so that interpolation control instructions of all axes for machining of a target part can be operated in advance before actual machining of the part, and interpolation control instruction position sequences of all axes and grating feedback position sequences of part machining are synchronously collected; determining a cutter machining path to predict a part contour error; when the part contour error is unqualified, the position loop gain and the speed feed-forward coefficient are adjusted, the following error of each shaft is changed, the following errors of the shafts are mutually coordinated, the part contour error is reduced on the premise that the machining efficiency is guaranteed, and therefore the machining precision is guaranteed, and the machining efficiency is improved.

The invention provides a motor control PID parameter setting method and a motor control system. The method comprises the following steps: calculating a theoretical current loop PID parameter value according to a parameter when a motor is static and a discrete current loop model; performing actual control by using a theoretical current loop PID parameter value, and inputting a given current to a q axis during the actual control so as to obtain a feedback current; a comparison result of the feedback current and the given current is obtained based on multi-point FFT calculation; and based on the comparison result, adjusting the PID parameter value of the current loop until a new comparison result meets a predetermined condition. Theoretical PID parameters are obtained through calculation based on a discrete model, phase and amplitude changes of actual feedback current compared with given current are calculated through FFT, a current loop is adjusted in a self-adaptive mode according to the phase and amplitude changes, and PID parameters of a speed loop and a position loop can be further adjusted. According to the invention, the anti-noise capability of the FFT algorithm is utilized to improve the control precision, and the method is especially suitable for three-closed-loop servo control.

The invention discloses a motor coil press fitting process parameter self-adaptive regulation and control method and device, and relates to the technical field of motor vehicle motor manufacturing. The method comprises the steps that press fitting target parameters including a target termination position and target pressing force are obtained, press fitting is started, actual pressure and displacement values are collected in real time, a process state deduction model is constructed, whether double targets can be met at the same time when press fitting is finished in a current control mode or not is predicted, and an analysis result is output. If the conditions cannot be met at the same time, the predicted pressure deviation value and the displacement deviation value are taken as optimization targets, a process state compensation value is introduced, a multi-target optimization function is constructed to solve a control target weighting coefficient, a press fitting tail-section hybrid controller is reconstructed, output instructions of a position ring and a force ring are fused, and press fitting is executed. According to the invention, synchronous high-precision control of the pressing force and the termination position under material fluctuation and environmental interference is realized, and the adaptability and stability of coil press-fitting processes of various motors such as a new energy automobile driving motor and a household appliance motor are improved.

The invention belongs to the technical field of automobiles, and particularly relates to an electromechanical braking system clamping force multi-closed-loop control method considering nonlinear disturbance. Comprising the following steps of 1, building an electronic mechanical brake actuator model; 2, designing a clamping force ring controller considering the variable stiffness characteristic of the system; 3, designing a position loop controller based on friction model compensation by adopting an inversion sliding mode control method; and 4, designing a current loop controller based on current decoupling, and finally realizing clamping force multi-closed-loop control. The method has higher control precision, faster response speed and stronger robustness, can effectively improve the braking performance of an electronic mechanical braking system, and provides a feasible solution for high-precision control of the braking force of an intelligent automobile.

The invention provides a dynamic double-closed-loop control method for a magnetic suspension energy storage flywheel rotor based on LADRC. The dynamic double-closed-loop control method is used for realizing stable suspension and dynamic control of the magnetic suspension energy storage flywheel rotor. Firstly, a mathematical model of each degree of freedom of a flywheel rotor and a linearization model of a power amplifier-electromagnet coil under a magnetic bearing coordinate system are established; then, defining an electromagnetic coupling term, a gyroscope coupling term and an unbalance term in the flywheel rotor mathematical model as external disturbance, deducing a flywheel rotor and power amplifier-electromagnet coil mathematical model for controller design, and designing a position loop second-order LADRC controller and a current loop first-order LADRC controller; and finally, setting controller parameters of a position loop and a current loop by adopting a pole assignment method. Simulation results show that the double-closed-loop control strategy can realize effective decoupling among degrees of freedom under static and high-speed suspension working conditions of the flywheel rotor, and compared with PID control, the double-closed-loop control strategy is good in dynamic characteristic and strong in anti-interference capability. The method is of great significance in guaranteeing stable and reliable operation of the magnetic suspension energy storage flywheel rotor.

The invention provides an anti-disturbance unmanned aerial vehicle trajectory tracking control method, system and device and a medium. The method comprises the following steps: establishing a six-degree-of-freedom rigid body dynamic model of a four-rotor unmanned aerial vehicle; selecting an unmanned aerial vehicle feasible trajectory of the kinetic model as an expected trajectory, and introducing a coupling attitude; designing a position loop control law, generating a virtual control force based on a smooth terminal sliding mode control surface, and calculating an actual thrust; designing an attitude loop control law, representing an attitude error based on Lie group SO (3), constructing an attitude tracking controller with a stable global index, and outputting a control torque; constructing a four-order state observer to estimate the angular velocity and the angular acceleration of the coupling attitude, and replacing a true value with an estimated value to participate in control law calculation; thrust and control torque are converted into thrust input of the unmanned aerial vehicle, the unmanned aerial vehicle is driven to track an expected trajectory, and the problems that in trajectory tracking control of the four-rotor unmanned aerial vehicle, dependence on position acceleration measurement is high, noise is amplified through differential derivation, disturbance rejection is weak, and real-time calculation burden is large are solved.

The invention discloses a servo system control method based on frequency domain self-tuning and linear active disturbance rejection, and relates to the technical field of servo control and motor control. Comprising the following steps: based on a mathematical model of a permanent magnet synchronous motor, establishing a double-inertia model suitable for a large-inertia servo system, and constructing an equivalent mathematical expression of an electrical and mechanical transmission system; in a three-stage cascade control architecture composed of a current loop, a speed loop and a position loop, the current loop is used for current adjustment, the speed loop is used for dynamic response adjustment, and the position loop is used for displacement target tracking. Based on a frequency domain performance index and a rule method, PI controller parameters of a speed loop and a position loop are set respectively, and the frequency domain index comprises an open-loop cut-off frequency and a phase margin; and establishing a frequency domain equivalent mapping relation between the PI controller and the LADRC controller. The method has the advantages that the method does not depend on accurate modeling and manual interference, automatic parameter setting can be achieved, non-overshoot dynamic response is achieved, and the remarkable disturbance suppression capacity is shown.

The invention relates to the technical field of stepping motors, and discloses a stepping motor subdivision compensation method and device based on vector feedback, and the method comprises the steps: collecting a stator winding current signal and a rotor position pulse signal of a stepping motor, and building a vector feedback network mathematical model; collecting standardized processing data under a rated working condition; calculating a theoretical position value and performing deviation analysis to obtain position deviation characteristic data; performing 2M equal division to obtain a plurality of subdivision points, and calculating a subdivision compensation standard data set; inputting a double-loop PID controller, calculating initial control parameters of a position loop and a speed loop, and outputting a first closed-loop control signal; and calculating a position deviation root-mean-square value, calculating a target control parameter through the position deviation root-mean-square values in continuous N control periods, updating the target control parameter to the double-loop PID controller, and outputting a second closed-loop control signal, the method realizes real-time detection and compensation of the position deviation, and effectively avoids the phenomenon of motor out-of-step.

The invention discloses a DSP-based motor control system and control method, and relates to the technical field of motor control. The method comprises the following steps: acquiring armature voltage and current signals, and preprocessing the voltage and current signals; a motor position signal is collected, and position information is calculated according to the motor position signal; a position loop is generated according to the position information, a current loop is generated according to the current signal, error calculation is carried out on two independent CPU cores by adopting a dynamic task allocation method based on double-closed-loop control of the current loop and the position loop, the CPU core 2 runs a control algorithm to carry out error calculation, and the CPU core 2 runs a control algorithm to carry out error calculation. The CPU core 1 performs external communication and performs task supervision and distribution based on a dynamic task distribution method; and generating a modulation signal according to the calculated error, and controlling the motor by using the modulation signal. According to the invention, a separation control algorithm is combined with external communication, so that the precision and speed of motor control are fully improved.

The invention relates to the technical field of motor control, and discloses a chip mounter Z-axis linear motor module end-process force control method, a driver, a medium and a method, and the method comprises the following steps: S1, after a preset end-process position is reached, motor control is switched from position loop control to speed loop control, so that a motor keeps uniform motion; s2, monitoring whether a real-time current value fed back by the motor reaches a threshold current Iset1 or not and maintaining the real-time current value for a preset time length; s3, if the real-time current value reaches Iset1 and is maintained for a preset time length, continuously monitoring whether the real-time current value reaches a threshold current Iset2 and is maintained for a preset time length; and S4, if the real-time current value reaches Iset2 and is maintained for a preset time length, judging that collision occurs. According to the scheme, the speed ring is adopted to control the motor to move at a constant speed to carry out precise force control, meanwhile, the dynamic current threshold value is set to carry out two times of collision detection, collision detection is achieved while force control is carried out, a sensor does not need to be additionally used, and the requirements for mounting precision and compact structure are met.

The invention provides a permanent magnet synchronous linear motor, a control system and a position resolving method thereof, and relates to the technical field of motor control. The method comprises the following steps of: firstly, equidistantly arranging at least two pairs of linear Hall sensors with an electrical angle difference of 90 degrees and overlapped detection intervals along a stator, and acquiring orthogonal voltage to calculate an instantaneous position angle; the sensor pairs are dynamically switched through peak judgment and spliced to obtain the full-stroke continuous absolute position, and the instant speed is obtained through difference; the position and the speed are respectively input into a position loop, a speed loop and a current loop, and vector closed-loop control is realized by driving an inverter through SVPWM, so that high-resolution position and speed feedback is provided in the whole stroke, and the dynamic response and positioning precision of the linear motor are remarkably improved.

The invention relates to an input-limited multi-robot preset performance consistency double-loop coupling tracking control method based on dynamic target online detection, and belongs to the field of multi-robot cooperative control. Aiming at the problems that the cooperative sensing performance is reduced due to communication time delay in dynamic target detection and the control precision is insufficient under input saturation constraint, the method comprises the following steps: 1, a dynamic target on-line detection algorithm is provided, a near-end operator is fused to process a non-micro-regularization item, a virtual buffer time delay compensation mechanism is constructed, and the detection precision under noise interference is improved; 2, a position-speed double-loop coupling controller and a position loop convert a preset performance constraint into an unconstrained error through a barrier function, a reference speed is generated in combination with reinforcement learning, a speed loop designs a nonlinear anti-saturation compensator to separate a saturation component, and a neural network approximates the uncertainty and interference of a model so as to obtain a position-speed double-loop coupling controller; and solving the optimal control law through an execution-evaluation network framework. According to the invention, robust tracking control under high-precision collaborative perception and input saturation of a dynamic target is realized.

The invention discloses a near-submarine robot disturbance observation controller and method based on neural network correction, and the controller consists of three parts: 1) a disturbance observer with RBF neural network correction, which is used for monitoring and compensating external disturbance in real time; the double-closed-loop integral sliding mode controller comprises a position ring and a speed ring and generates control torque according to expected and actual positions to guide navigation of the near-submarine robot; and 3) the comparator combines the outputs of the two, realizes accurate interference compensation by comparing the control torque with the disturbance estimation, and finally outputs the control torque containing the interference compensation. According to the method, under the condition that speed information is unobservable, the control precision and the anti-interference capability are improved by intelligently estimating modeling errors and external disturbance, and high-precision heading, pitch angle and depth control is achieved.

The invention relates to the technical field of rotary table control, in particular to a high-precision rotary table intelligent control method and device based on improved ESO, and the method comprises the steps: constructing a mathematical model of a rotary table motor, and deriving a transfer function of the motor; respectively acquiring current and angle data of a turntable motor; building a turntable control system, wherein the three-axis turntable control system is composed of a current loop, a position loop and an ESO-based virtual control law; designing a virtual control law based on ESO; and superposing the designed ESO virtual control law output to the turntable current loop and position loop output, and embedding a control algorithm into a processing module of a turntable upper industrial personal computer to complete the intelligent control of the turntable. According to the method, a transfer function of a motor is established, a virtual control law based on improved ESO is designed on the basis of an extended state observation theory, cooperative control over the rotary table is achieved with PID control, and high-precision pointing of the rotary table is achieved.

The invention provides a six-rotor unmanned aerial vehicle position-attitude layered composite adaptive sliding-mode control method, which comprises the steps of introducing a terminal sliding-mode robust controller into a position loop to realize finite time convergence of a system state, and performing real-time compensation on unknown disturbance and modeling uncertainty through a sliding-mode adaptive rate. The quick response and anti-interference capability of a complex track are improved; superspiral sliding mode control is adopted in an attitude ring, sliding mode gain is adjusted in real time through an adaptive law, a controller is made to automatically match flight state changes, and attitude stability and robustness are enhanced; and meanwhile, a position signal output by the position controller is converted into a specific attitude angle reference by utilizing an attitude resolving module, so that hierarchical cooperative control of the position and the attitude is realized. Compared with traditional PID and SMC controllers, the method is faster in convergence and higher in tracking precision, has stronger adaptivity and robustness to external disturbance and parameter uncertainty, and can significantly improve the motion control performance of the six-rotor unmanned aerial vehicle in complex environments and tasks.

The invention discloses an aircraft performance constraint compliance control method for contact type nondestructive testing, and belongs to the field of aircraft control. The implementation method comprises the following steps: introducing a saturated contact force controller into a position ring, and dynamically adjusting a confidence factor based on a position error to adaptively adjust normal rigidity and tangential flexibility; a zero-order control barrier function ZOCBF restrains the force controller, a three-dimensional dynamic safety boundary is established by using a sampling data mechanism, and the position, speed and contact force of the unmanned aerial vehicle are optimized and limited through quadratic programming; designing a hybrid torque controller in the attitude ring, and dynamically selecting a balance point through a binary logic switching strategy; the controller performs safety limitation on the attitude and angular velocity of the unmanned aerial vehicle in combination with zero-order control obstacle function constraint; monitoring a quaternion scalar component symbol in real time by defining a manifold switching set and a jump set; by fusing position loop and attitude loop control logic, compliance control during contact-type nondestructive testing of the unmanned aerial vehicle is realized.

The invention provides a locomotive control method, device, equipment and medium, the method is executed by a locomotive control system, the locomotive control system comprises a cascade PID controller, the cascade PID controller comprises a position ring and a first speed ring, the output end of the position ring is connected with the input end of the first speed ring, and the output end of the first speed ring is connected with the output end of the second speed ring. The method comprises the steps that a current expected speed is determined by a position ring, and a first power value is determined by a speed ring; under the condition that the locomotive comprises a speed control interface and the locomotive control system is in communication connection with the speed control interface, the current expected speed is sent to the speed control interface, so that the locomotive controls the speed based on the current expected speed; under the condition that the locomotive control system is in communication connection with a power control interface of the locomotive, the first power value is sent to the power control interface, so that the locomotive controls the speed based on the first power value. The locomotive control system is compatible with the speed control interface of the locomotive and the power control interface of the locomotive, and design simplification is facilitated.

A magnetic suspension pump anti-disturbance control method comprises the steps that torque current, rotor angle and suspension current of a magnetic suspension pump are given according to a certain step length, suspension force under corresponding conditions is measured, and the corresponding relation among the torque current, the rotor angle, the suspension current and the suspension force is recorded; fitting the corresponding relation into a conversion formula or summarizing the corresponding relation into a table, and setting the table in a force / current conversion module; designing a suspension position loop module based on an improved active-disturbance-rejection control method added with magnetic suspension pump key information; setting parameters of a state observer and a controller in the suspension position ring module; the force / current conversion module is combined with the suspension force instruction, the rotor angle and the torque current to generate a current instruction, and suspension winding current is generated through the current closed-loop module and output to the magnetic suspension pump; and judging whether the impeller returns to the center balance position or not, and if not, continuing to adjust until the impeller returns to the center balance position and is stably suspended. According to the invention, the problem of unstable suspension displacement caused by sudden load change of the magnetic suspension pump is solved.

The embodiment of the invention relates to the field of servo control, in particular to a servo system, a motor control method based on the servo system, equipment and a medium, and the system comprises a position loop control module, a speed loop control module and a motor module which are connected in sequence; the position loop control module comprises a position adjusting module, a speed feed-forward compensator and a speed error device; the position adjusting module is used for generating a speed instruction according to an obtained position instruction sent by the upper computer and a feedback position of the motor module; the speed feed-forward compensator is used for determining the compensation amount of the speed instruction according to the position instruction and a compensation formula; the speed error device is used for superposing the compensation amount and the speed instruction as a target speed instruction; the speed loop control module is used for receiving the target speed instruction, obtaining the feedback speed of a servo motor in the motor module, and outputting an electromagnetic torque instruction according to the target speed instruction and the feedback speed to drive the servo motor to work. By controlling the servo motor, the position dynamic following error can be reduced.

The invention discloses a control method, device and equipment of a full-automatic template sewing machine and a medium, and relates to the technical field of sewing machines. Obtaining a target expected speed of the first servo system when executing the current speed loop task according to a position instruction of the first servo system when executing the current position loop task and position feedback values of the first servo system and the second servo system when executing the current position loop task; based on a PID algorithm, according to the target expected speed and a speed feedback value when the first servo system executes the current speed loop task, obtaining a target input signal when the first servo system executes the current current loop task; and controlling the rotating speed of the first servo system by using the target input signal. According to the method, the technical problems that when the two servo systems needing to operate synchronously in the full-automatic template sewing machine are controlled, the hardware connection structure is complex, the cost input is too high, and the occupied space size is large can be solved.

The invention relates to the field of motor control, in particular to a three-closed-loop voice coil motor control method based on a sliding mode-active disturbance rejection technology, and the three-closed-loop voice coil motor control method comprises a position loop, a speed loop and a current loop. Wherein the position loop adopts an active disturbance rejection control (ADRC) method, the internal uncertainty and external disturbance of the system are estimated and compensated in real time through an extended state observer, and meanwhile, control output is quickly adjusted by using an error feedback control strategy, so that high-precision position tracking is realized; the speed ring adopts a sliding mode control strategy, and the speed signal is accurately controlled by using the characteristics of high robustness and quick response of sliding mode control, so that the dynamic performance and the anti-interference capability of speed control are enhanced; the current loop adopts a classic PI control method, so that the current of the motor can be quickly and accurately adjusted; a temperature compensation mechanism is added, electrical parameters in a system state equation are updated through a temperature-parameter model, and errors of three-closed-loop control are reduced.

The invention discloses a periodic synchronous position interpolation control method and system for a servo driver, and relates to the technical field of servo control, and the method comprises the steps: receiving a synchronous position instruction at a fixed bus period, and recording a theoretical / actual arrival timestamp of the synchronous position instruction; converting the instruction into a position increment and storing the position increment into a buffer; calculating a cache saturation index reflecting instruction stream supply and demand balance in real time; based on the index and the change trend, dynamically calculating and smoothly adjusting a next position loop sampling period through a feedback control model; position loop processing is triggered in the post-adjustment period. According to the invention, by monitoring the instruction stream state and adaptively adjusting local processing, the influence caused by master and slave clock skew and network jitter is compensated, and continuous and uniform instruction input is ensured to be always obtained by a position ring, so that high-stability and high-precision motion control under bus communication is realized, and the anti-interference capability and the synchronization performance of the system are improved.

The invention discloses a three-axis modulation inertial navigation decoupling control method which comprises the following steps: establishing a three-axis modulation inertial navigation dynamic model which comprises inter-axis coupling torque and equivalent rotational inertia disturbance torque; obtaining the rotational inertia of the inner ring, the middle ring and the outer ring of the three-axis modulation inertial navigation along each axis; the rotation angles of the inner ring, the middle ring and the outer ring are obtained in real time, and angular acceleration is obtained through differential; according to the dynamic model, the rotational inertia, the rotation angle and the angular acceleration, inter-axis coupling torque and equivalent rotational inertia disturbance torque are obtained through calculation; compensating the calculated inter-axis coupling torque and equivalent rotational inertia disturbance torque, and changing the dynamic model into a first-order linear model, so that the three-axis modulation inertial navigation system is changed into a decoupling linear system; and finally, carrying out closed-loop control on the three-axis inertial navigation through a position loop-speed loop-current loop three closed-loop control structure. The control complexity can be reduced, and the system stability can be improved.

The invention relates to the technical field of bolt tightening robot control, in particular to a wind turbine generator bolt tightening robot control method and related equipment.The method comprises the steps that torque, position and motor rotating speed data of a bolt tightening robot are obtained in real time, and the data serve as feedback signals to be input into a three-closed-loop control framework to generate a control instruction; the architecture comprises a current loop, a position loop and a speed loop, the current loop and the position loop adopt a PID control algorithm, and adjusting signals are generated according to torque and position data; and the speed ring adopts a BPFN-PID control algorithm to perform fuzzification processing on motor rotating speed data to obtain an initial speed instruction, and then a PID speed control instruction is updated in combination with target rotating speed self-learning to finally obtain an optimal speed control instruction, so that accurate control on the bolt tightening robot is realized.

The invention discloses a model prediction direct position control method based on point-to-point trajectory planning, and belongs to the technical field of motor control. The method comprises the following steps: measuring a three-phase current signal, a rotating speed signal and a position signal of the PMSM; converting the three-phase current signal into a current component under a two-phase static coordinate system through Clark conversion; performing Park transformation to obtain a d-q coordinate system current signal; and performing voltage prediction to generate a d-q axis voltage control signal. Planning a target curve trajectory; and performing online prediction and rolling optimization. According to the invention, bandwidth limitation of a traditional cascade structure is broken through, position loop time delay is reduced, speed oscillation and position overshoot near a target positioning point are suppressed, stability of a control system is improved, multi-target collaborative optimization of position, rotating speed and current is realized, and economical efficiency and engineering practicability are both realized.

The invention relates to the technical field of robot control, in particular to a magnetorheological damper-based flexible landing control method for a hydraulic leg unit, which comprises the following steps of: S1, establishing a rigid-flexible coupling dynamic model, optimizing parameters, and simplifying a landing process into a mass-spring-damping system; the hydraulic cylinder is equivalent to a spring module, the magneto-rheological damper is equivalent to a variable damping module, and the optimal landing track and the optimal rigidity and damping parameters are obtained by minimizing the foot end impact force; s2, decomposing the optimal trajectory into joint target displacement through an inverse kinematics model; and S3, position and force double closed-loop control is conducted on the hydraulic damping actuator, displacement is tracked by the position outer loop control hydraulic cylinder, damping force is output by the force inner loop control magnetorheological damper, the intervention and quit time of the hydraulic damping actuator is decided, the damping force is dynamically distributed, and actual force signals are fed back to correct target displacement. The method realizes flexible landing, reduces impact, gives consideration to control precision and energy consumption, adapts to multiple terrains and prolongs the service life of equipment.