16 results about "Position response" patented technology

The invention relates to the technical field of mechanical position servo control, and solves the problem of seeding depth fluctuation caused by position response lag and linear compensation failure of a traditional profiling mechanism. The method comprises the following steps: acquiring curvature characteristics of a front terrain through a terrain detection sensor, and predicting vertical displacement offset of a ground contact point by combining structural parameters and speed of an execution mechanism; generating a drive actuator feed-forward position instruction based on the offset and a preset depth target value; a cutting edge load disturbance value is collected in real time, and output thrust (hard soil area nonlinear thrust increasing / soft soil area stepped thrust decreasing) is corrected in a graded mode according to the discrete disturbance gradient; and the position of the actuator is dynamically adjusted by combining ditching depth feedback. Through double closed-loop control of terrain-position feedforward and resistance-position feedback, independent pre-judgment and accurate position tracking of the mobile platform on the surface micro-terrain are realized, so that position output is consistent with a position target value.

Technologies are disclosed for position and mapping management to collect information from users for delivering items to locations associated with the users. The position and mapping management can include identifying a user profile being eligible for customized path delivery, receiving, from a user device, a customized position response including a confirmed position selection associated with a customized position, and receiving, from the user device, a customized path response including a confirmed path selection associated with a customized path. The customized position and the customized path can be validated and utilized for automated item delivery and / or partially automated item delivery.

To provide a position and force control device that can prevent deterioration of position tracking performance even when a limit value of a contact force allowed for contact with a control object is small and when the error between a position command value and a position response value is large.SOLUTION: A position and force control device 1 includes a position controller 2, a saturation compensator 3, and a force controller 4. When a control object is in contact with an environment 6 (Ksw=0) and an allowable upper limit value (fcmd) or an allowable lower limit value (-fcmd) of a contact force at which the control object comes into contact with the environment 6 is a force reference value frefp or less or more, the saturation compensator 3 outputs a limit value that limits the force reference value to the upper limit value or the lower limit value as a force demand value fref. When the control object is in contact with the environment 6 (Ksw=0) and the force reference value does not exceed or fall below the upper limit value or the lower limit value, or when the control object is not in contact with the environment 6 (Ksw=1), the saturation compensator 3 outputs the force reference value as the force demand value.SELECTED DRAWING: Figure 1

The present application relates to the technical field of mechanical position servo control, and solves the problem of sowing depth fluctuation caused by position response lag and linear compensation failure of traditional profiling mechanism. The method comprises the following steps: obtaining the curvature characteristics of the front terrain through a terrain detection sensor, combining the structure parameters of the actuator with the predicted vertical displacement offset of the touchdown point, generating a drive actuator feedforward position instruction based on the offset and a preset depth target value, collecting the blade load disturbance value in real time, and classifying and correcting the output thrust according to the discrete disturbance gradient (nonlinear increase in thrust in hard soil area / stepwise decrease in thrust in soft soil area), and combining the furrow depth feedback to dynamically adjust the position of the actuator. Through the double closed-loop control of terrain-position feedforward and resistance-position feedback, the present application realizes independent prediction and accurate position tracking of the mobile platform on the micro terrain of the ground, so that the position output is consistent with the position target value.

The invention discloses a debugging method and system for high-precision mechanical and electrical equipment, and relates to the technical field of electrical equipment debugging, and the method comprises the steps: deploying a multi-source heterogeneous sensor on the high-precision mechanical and electrical equipment, collecting displacement, temperature, vibration and current signals, and generating multi-dimensional state data through time alignment and filtering processing; time sequence features of error disturbance are extracted based on the multi-dimensional state data, a dynamic composite error representation model is constructed, and a comprehensive positioning deviation estimated value is output; inputting the comprehensive positioning deviation estimated value into an electromechanical coupling virtual model in the high-fidelity digital twin platform, and automatically optimizing to generate an initial control parameter set; driving equipment to execute low-speed reciprocating motion by utilizing the initial control parameter set, acquiring a position response residual error in a reversing stage, identifying friction and hysteresis nonlinear characteristics on line based on the position response residual error, and constructing a feed-forward compensation function; and integrating the feed-forward compensation function and the initial control parameter set into an equipment bottom layer motion controller.

The invention discloses a sliding mode control method for effectively restraining position response overshoot of a series elastic actuator. The method comprises the steps that a sliding mode controller and a lumped disturbance decoupling observer are designed on the basis of a kinetic model, considering lumped disturbance, of a series elastic actuator system, and the sliding mode controller comprises a Gaussian dynamic gain sliding mode surface and an anti-integral saturation superhelix reaching law; a state feedback vector of the series elastic actuator system is input into the lumped disturbance decoupling observer, lumped disturbance torques of a motor side and a load side of the series elastic actuator system are output after processing, then the lumped disturbance torques and a preset position instruction of the load side are jointly input into the sliding mode controller, a q-axis current reference value is output after processing, and the current reference value is output. And closed-loop control is carried out on the load side position of the series elastic actuator system. According to the method, in point-to-point position control over the load side position of the series elastic actuator, the high dynamic response capacity of the system can be kept, and meanwhile overshoot of load side position response can be effectively reduced.

The present invention discloses a method and system for suppressing unbalanced vibration of a magnetic bearing, belonging to the technical field of active control of magnetic bearings. During static suspension, self-learning is first performed, and X-axis and Y-axis position angle instructions of different frequencies that change according to the sine and cosine laws are injected to obtain X-axis and Y-axis position responses of corresponding frequencies within the full speed range, thereby obtaining transfer functions containing phase angle and amplitude information under different frequency bands; when the rotor rotates at high speed, the position responses of the X-axis and Y-axis are measured in real time, and their running trajectories are described in a vector representation manner, and the current rotational angular velocity is calculated in real time; a feedforward current is constructed and injected through the transfer function and the rotational angular velocity calculated in real time, and a disturbance suppression coefficient is introduced at the same time to achieve different degrees of unbalanced vibration suppression. This method is applicable to the movement of bearing rotors at high speeds, can smoothly cross the critical speed, and achieve effective suppression of unbalanced vibration.

This invention discloses an effective sliding mode control method for suppressing overshoot in the position response of a series elastic actuator. The method includes: designing a sliding mode controller and a lumped disturbance decoupling observer based on a dynamic model of the series elastic actuator system considering lumped disturbances. The sliding mode controller includes a Gaussian dynamic gain sliding surface and an anti-integral saturation superspiral reaching law; inputting the state feedback vector of the series elastic actuator system into the lumped disturbance decoupling observer, processing it, and outputting the lumped disturbance torque of the motor side and load side of the series elastic actuator system, then inputting it together with the preset position command of the load side into the sliding mode controller, processing it, and outputting the q-axis current reference value, thereby performing closed-loop control of the load side position of the series elastic actuator system. This invention, in point-to-point position control of the load side position of a series elastic actuator, can effectively reduce the overshoot of the load side position response while maintaining the system's high dynamic response capability.

The invention relates to the field of automatic control of underwater robots, and discloses a modeling and quantitative self-triggering control method and system for an under-actuated underwater robot dragging system, and the method comprises the steps: building a load position subsystem model, a cable direction subsystem model and an underwater robot attitude subsystem model based on Newtonian mechanics; the control task of each subsystem is decomposed into a kinematics model and a dynamics model based on a backstepping method so as to describe the kinematics and dynamics characteristics of each subsystem when the underwater robot executes the dragging task; setting a load subsystem controller by adopting a quantitative self-triggering control method so as to enable the position response of a load subsystem to be constrained in a preset boundary function; a cable direction subsystem controller and an underwater robot attitude subsystem controller are arranged by adopting a backstepping self-triggering control method, and a control signal is updated and transmitted to an execution mechanism only when and only when a preset condition is met through self-triggering. According to the method, the blank of modeling of the underwater robot dragging system is filled.

The invention discloses a model-free adaptive composite control method and system for a position servo system, and belongs to the field of servo system control, and the method comprises the steps: calculating the gain parameter of an observer through the change rate of a total disturbance observation value in a previous control period and the bandwidth adaptive rate of the observer, completing the construction of the observer in a current control period, and completing the model-free adaptive composite control of the position servo system. Obtaining an angular velocity observation value and a system total disturbance observation value of the current control period according to the filtered torque instruction value and the actual angular velocity of the previous control period; and calculating the parameters of the composite controller through the position tracking error of the previous control period and the bandwidth adaptive rate of the composite controller, and completing the construction of the composite controller in the current control period, so as to determine the position of the composite controller according to the command signal output by the motion controller, the angular velocity observation value output by the observer and the total disturbance observation value. Obtaining a torque instruction value of the current control period; according to the method, the control loop architecture is optimized, the parameters of the control system are adjusted in real time, and the position response speed and the anti-interference capability are improved.

The present invention provides an electric motor control device capable of receiving a speed command from a superior system control device having a position controller, comprising: a position command estimator that calculates an estimated value of a position command based on a speed command and a motor shaft position response; and a speed command generator that generates an actual speed command such that an end portion of a machine connected to the electric motor does not vibrate based on the estimated value, the actual speed command being output from the speed command generator to a speed controller.

This invention discloses a human-machine collaboration method based on motion intention estimation and force feedforward compensation. It mainly includes a human-machine collaboration system, a human motion intention recognition system, a force feedforward compensation system, and a position inner-loop control system. The human-machine collaboration system includes a collaborative robot and a six-dimensional force sensor; the human motion intention recognition system uses maximum likelihood estimation to obtain the human's motion intention and stiffness during human-machine collaboration and integrates it into impedance control; the force feedforward compensation system designs force feedforward compensation based on the obtained motion intention and stiffness to reduce interaction forces and position tracking fluctuations; the position inner-loop control system uses RBF neural network control for position inner-loop control. This invention has superior effects in reducing human interaction forces, improving position response speed, and reducing position tracking fluctuations in human-machine collaboration.

The invention discloses a self-adaptive compensation device and method for the stiffness change rate of a single-axis driving system based on current-position response, and belongs to the field of precise driving control. The method aims at solving the problems that an existing compensation technology is poor in adaptability to thermal deformation and load sudden change, rigidity identification delay is large, and phase error suppression is insufficient. The device mainly comprises an FPGA, an ARM controller, a servo driver, a servo motor, an absolute value encoder, a current acquisition module and the like. The core logic is that an encoder position signal and a current signal are collected and then connected to the FPGA, the stiffness change rate is calculated by the FPGA, the compensation amount is generated by combining a PI-FF algorithm, and closed-loop control is achieved through cooperative processing of the ARM and the FPGA. According to the method, the rigidity change under thermal deformation and load sudden change can be identified, compared with the prior art, the phase error and disturbance recovery time are both reduced by more than or equal to 60%, the hardware cost is reduced by 30%-50%, and the method is suitable for high-end precision equipment such as a semiconductor photoetching machine.

The motor control device includes: a vibration extraction filter that extracts a plurality of vibrations superimposed in a response of a motor control system from a rotational speed response or a rotational position response of a motor; a sequential frequency estimation section that sequentially estimates a frequency of each of the plurality of vibrations obtained from the vibration extraction filter and outputs an estimation result of the frequency as a frequency estimation value sequence; a vibration damping control section that processes an instruction input to the motor control system to suppress a vibration generated at an end portion of a machine mounted on the motor; and a vibration damping control design section that adjusts the vibration damping control section based on the frequency estimation value sequence.

This invention relates to the field of automation control technology, specifically to an automatic tension adjustment control system for rodent-proof netting. The system includes: a multi-source data acquisition module that simultaneously acquires current, displacement, and vibration spectrum data, and generates a deployment state feature set after Kalman filtering for noise reduction; a state analysis and calculation module that inputs the feature set into a netting deformation mechanics model to calculate the lateral shrinkage rate and identifies the properties of the contact medium based on wave characteristics; and an adaptive impedance control module that dynamically adjusts virtual impedance parameters based on the shrinkage rate and medium properties, generating drive control commands to adjust the output torque and position response. This invention solves the problem of bottom detachment of the netting due to the Poisson effect, achieving tension while maintaining fit.

To reduce load calculation for a control target subjected to locus constraint and ensure the degree of freedom of load design.SOLUTION: A mode inverse transformation (Q2a-1) unit 2 calculates modes for a tangent line and a normal line by using a mode transformation matrix for a motion locus of a control target from position responses of actuators. A load controller 3 calculates an acceleration reference value for controlling a load to be applied to the motion of the control target along the tangential line on the basis of a command value of the mode for the tangential line. A position controller 4 calculates an acceleration reference value for constraining the position control of the control target on a linear locus on the basis of a command value of the mode for the normal line. A mode inverse transformation (Q2a-1) unit 5 performs inverse transformation of the mode from both acceleration reference values to the acceleration reference values of the respective actuators. An acceleration controller 6 calculates torque commands for the respective actuators from the acceleration reference values of the respective actuators.SELECTED DRAWING: Figure 1