162 results about "Residual vibration" patented technology

The invention relates to the technical field of industrial control, in particular to an industrial stacker intelligent control system based on machine vision, and the system comprises a state resolving module which is used for carrying out the feature region decoupling of original observation data, and resolving a position deviation matrix and a deformation state variable for a rigid subspace and a flexible subspace respectively; the dynamic modeling module is used for identifying the first-order inherent frequency and the damping ratio of the mechanical structure on line and establishing a second-order impedance contact model; the impedance control module is used for generating an expected speed based on the position deviation and adaptively adjusting an impedance parameter according to a deformation state so as to carry out compliant modulation on a speed vector; and the estimation shaping module is used for correcting system time lag by using a Kalman observer and inhibiting residual vibration in combination with a zero-vibration input shaper. Through multi-dimensional physical field fusion and dynamic modeling, the problem that a rigid control model is mismatched with a flexible operation object is solved, and self-adaptive compliant control and vibration-free accurate operation of the stacking machine in the unstructured environment are achieved.

The invention relates to the technical field of underwater acoustic engineering and ocean exploration, in particular to a multi-channel underwater acoustic signal transmitting and measuring system and a signal processing method, which are used for solving the problems that the existing multi-channel underwater acoustic signal processing generally depends on fixed threshold detection or simple time sequence alignment, and the signal processing efficiency is low. The problem that residual vibration, local noise abrupt change or multipath reverberation is easily misjudged as an effective first arrival signal in a complex underwater environment due to the fact that the influence of the physical response characteristic of a transducer on emission time calibration is not considered and effective verification on whether a candidate arrival structure accords with a sound wave propagation physical rule is lacked is solved. According to the invention, a multi-channel energy time sequence and hydrophone space geometrical relationship is fused through an underwater sound propagation initial physical judgment module, a judgment mechanism is constructed based on distance-time consistency of sound propagation, and self-consistent verification is realized by combining a cross-channel arrival sequence and sound velocity constraint. And the accuracy, the robustness and the physical interpretability of the judgment of the effective launching time of the underwater sound are obviously improved.

The invention relates to the field of electro connecting pressure gauges, in particular to an electro connecting pressure gauge with an alarm function, which comprises an external pipeline connected with an external pressure pipeline, the outer end face of the external pipeline is fixedly connected with a dial plate, and a transparent shield is embedded and matched on the dial plate; the pointer adjusting mechanism is used for adjusting the position of the pointer, and the pointer adjusting mechanism is arranged in the center of the transparent shield; the pointer mechanism is used for carrying out alarm processing when an upper limit is exceeded or a lower limit is lower, and the pointer mechanism is arranged on the dial plate and is protected by the transparent protective cover; wherein the pointer adjusting mechanism comprises a circular groove, the circular groove is formed in the top of the transparent protective cover, and according to the electric contact pressure gauge with the alarm function, a friction damper (such as metal sheet contact friction) is arranged on a reset path, vibration energy is consumed through friction, and impact and residual vibration of the second bourdon tube in the reset process are reduced.

The invention relates to the technical field of mechanical arm vibration suppression, in particular to a mechanical arm tail end active vibration suppression method and system based on predictive compensation, and the method comprises the following steps: S1, collecting the three-axis acceleration, angular velocity and vibration spectrum data of a mechanical arm in real time through a high-frequency IMU sensor; monitoring a rolling angle, a pitch angle and a yaw angle of a base attitude through an auxiliary IMU sensor, and fusing double IMU data through a Kalman filtering algorithm; s2, generating a pre-compensation torque based on the fused data, optimizing a model gain coefficient in combination with a real-time deviation between a frequency spectrum actually measured by a high-frequency IMU sensor and a model prediction frequency spectrum, and correcting and outputting the pre-compensation torque in real time; and S3, the corrected compensation torque is injected into a feed-forward channel of a joint motor control loop, vibration suppression torque is output to a joint execution mechanism through a high-gain controller, and residual vibration at the tail end of the mechanical arm is counteracted in real time. According to the invention, an active vibration suppression system can be constructed to solve the problem of real-time vibration suppression under multi-source disturbance coupling.

The invention provides an anti-saturation fault-tolerant control method and device for a double-flexible-arm space robot, relates to the field of robot control, and solves the multiple challenges that in the prior art, a flexible mechanical arm faces continuous and difficult vibration suppression, an actuator is prone to failure, torque is limited, task time is constrained and the like. The dynamic state of the system is unstable; and the control capability is limited. The method comprises the steps that a hypothesis modal method and a momentum conservation theorem are combined to derive a double-flexible-arm space robot kinetic equation in a Lagrange form; a flexible system singular perturbation technology is utilized to obtain a slow-varying subsystem for representing rigid motion characteristics of a mechanical body and a quick-varying subsystem for representing residual vibration characteristics of a rod piece; for the slow-varying subsystem, designing a fixed-time anti-saturation fault-tolerant controller based on an extreme learning machine and a torque output function; and designing an anti-saturation controller based on state variable negative feedback for the quick change subsystem. The method is used in the robot control process.

The invention provides an anti-impact six-degree-of-freedom quasi-zero stiffness vibration isolation platform which comprises a first-stage vibration isolation layer and a second-stage vibration isolation layer and is characterized in that the first-stage vibration isolation layer is composed of four self-adaptive quasi-zero stiffness vibration isolation systems and used for supporting a panel and isolating vibration from equipment or the ground; the second-stage vibration isolation layer is composed of four active vibration isolation systems and used for further attenuating residual vibration and restraining internal motion disturbance of equipment. According to the quasi-zero-stiffness vibration isolator, the core problem that a traditional quasi-zero-stiffness vibration isolator cannot adapt to dynamic load changes and the anti-impact requirement is solved, a high-reliability and ultra-quiet environment is provided for high-end precision manufacturing, six-degree-of-freedom vibration control can be achieved, a vibration isolation belt is wider, vibration isolation of a 0.1-500 Hz vibration source can be achieved, the bearing capacity is large, the 20000 kg bearing requirement can be met, and the quasi-zero-stiffness vibration isolator is suitable for large-scale popularization and application. The device can adapt to precise instruments of different models, and is wide in application range and high in universality.

The invention discloses an ammunition automatic filling robust control method based on singular system IL disturbance estimation, and aims to solve the problems of flexible transmission, parameter uncertainty, periodic external disturbance, residual vibration and the like in an automatic filling system. According to the method, a fast-slow dual-time-scale cooperative control architecture is constructed, a slow subsystem adopts a disturbance self-adaptive PD controller, low-frequency periodic disturbance is estimated and compensated online in combination with an iterative learning mechanism, and the trajectory tracking precision is improved; the fast subsystem carries out real-time estimation and feedforward suppression on high-frequency elastic vibration based on an extended state observer (ESO); and filtering and amplitude limiting are further carried out on slow and fast control inputs, a self-adaptive scheduling strategy based on tracking errors is designed, and the slow and fast control inputs are dynamically fused to generate a final control instruction. According to the method, only motor end position / speed measurement is needed, a load end sensor is not needed, high precision, high robustness and excellent vibration suppression capability are achieved, and the dynamic performance and complex condition adaptability of automatic ammunition filling are remarkably improved.

An ink jet device according to the present disclosure is provided with: a partition wall that partitions a pressure chamber that stores ink ejected from a nozzle; a diaphragm that presses the pressure chamber; a first piezoelectric element disposed in a portion of the diaphragm corresponding to the pressure chamber; a second piezoelectric element disposed in a portion of the diaphragm corresponding to the partition wall; and a first vibration damping part which is provided between the first piezoelectric element and the second piezoelectric element, and which is in contact with the diaphragm to reduce residual vibration of the diaphragm.

The invention discloses a rotor dynamic balance method giving consideration to vibration threshold control and counterweight vibration elimination efficiency, and the method comprises the steps: obtaining an original vibration signal and a key phase signal of a rotor through data collection equipment, and obtaining a vibration signal and a key phase signal after a trial weight is added; the amplitude and phase of an original unbalance signal of the rotor and the amplitude and phase of an unbalance signal after the trial weight is added are obtained after analysis and calculation, an optimization function with the maximum comprehensive vibration of balance weight reduction under the balance rotating speed as the target is constructed, and rotor dynamic balance optimization calculation is carried out based on a raccoon optimization algorithm. The balance weight giving consideration to the rotor vibration threshold constraint and the balance weight efficiency is obtained, and the maximum vibration is reduced through the minimum balance weight under the condition that the vibration control target is met; according to the method, the problem that in the traditional dynamic balance mass calculation process, a single-target optimization algorithm represented by minimum residual vibration, maximum vibration minimization and the like is difficult to consider the residual vibration amplitude and the counterweight balance efficiency at the same time is solved.

The invention discloses a satellite vibration suppression system and method, a storage medium and a computer program product. The system comprises a passive vibration isolation module used for isolating first vibration generated by satellite vibration source equipment; the active suppression module is used for counteracting second vibration generated by the satellite vibration source equipment; wherein the second vibration is residual vibration except the first vibration isolated by the passive vibration isolation module, and the vibration frequency of the first vibration is higher than that of the second vibration. The technical problem that the effective load performance of a satellite is limited due to the fact that a traditional single passive or active vibration suppression method cannot effectively cover broadband vibration from high frequency to low frequency is solved.

A liquid ejection apparatus includes an ejection unit including a nozzle, a pressure chamber, and a piezoelectric element that applies pressure fluctuations to a liquid in the pressure chamber according to a supplied drive signal, a drive signal generation unit that generates the drive signal, and a detection unit that detects a residual vibration generated in the pressure chamber. The drive signal generation unit generates the drive signal having a detection waveform including an expansion element that changes in potential from a first potential to a second potential to expand the pressure chamber, and an expansion potential maintaining element that maintains the second potential following the expansion element. A length of a period from a start to an end of a change in potential from the first potential to the second potential is equal to or greater than a length of a natural vibration cycle of the ejection unit.

To solve the problem that maintenance of a recording part may be completed in a state where it is not confirmed whether the executed maintenance of the recording part is acceptable or not.SOLUTION: A recording device 1 comprises: a recording part 10 that discharges ink Li from a nozzle N communicated with a liquid chamber 17, by changing pressure in the liquid chamber 17 storing the ink Li by driving a discharging element 15; a jetting body 71 that performs maintenance of the recording part 10 by making a droplet of maintenance liquid Lc impact on the nozzle N; a detecting part 95 that detects residual vibration occurred in the liquid chamber 17 by driving the discharging element 15, after the jetting body 71 executes maintenance of the recording part 10; and a control part 90. The control part 90 determines whether the maintenance of the recording part 10 is acceptable or not, on the basis of a detected result by the detecting part 95.SELECTED DRAWING: Figure 1

To provide a discharge state determination method that can improve the detection speed of residual vibration. [Solution] The pre-charge step includes a timing step of acquiring the elapsed time since the previous pre-charge step was performed, a charging time determination step of determining a charging time for accumulating charge in the capacitive component of the residual vibration detection circuit according to the elapsed time, and a charging step of accumulating charge in the capacitive component of the residual vibration detection circuit according to the charging time. The discharge state determination step includes a determination drive step of supplying a drive waveform signal as a drive signal to a drive element, a residual vibration acquisition step of acquiring a residual vibration detection signal output by the residual vibration detection circuit after the determination drive step, and a discharge unit determination step of determining the state of the discharge unit based on the residual vibration detection signal acquired in the residual vibration acquisition step.

The ejection force of each droplet should be approximately the same, while increasing the ejection speed of subsequent droplets. [Solution] The liquid discharge head is equipped with a drive circuit that generates a drive signal to drive an actuator and includes multiple discharge waveforms that discharge multiple droplets from the nozzle, all of which have the same waveform width. The discharge waveform of the drive signal includes an expanding potential difference that expands the volume of the pressure chamber, a contracting potential difference that reduces the volume of the pressure chamber, and at least one intermediate potential difference between the expanding and contracting potential differences. The drive circuit cancels out vibrations at an acoustic resonance frequency in a frequency range higher than the main acoustic resonance frequency of the liquid in the pressure chamber caused by the change in potential difference by at least one more change in potential difference performed after the change in potential difference. The interval between the multiple discharge waveforms is matched to the period that strengthens the residual vibration of the liquid in the pressure chamber caused by the previously generated discharge waveform and the vibration of the liquid in the pressure chamber caused by the subsequently generated discharge waveform, thereby increasing the discharge speed of subsequent droplets.

To accurately determine whether or not an abnormality has occurred due to the medium colliding with the liquid dispensing head. [Solution] A control method for a liquid dispensing device that dispenses liquid onto a medium, comprising a plurality of piezoelectric elements, a plurality of pressure chambers that apply pressure to the liquid inside by driving each of the plurality of piezoelectric elements, and a liquid dispensing head having a plurality of nozzles that communicate with each of the plurality of pressure chambers and from which the liquid is discharged, includes an acquisition step of acquiring residual vibration information relating to residual vibration in the pressure chamber after applying a voltage to one or more of the plurality of piezoelectric elements, and a determination step of determining whether or not a first abnormality has occurred, which is an abnormality caused by the medium colliding with the liquid dispensing head, based on the residual vibration information.

This technology provides advantages in identifying the cause of abnormalities in a body dispensing device. [Solution] The liquid dispensing device comprises a dispensing head that dispenses liquid from a plurality of nozzles, a plurality of piezoelectric elements arranged in each of the plurality of nozzles, a detection unit that detects a residual vibration signal corresponding to the distortion of the piezoelectric element caused by the pressure wave generated in conjunction with the operation of the piezoelectric element for each of the plurality of piezoelectric elements, and a processing unit that processes the residual vibration signal detected for each of the plurality of piezoelectric elements. The processing unit performs a creation step of creating a feature map showing the distribution of feature quantities of the residual vibration signal in the plurality of nozzles, and a determination step of determining an anomaly based on the feature map.

The utility model relates to the field of surveying and mapping instrument technology, concretely to a field surveying and mapping instrument protection device, including external shell, buffer assembly and internal protection cabin subassembly, internal protection cabin subassembly is located in the inside of external shell, buffer assembly is located between external shell and internal protection cabin subassembly, internal protection cabin subassembly includes honeycomb aluminium plate and memory sponge layer, honeycomb aluminium plate is located in the outside of internal protection cabin subassembly, the utility model external shell is the physical protection barrier of internal assembly construction, buffer assembly absorbs, disperses impact force, alleviates the influence to internal protection cabin subassembly, honeycomb aluminium plate gives instrument additional structure support and buffer, memory sponge layer is self -adaptation deformation according to instrument appearance, all -round package and with good buffer performance absorption residual vibration impact, ensure that instrument is stable in internal protection cabin subassembly, and a variety of protection synergy makes field surveying and mapping instrument obtain comprehensive and effective protection when transporting and site shifting in harsh environment.

The invention relates to the technical field of voice playing equipment, and discloses playing equipment for English listening training, which comprises a shell, a shell cover and a protective cover which are arranged on the shell, a loudspeaker assembly arranged in the shell, and a heat dissipation assembly and a damping mechanism which are arranged in the loudspeaker assembly, the loudspeaker assembly comprises a fixed bracket fixedly assembled in the machine shell, and a loudspeaker body is arranged in the fixed bracket. According to the playing equipment for English listening training, the damping balls extrude the multiple damping parts which are divided by the separation grooves on the damping sleeve, the multiple damping parts are driven to elastically expand outwards, each independent damping part can independently respond to vibration, residual vibration energy is further absorbed and consumed, multi-dimensional and all-directional damping is achieved, and the playing efficiency is improved. The influence of loudspeaker vibration on the whole device is reduced, internal elements are prevented from being loosened and damaged, the operation stability of the device is improved, the service life of the device is prolonged, and reliable guarantee is provided for English listening training.

The application provides a TSI probe anti-resonance mounting device, which comprises a steam turbine bearing shell, a shock-absorbing support mechanism is arranged outside the steam turbine bearing shell, the upper end of the shock-absorbing support mechanism is arranged at the bottom of a box body, a sensor fixing mechanism is arranged in the middle of the box body, a resonance offset mechanism is arranged in the inside of the box body, and a box cover is arranged on one side of the box body. When the TSI probe is mounted, the height is adjusted through a plurality of shock-absorbing struts, a stable triangular support is formed in cooperation with a plurality of hydraulic support rods, the box body can be stably mounted on the arc surface of the steam turbine bearing shell, the influence of vibration on the box body can be reduced, the swing and misalignment of the steam turbine bearing vibration parameter monitoring caused by the residual vibration are further offset through the resonance offset mechanism, and the operation safety of the power plant unit is prevented from being harmed.

This invention discloses a residual vibration control method, apparatus, device, and storage medium. The method involves: acquiring the robot's current trajectory type; if the current trajectory type is a first motion trajectory type, determining a first motion rate planning value and a first joint angle; the first motion trajectory type includes a Cartesian rotation joint fusion motion trajectory type and / or a joint-to-Cartesian rotation motion trajectory type; shaping the first motion rate planning value and the first joint angle using an input shaper to obtain a first motion rate shaped value and a first angle shaped value; determining the robot's current pose based on a first Cartesian pose and a second Cartesian pose, where the first Cartesian pose is determined based on the first angle shaped value, and the second Cartesian pose is determined based on the first motion rate shaped value; and determining the robot's current velocity and acceleration based on the current pose to control the robot's residual vibration. This method effectively improves the accuracy and practicality of residual vibration control.

A correction information acquisition step including a correction driving step of supplying a first drive waveform signal to a driving element, a correction switching step of switching a switch circuit such that a residual vibration signal is supplied to a residual vibration detection circuit, a correction information holding step of holding a residual vibration detection signal as correction value information, a determination driving step of supplying a second drive waveform signal to the driving element, a determination switching step of switching the switch circuit such that the residual vibration signal is supplied to the residual vibration detection circuit, a residual vibration acquisition step of acquiring the residual vibration detection signal, and an ejecting section determination step of determining a state of an ejecting section based on a correction detection signal obtained by correcting the residual vibration detection signal obtained in the residual vibration acquisition step with the correction value information.

This invention provides an ultrasonic sensor, comprising a body for supporting the entire ultrasonic sensor; a circuit board and a potting compound are disposed on one side of the body; an inner bushing, a probe, and an outer bushing are disposed on the other side of the body, the inner bushing being disposed between the body and the probe, the bottom surface of the probe extending outwards with at least one pin, and the outer bushing being joined with the inner bushing to partially cover the probe; the surface of the inner bushing having at least one groove corresponding to the bottom surface of the probe. The ultrasonic sensor provided by this invention, because the surface of the inner bushing has a groove, can create a gap between the bottom of the probe and the surface of the inner bushing, thereby reducing residual vibration; the bottom surface of the inner bushing has a through hole corresponding to the circuit board, and a resistive ring extending outwards from the circuit board corresponding to the through hole. The resistive ring allows for direct assembly of the probe, preventing potting compound from overflowing into the other side of the body.

The application provides a space refrigeration equipment vibration composite control system and method, comprising: a passive vibration isolation module and an actuation module; the passive vibration isolation module performs preliminary attenuation on the vibration of a compressor in the space refrigeration equipment in a passive vibration isolation mode, reduces the transmission of the vibration of the compressor from a base plate to a cold finger end detector; the actuation module performs attenuation on residual vibration transmitted from the compressor to the cold finger end through a connecting pipe in an active vibration suppression mode, so as to suppress the micro-vibration of the gas in the connecting pipe from the compressor to the cold finger end caused by uneven flow; and performs attenuation on residual vibration transmitted from the compressor to the cold finger end through the base plate in an active vibration suppression mode. The application is suitable for guaranteeing that the space vehicle load refrigeration equipment outputs minimal disturbance, and avoiding affecting the resolution and stability of the load.

To provide an advantageous technique for restoring discharge performance while suppressing liquid consumption. [Solution] The liquid ejection device comprises an ejection head having a nozzle that ejects liquid, a piezoelectric element for ejecting liquid from the nozzle, and a detection circuit that detects the signal output from the piezoelectric element; a circulation path that circulates liquid through the ejection head; and a control unit that controls an agitation operation that drives the piezoelectric element to agitate liquid in the nozzle without ejecting liquid from the nozzle during a recovery operation from a stopped state in which the circulation of liquid in the circulation path has stopped, and the control unit determines the waveform of the drive signal given to the piezoelectric element during the agitation operation based on the residual vibration waveform detected by the detection circuit when the piezoelectric element is operated without ejecting liquid from the nozzle.

The present application provides a technique for facilitating determination of a cause of an abnormality in a liquid discharge apparatus. The liquid discharge apparatus has: a discharge head that discharges liquid from a plurality of nozzles; a plurality of piezoelectric elements respectively arranged at the plurality of nozzles; a detection unit that respectively detects, for the plurality of piezoelectric elements, a residual vibration signal corresponding to a deformation of the piezoelectric element due to a pressure wave accompanying operation of the piezoelectric element; and a processing unit that processes the residual vibration signals respectively detected for the plurality of piezoelectric elements. The processing unit performs: a creation step of creating a feature quantity map representing a distribution of a feature quantity of the residual vibration signals in the plurality of nozzles; and a determination step of determining an abnormality based on the feature quantity map.

The application belongs to the field of piezoelectric MEMS sensors, and relates to a piezoelectric MEMS ultrasonic sensor ranging circuit and a ranging method, which comprise an MCU, a high-voltage pulse driving circuit, an adaptive impedance matching network, a piezoelectric MEMS ultrasonic transducer, an active damping network, a preamplifier, a band-pass filter and a time gain controller; the high-voltage pulse driving circuit can greatly improve the emission sound pressure of the transducer and improve the measurement range; a controllable switch is designed at one end of the damping resistor, which can improve the emission efficiency and reduce the residual vibration, thereby reducing the measurement blind area; the adaptive impedance matching network is introduced, which can adjust the impedance inconsistent between different devices due to temperature and aging degree to the impedance matched with the ranging circuit, effectively improve the sensitivity and emission efficiency of the device, and the high sensitivity can improve the distance measurement precision of the ranging circuit.

The invention relates to the technical field of power grid operation lifting platforms, and discloses a power distribution network uninterruptible operation insulation lifting system and method.Forward state prediction of a platform position is carried out by receiving a lifting system displacement instruction sequence, and deviation between position forward state prediction and a standard position is deduced through a closed loop feedback correction unit; the method comprises the following steps: reconstructing and outputting an instantaneous vibration speed and an instantaneous vibration acceleration of a lifting system, receiving the instantaneous vibration speed and the instantaneous vibration acceleration by a damping module, and performing phase lead compensation on a control signal of the lifting system by constructing a phase lead corrector, and the damping module synthesizes the instantaneous vibration speed and the instantaneous vibration acceleration into a dynamic damping force instruction through a virtual damping control model. Compared with the prior art, the method has the advantages that the vibration state of the platform is accurately reconstructed and predicted, the system response lag is effectively overcome, and the residual vibration attenuation time after the platform stops is shortened.

The invention discloses a passive decoupling-based drag chain influence counteracting structure for a precision motion platform, which is characterized in that a motion platform sliding table in the precision motion platform is a rotor execution part, a stator base is a fixed support part and is provided with a drag chain module for accommodating a pipeline, the fixed end of the drag chain module is connected with the stator base, and the fixed end of the drag chain module is connected with the stator base; the motor is characterized by further comprising an elastic decoupling bridge, the elastic decoupling bridge is arranged between the moving table sliding table and the stator base, the moving end of the drag chain module is connected with the elastic decoupling bridge, and the rigidity of the elastic decoupling bridge is lower than the rigidity of a motion control shaft system of the moving table sliding table and higher than the rigidity of the drag chain. The force-bending moment decoupling module is used for realizing force-bending moment decoupling of a drag chain and a moving table sliding table; and the limiting damping assembly is used for limiting the maximum displacement of the elastic decoupling bridge and inhibiting the residual vibration of the elastic decoupling bridge. Through the arrangement of the elastic decoupling bridge, the core problem that direct coupling is interfered in existing rigid connection is solved, and the use precision is remarkably improved.

The invention relates to a liquid ejection apparatus, a head unit control circuit, and a liquid ejection inspection method. Provided is a liquid ejecting apparatus that shortens an inspection time for determining the state of an ejecting section (D). An inkjet printer (1) is provided with: a signal generation unit (60A) that generates a plurality of comparison signals on the basis of a residual vibration signal corresponding to residual vibration generated in an ejection unit as a drive signal is input; and a determination unit that determines a state of the ejection unit, in which a signal path of the residual vibration signal from the ejection unit to the signal generation unit is blocked at a blocking timing, and that determines the state of the ejection unit on the basis of the plurality of pieces of time information. The plurality of pieces of time information are generated by using the plurality of comparison signals as signals to be reset at a reset timing based on the reset information, and when the blocking timing is a timing before the reset timing, the signal is held up to the reset timing by using the potential when each of the plurality of comparison signals is used as the blocking timing. Each of the plurality of time information is generated.