594 results about "Rotary encoder" patented technology

The invention provides a filling control method and system based on online parameter identification. According to the method, the synchronous error data of each servo shaft in the multi-shaft servo system is acquired, the error time sequence matrix is constructed by the synchronous error data according to the time sequence, and the displacement feedback data of each servo shaft in the multi-shaft servo system is acquired in real time through the high-precision rotary encoder; a dynamic compensation signal is generated according to the deviation between the displacement feedback data and a preset track, online estimation is carried out on mechanical vibration disturbance of the multi-axis servo system based on the error time sequence matrix, a disturbance parameter estimation value is obtained, the dynamic compensation signal and the disturbance parameter estimation value are fused, and a servo synchronous compensation amount is generated; according to the technical scheme, through fusion of real-time parameter identification and dynamic compensation, the filling precision and efficiency are remarkably improved, meanwhile, the manual debugging complexity is reduced, and a reliable solution is provided for high-stability production under multiple working conditions.

The invention provides a real-time monitoring system and method for sorting of a digital twin-driven Delta mechanical arm. According to the system, firstly, a physical experiment platform is built, and a virtual model is built through SolidWorks, 3DMAX and Unity 3D. A communication framework is designed, and wireless communication of the PLC, the sensor, the mechanical arm, the conveying belt and the digital twin system is achieved. Positive and inverse kinematics analysis and Cartesian space trajectory planning are carried out on a Delta robot, and a related algorithm is packaged into an MATLAB function and compiled into a DLL library for C # calling. The system collects joint angle data in real time based on a rotary encoder, transmits the joint angle data to a digital twin system through an OPC UA protocol, and drives a virtual mechanical arm model after resolving, so that high-precision and low-delay virtual-real synchronous pose reconstruction is realized. In addition, the system also develops a collision detection function based on a bounding box algorithm, and performs visual detection by using camera calibration and a YOLO model.

The invention relates to the technical field of hoisting equipment intelligent control based on multi-sensor cooperation, and discloses a hoisting equipment intelligent control method based on multi-sensor cooperation. A control unit reads and stores parameters such as air density, windward projection area, wind load arm length, arm section rotational inertia, rated output force of a hydraulic cylinder, sampling period and the like, and static self-inspection and dynamic calibration are performed on a wind speed sensor, a rotary encoder and a pressure sensor respectively; multiple paths of wind speeds are collected in parallel during operation, fused wind speeds are obtained through weighted fusion after abnormities are removed, and the wind load torque is calculated and limited by combining the windward area and the force arm length; reading two continuous encoder angle differences, performing amplitude limiting, calculating an angular velocity and kinetic energy, performing adaptive adjustment according to kinetic energy deviation, and performing amplitude limiting on a damping coefficient to generate a damping torque; and the amplitude-limited wind load torque and damping torque are synthesized into total control torque, and after amplitude limiting, the total control torque is converted into amplitude-limiting hydraulic cylinder operation output force which is issued and executed by a control unit.

An omnidirectionally orientable vehicle comprising a main body, arms extending radially therefrom and orientable propulsion modules. Each propulsion module is coupled to an arm and comprises at least three propulsion units rigidly attached to the propulsion module. Each propulsion module is coupled to the arm by interposition of a rotary junction formed by a first revolute joint coupled to the arm and a second revolute joint attached to the propulsion module and perpendicularly coupled to the first revolute joint. The first revolute joint allows the propulsion module to rotate around the arm and the second revolute joint allows the propulsion module to rotate around an axis perpendicular to the arm providing the propulsion module with two DOF relative to the main body. The vehicle comprises rotary encoders located in proximity to the revolute joints and configured to monitor the orientation of the propulsion modules relative to the main body.

The invention relates to the technical field of electric transplanting machines, and discloses an electric transplanting machine and a plant spacing self-adaptive adjustment and path dynamic correction method thereof. The electric transplanter comprises a rack, and a seedling conveying mechanism, a transplanting mechanism, a walking mechanism and a control system which are mounted on the rack. A rotary encoder A is arranged on the seedling conveying mechanism to reflect the seedling dropping speed of the electric transplanter, a rotary encoder E is arranged on the walking mechanism to reflect the advancing speed of the electric transplanter, and a rotary encoder C is arranged to reflect the advancing speed of a walking crawler belt on the left side of the electric transplanter. A rotary encoder D is arranged to reflect the forward speed of a right walking crawler belt of the electric transplanter, and an ultrasonic sensor is arranged to monitor the distance between the two walking crawler belts and the two sides of a ridge in real time; the self-adaptive adjustment of the plant spacing and the dynamic correction of the path can be realized in the advancing process of the electric transplanter, so that the plant spacing uniformity and the row spacing uniformity of the electric transplanter during operation can be effectively improved.

The invention discloses a novel photoelectric coding measuring method for a multistage coarse high-precision translation rotating platform. The invention relates to the fields of engineering measurement technology, precision machining and the like, and solves the problem that the measurement precision of an existing photoelectric translation rotary encoder needs to be improved. The camera is fixed on the rotating or translating device, and an encoding device of the encoder is fixed on the immovable rack; an encoding device of the encoder consists of an encoding array and a fine measurement light spot which are uniformly distributed; in the rotation or translation process of the motion device, collecting an encoding array image of an encoder and a precise measurement light spot image through a camera; identifying a coarse precision absolute position measurement value of the rotation angle according to the coding array image; according to the number of displacement pixels in a precise measurement light spot image, a coarse-precision absolute position measurement value is subdivided to the measurement precision which is one of the total number of column pixels of a camera, a high-precision measurement value of a rotation angle or a translation amount is calculated according to a gravity center algorithm, and the photoelectric coding measurement precision can be remarkably improved.

The invention discloses a photovoltaic panel automatic installation method, device and equipment and a storage medium. Comprising the following steps: after a sucking disc sucks a target photovoltaic panel, controlling a working device to rotate by a specified angle through a rotary encoder so as to enable the working device to reach an installation preparation position; compensation and correction are performed through the movable arm inertia measurement unit and the bucket rod inertia measurement unit, so that the working device is close to the mounting position; and according to the obtained confirmation instruction, the sucker is controlled to loosen the adsorption of the target photovoltaic panel so as to complete the installation of the photovoltaic panel. The working device is controlled to rotate to the installation preparation position through the rotary encoder, and the installation efficiency and precision are improved. Compensation and correction are carried out through the inertia measurement units of the movable arm and the bucket rod, the complex installation environment can be effectively dealt with, the working device can be accurately close to the installation position, the installation adaptability is enhanced, the installation quality of the photovoltaic panel is guaranteed, and the later maintenance cost is reduced. The sucker is loosened according to the confirmation instruction to complete installation, installation accuracy can be ensured, operation safety is improved, and safety accident risks are reduced.

The present invention relates to a liquid silicone injection molding machine, comprising a frame, a mold clamping module disposed on the top of the frame, a glue injection module mounted on the mold clamping module, and a controller for controlling the mold clamping module to perform mold clamping and glue injection. The mold clamping module comprises a mold clamping assembly, a mold clamping drive assembly for driving the mold clamping assembly to perform mold clamping, an electronic mold opening and closing scale disposed on the mold clamping assembly and connected to the controller, a positioning assembly for positioning the mold clamping assembly, and a mold ejection mechanism for ejecting the product produced by the mold clamping assembly. The glue injection module comprises a glue injection drive assembly for driving a gun barrel to perform glue injection via a mixing assembly, an electronic glue injection scale, a pressure sensor, and a rotary encoder disposed on the glue injection drive assembly and electrically connected to the controller. The controller is mounted on the frame via a mounting cantilever. The liquid silicone injection molding machine provided by the present invention can enhance user satisfaction with the glue injection experience by improving glue injection accuracy, while also improving glue injection efficiency and product quality.

The invention belongs to the technical field of quasi-zero stiffness vibration isolators, and particularly discloses a self-adaptive adjustment quasi-zero stiffness vibration isolator and a control method. Comprising a base and a bearing plate, and a plurality of positive stiffness units are arranged between the base and the bearing plate to provide basic support; the negative stiffness unit is arranged below the bearing plate, the two ends of the negative stiffness unit are connected with the adjusting structure through the moving unit capable of moving in the length direction of the driving unit, the adjusting structure is composed of a lead screw and an adjusting motor, the projection length of the negative stiffness unit in the horizontal direction can be changed, and therefore continuous adjustment of the negative stiffness is achieved. The vibration isolator is further provided with an acceleration sensor, a relative displacement sensor and a rotary encoder, and the sensors are connected with a processing unit to form a real-time monitoring and feedback control system. The low-frequency vibration isolation device can keep stable low-frequency vibration isolation performance under the condition change, and is suitable for high-precision equipment and complex industrial vibration environments.

The invention discloses a control method and system of a hydraulic mechanical arm, electronic equipment and a medium, and belongs to the technical field of mechanical arm control technologies. The control method comprises the steps that the rotary encoder is used for detecting the rotary angle of the rotary platform; the lifting angle of the movable arm is detected through the movable arm angle sensor; the telescopic length of the telescopic arm body is detected through a telescopic arm length sensor; detecting the angle of the bucket rod by using the bucket rod angle sensor; and if a control instruction is received, current pose information is generated according to the rotation angle, the movable arm lifting angle, the telescopic length and the bucket rod angle, and control operation corresponding to the control instruction is conducted on a target valve set according to the current pose information. The hydraulic mechanical arm can achieve high-precision automatic control.

An image forming apparatus includes a transfer portion, a fixing portion, a detection unit configured to detect a bending amount of the sheet nipped between the transfer portion and the fixing portion, and a control unit. The detection unit includes a rotation portion configured to rotate in a rotation direction from a standby position by being pressed by the sheet nipped by the transfer portion and the fixing portion, a rotary encoder configured to output a pulse signal corresponding to a rotation amount of the rotation portion, and a rotation detector configured to detect that the rotation portion has reached a detection position downstream of the standby position in the rotation direction. The control unit controls a sheet conveyance speed of the fixing portion based on the pulse signal output from the rotary encoder after the rotation detector detects that the rotation portion has reached the detection position.

The invention designs a two-dimensional ring plug gauge thread measuring machine based on a rotary encoder and a thread measuring method, and belongs to the field of precision measurement. The device is composed of a base, an X-axis displacement structure, a Z-axis displacement structure, a ring plug gauge clamp device and a micrometer structure, a rotary encoder is fixed to the rotation center of a probe lever structure, and displacement is fed back in real time in combination with an X / Z-axis grating ruler. The computer integrally controls the motor rotor, the X / Y / Z axis movement and the rotary encoder through the single-chip microcomputer to construct a closed-loop system. The innovation lies in that the lever structure is optimized, appropriate measuring force is provided for different types of ring plug gauge threads, a Y-axis displacement structure is introduced, rapid positioning of a thread inflection point is achieved, accurate measurement of a rotary encoder is achieved, and the accuracy is further improved by error compensation of a computer host. According to the method, the thread to be measured cannot be damaged, manual crutch searching is not needed, measurement of the contact type rotary encoder is more accurate, the accuracy is further improved through error compensation, and an efficient solution is provided for automatic measurement of the thread of the ring plug gauge.

The invention discloses an automatic vibration reduction falling type fruit harvesting platform and a control method. The harvesting platform comprises a movable chassis and a 4RRS rigid-flexible coupling parallel mechanism; the 4RRS rigid-flexible coupling parallel mechanism comprises a net stretching mechanical arm assembly and a flexible harvesting net; the net stretching mechanical arm assembly comprises a plurality of groups of harvesting mechanical arms and a driving unit; an end effector of each group of harvesting mechanical arms is connected with a flexible collecting net; each group of driving units comprises a brushless direct current motor, a driving plate, a rotary encoder and a current / voltage sensor; when fruits fall onto the flexible harvesting net from the high altitude, the impact force of the fruits can be locally stiffened through the flexible harvesting net and is transmitted to the harvesting mechanical arm; according to the control method of the falling type fruit harvesting platform with the automatic vibration reduction function, the 4RRS rigid-flexible coupling parallel mechanism is used in cooperation with fruit impact force identification and an automatic vibration reduction control algorithm, so that falling fruits can be stably, rapidly and nondestructively harvested, the harvesting success rate and the nondestructive rate are increased, and the labor intensity and the cost are reduced.

The utility model belongs to the technical field, and discloses a device for testing the static braking torque of a brake, which comprises a frame. A power supply device; the brake and the output shaft are coaxially connected with a main shaft, one end of the main shaft is provided with a photoelectric rotary encoder used for recording the rotation angle of the brake, the other end of the main shaft is connected with a torque rotating speed sensor, and the torque rotating speed sensor collects torque data of the main shaft and is connected with the output end of the brake. A torque evaluation unit is installed below the torque rotating speed sensor to detect the torque of the main shaft; the swing arm sleeves the periphery of the main shaft and vertically extends downwards; the linear driving part moves in the horizontal direction, and a tension sensor is installed at the free end of the linear driving part and connected with the swing arm; the tension sensor measures the tension applied by the linear driving part. A tension tester is added, a torque and rotating speed sensor is added at a brake end, and through comparison of data at the two ends, force and torque change conditions in a test process are comprehensively considered, and experiment accuracy is improved.

The invention belongs to the technical field of performance testing, and particularly relates to a Hall sensor rotating speed testing device with an adjustable interval. The ball screw motor and the rotary encoder are connected with the ball screw support, the ball screw support is used for fixing and supporting the screw, the nut is fixed on the screw, the rotary motion of the nut is converted into linear motion to drive the workbench to move, the limit switch is installed on the ball screw support, and the sensor connector is fixed on the workbench. The Hall sensor is fixed in the sensor connector, the control signal processing module is connected with the rotating shaft motor, the rotating shaft is installed above the rotating shaft motor, the magnetic steel A and the magnetic steel B are symmetrically installed on the rotating shaft and used for triggering the Hall sensor, and the limiting switch is connected with the control signal processing module for control. The performance of the Hall sensor is tested, so that the safety and the reliability of the nuclear power station are improved.

The utility model belongs to the technical field of sports equipment, and discloses a self-generating elliptical machine which comprises a base. A frame; the connecting pieces are rotationally arranged on the surfaces of the two opposite sides of the frame respectively; the pedal structures are respectively connected with the connecting pieces on the corresponding sides; the wheel body structure is connected with the pedal structure and rotates along with the movement of the pedal structure; the damping motor is connected with the base and applies resistance to the wheel body structure; the brushless generator is connected with the wheel body structure, and rotation kinetic energy of the wheel body structure is supplied to the brushless generator for power generation; the controller is electrically connected with the brushless generator; the controller is electrically connected with the damping motor; and the hollow rotary encoder is arranged on the control panel, is electrically connected with the controller and is used for transmitting the received signal to the controller. The wheel body structure rotates to enable the brushless generator to generate electricity, the brushless generator supplies electric energy to the controller and the hollow rotary encoder which are electrically connected with the brushless generator, and the controller achieves damping adjustment by receiving signals of the hollow rotary encoder.

The invention discloses a welding and cutting device and method for a plastic spiral supporting pipe for a cable accessory, and relates to the technical field of cable hose production. The welding and cutting-off device for the plastic spiral supporting pipe for the cable accessory comprises a welding assembly, the welding assembly enables the spiral supporting pipe to be formed in the axial direction and to rotate and move, and at least one set of rotary encoders are arranged on one side of the axial moving path of the spiral supporting pipe. Cutting discs with the same number as the rotary encoders are arranged on the axial moving path of the cutting disc spiral supporting pipe and staggered from the rotary encoders, and a cutter is arranged on one side of each cutting disc. In the continuous manufacturing and forming process of the spiral supporting pipe, the rotary encoder is attached to the spiral supporting pipe to generate passive rotation, the moving length of the spiral supporting pipe is metered, meanwhile, the cutting disc gets close to the spiral supporting pipe to prepare for cutting off the spiral supporting pipe, and then the cutting disc is controlled to synchronously move and rotate along with the spiral supporting pipe; and during synchronous movement, the cutter is automatically pushed out, and the spiral supporting pipe is cut off.

The utility model discloses a rail damage detection experiment system based on a vehicle-mounted acoustic emission technology, and belongs to the technical field of vehicle-mounted acoustic emission detection experiments. And the track load condition of the train passing through the track can be simulated. Comprising a steel rail base, an operation support and a rolling wheel set. The steel rail base provides necessary mechanical support for the whole system, the steel rail on the steel rail base can prefabricate various damages, richer experimental data are provided, the running support is matched with the steel rail base to guide the rolling wheels to roll on the steel rail, and the pressure between wheel rails is adjusted through an external hydraulic machine, so that the steel rail base can be used for prefabricating various damages. A wheel rail state during real train operation is simulated, a rolling wheel set rolls on a steel rail to generate an acoustic emission phenomenon, an acoustic emission signal acquired by an acoustic emission sensor is transmitted to an acoustic emission acquisition system through a conductive slip ring, a rolling state of a roller is recorded through a rotary encoder, and necessary priori knowledge is provided for a vehicle-mounted acoustic emission experiment. And stable and reliable experimental research of the vehicle-mounted acoustic emission technology in a laboratory environment is realized.

The invention discloses a method and a device for arranging a light spot rotary encoder, and particularly relates to a high-precision encoder which is used on an optical light spot image capturing device, is combined with a short-distance altimeter to form the high-precision encoder, can be mounted on a machine table rotating shaft of various machines, can detect various errors of the rotating shaft defined by ISO230-7, achieves angle positioning of the high-precision encoder, and is high in precision. In addition, existing grating arrangement is not needed, subsequent compensation processing in the prior art is also omitted, and the method is particularly suitable for being used in extremely precise measurement and positioning (such as semiconductor equipment and the like) technical engineering. The light spot rotary encoder device comprises a rotary platform with a rough plane, a light spot measuring head and a plurality of short-distance altimeters, and the light spot measuring head is enabled to rotate on the rotary platform, so that track positioning of a light spot is reserved, and angle encoding measurement is carried out.

The invention discloses an environment self-adaptive magnetorheological fluid magnetic suspension flywheel energy storage device, and relates to the field of flywheel energy storage devices, the environment self-adaptive magnetorheological fluid magnetic suspension flywheel energy storage device comprises an energy storage cabinet, the front surface of the energy storage cabinet is provided with a door plate through a hinge, the energy storage cabinet is provided with a side plate, the top of the energy storage cabinet is fixedly provided with a top plate, and the energy storage cabinet is internally provided with a magnetic suspension flywheel energy storage device. Heat dissipation fins are arranged on the magnetic suspension flywheel energy storage device, and a flywheel rotor is movably installed in the magnetic suspension flywheel energy storage device. According to the environment self-adaptive magnetorheological fluid magnetic suspension flywheel energy storage device, the rotation state of the flywheel rotor can be indirectly detected through the rotary encoder, and the rotation state comprises rotation speed and position information; by monitoring the rotating speed of the flywheel rotor in real time, the control system can accurately adjust input electric energy according to actual requirements, the flywheel can be controlled to be charged at the optimal rotating speed, and energy loss or storage efficiency reduction caused by too high or too low rotating speed is avoided.

The invention discloses a compact five-degree-of-freedom teleoperation hand of a series-parallel structure and a control mapping method of the compact five-degree-of-freedom teleoperation hand. The teleoperation hand comprises a base, a wire guiding device, a fixing sleeve, a rotary encoder, a driving arm, a spherical hinge butt joint device, a driven arm, a torsional spring, a movable platform, a front-end operation series connection platform and two angular displacement sensors. The rotary encoder is fixed to the wire guiding device through the fixing sleeve and used for measuring the rotation angle of the driving arm in real time. One end of the driving arm is fixedly connected with a rotor of the rotary encoder, and the other end of the driving arm is hinged with one end of the driven arm; the other end of the driven arm is hinged to the movable platform, and the two angular displacement sensors are used for measuring the pitch angle and the yaw angle of a handle of the front-end operation series platform. The front-end operation series platform is hinged to the movable platform and used for adjusting the posture of the teleoperation hand. The device is simple and compact in structure, low in cost and small in size; through combination of series connection and parallel connection, the rigidity requirement is guaranteed, and meanwhile the flexibility of the device is guaranteed.

The utility model discloses a film plating machine workpiece umbrella tray detection mechanism which comprises a film plating machine chamber top cover, the inner wall of the top of the film plating machine chamber top cover is movably connected with a workpiece umbrella tray, the surface of the film plating machine chamber top cover is provided with a double-shaft driving motor, the surface of the film plating machine chamber top cover is provided with magnetic fluid, and the surface of the film plating machine chamber top cover is provided with a workpiece umbrella tray. An output shaft of the magnetic fluid extends into the top cover of the coating machine chamber and is fixed with the workpiece umbrella tray, and a transmission assembly is arranged on the outer wall of the top of the top cover of the coating machine chamber. Rotation detection of a workpiece umbrella tray in a vacuum environment can be transferred to detection in an atmospheric environment, in the atmospheric environment, a feedback signal of rotation of a large gear of the encoder is received through the rotary encoder, and vacuum magnetic induction detection in the coating machine is converted into atmospheric environment multi-point detection outside the equipment; multiple positions of the workpiece umbrella tray are monitored, the encoder is not affected by the working environment, feedback signals are accurate, and the positioning precision is high.

A system and method for a prosthetic assembly that includes a first prosthetic component, comprising a prosthetic hand base; a set of second prosthetic components, comprising a set of prosthetic fingers, and a set of actuating systems, wherein one actuating system connects a pair of distinct prosthetic components, enabling actuation of one prosthetic component with respect to the other. Each actuating system, from the set of actuating systems, includes a linkage and a sensored brushless motor; wherein the sensored brushless motor comprises a brushless motor, a field oriented control system, a rotary encoder, and a gearbox.

The invention relates to a full-automatic bridge health detection beam bottom robot which comprises a full-span deflection and damage detection device composed of wheels, a control motor, a rotary encoder, a tilt angle sensor, a camera, a light shield, an annular light bar, a spring, a pressure sensor and a controller. Images shot by the camera have fixed zooming parameters, so that the damage degree can be measured conveniently; the radar local space positioning and automatic operation system is composed of an aircraft main body, a front millimeter wave radar, a rear millimeter wave radar, four reflection targets, a controller and a solar charging pile, and the front millimeter wave radar, the rear millimeter wave radar and the four reflection targets are used for providing local space positioning for the aircraft main body. The controller presets the space trajectory of the beam bottom robot for operation detection and going to the solar charging pile, and automatic operation is achieved. The robot can accurately detect the full-span deflection and damage condition of the bridge, accurate space positioning and storage are carried out on data, and powerful support is provided for bridge health condition evaluation.

The invention discloses a marine crane technology, and aims to provide a control execution system of a marine crane, which is characterized by comprising a visual identification subsystem, a control execution subsystem, a control execution subsystem, a control execution subsystem and a control execution subsystem, and the visual identification subsystem is provided with a CCD (Charge Coupled Device) camera and is used for collecting visual image information of an operation area of the marine crane; precise positioning, cargo identification and operation path planning of the marine crane are output; the sensor subsystem integrates a position sensor and a limiting sensor, wherein the sensor subsystem comprises but is not limited to the position sensor; the motion control subsystem comprises a motion control module, a servo driving module and a variable frequency motor; the code detection subsystem comprises an encoder, an electronic bar code and a rotary encoder; the operation safety is integrally guaranteed, the positioning and control precision is greatly improved, accidents are reduced, the operation efficiency is improved, fault diagnosis is assisted, and stable and efficient operation of the crane is ensured; the invention is suitable for the technical field of ship cranes.

The invention relates to a pneumatic feeding mechanism and a control method thereof. The mechanism comprises a driving unit, a chain transmission unit, a pneumatic clamping unit and a control system. The driving unit drives a chain wheel through a motor speed reducer to drive the loop chain to lift; one end of the ring chain is connected with the pneumatic clamping unit and the other end is connected with the balancing weight; the pneumatic clamping unit comprises a clamping air cylinder, a clamping rod and a bar clamp and is connected with an external air source through a spiral air pipe. The control system monitors the lifting position and speed in real time through a rotary encoder, and precise control is achieved. Through the innovative chain transmission and pneumatic clamping collaborative design and in combination with an intelligent control method, the problems that an existing feeding mechanism is too high in height, poor in stability and insufficient in control precision are effectively solved, and the feeding mechanism is particularly suitable for the vacuum precision casting furnace environment with the limited floor height. The overall height of the mechanism is reduced by more than 30%, the positioning precision reaches + / -0.5 mm, and the operation reliability is remarkably improved.

The smart torque simulation device includes: a bracket; a shaft center; a winding wheel which having a winding wheel spinning encoder; an outer flywheel which an outer flywheel spinning encoder, the winding wheel and the outer flywheel are relatively coupled with a magnetic plate and a magnet; an inner flywheel with a field magnet, the inner flywheel has a power transmission relationship with the outer flywheel; a coil set, having a coil fixing frame which has an armature coil, and the armature coil is coupled to the field magnet of the inner flywheel, the armature coil has an electric current regulator; and a control system, receiving a winding wheel spinning data from the winding wheel spinning encoder and receiving an outer flywheel spinning data from the outer flywheel spinning encoder, and then sending an armature electric current control data to the electric current regulator.

The invention discloses a multi-nozzle cooperative control system and method based on a main control board polling communication protocol. The multi-nozzle cooperative control system comprises an FPGA main control board, a motion control module and an FPGA nozzle board set. The FPGA main control board is used for receiving a signal of an upper computer and establishing communication with the FPGA spray head board group by adopting an address ascending order polling strategy so as to carry out dot matrix data transmission; the motion control module comprises a motor, the motion control module is connected with the FPGA main control board, the motor is driven according to pulse frequency and direction signals generated by the FPGA main control board, and a rotary encoder is arranged in the motion control module to feed back the actual position of the motor to the FPGA main control board in real time; and the FPGA spray head plate group is used for receiving dot matrix data issued by the FPGA main control board, and generating a high-voltage pulse to drive and control a corresponding spray nozzle to spray ink when an ignition signal broadcasted globally is received. According to the method, an address ascending order polling strategy is adopted, so that the orderly communication of each FPGA nozzle plate is ensured, and the multi-node competition conflict is thoroughly avoided.

The present application relates to the technical field of road engineering, and aims to provide a calibration device for asphalt penetrometer, which comprises a processor, a display, a mounting bracket mounted on the head of the penetrometer, and a calibration mechanism arranged on the mounting bracket; the calibration mechanism is provided with a swing rod, a contact rod is arranged on the swing rod and rotationally matched with the swing rod, and the rod shaft of the contact rod is connected with the input end of a rotary encoder; the swing rod can swing under its own gravity and drive the contact rod to abut against the side wall of the needle connecting rod of the penetrometer to form contact with the needle connecting rod; the rotary encoder is electrically connected with the processor, and the processor is electrically connected with the display. The present application can assist the operator to quickly and efficiently calibrate the penetrometer, is convenient to use, can be adapted to various types of penetrometers, and has good universality.

The utility model discloses a lifting measuring device for a flow channel flashboard, and belongs to the technical field of flow channel flashboard lifting control. Comprising a rotary encoder which is installed on a rotating shaft of a fluid channel flashboard lifting motor; the pulse distributor is connected with the rotary encoder; the first opening display meter is connected with the pulse distributor, and the first opening display meter is located in the central control room; the second opening display meter is connected with the pulse distributor, and the second opening display meter is located on the local control box; the power supply is connected with the pulse distributor. The technical scheme has the beneficial effects that the angular displacement and the acceleration of the motor rotating shaft are measured by adopting the rotary encoder, so that the ascending and descending heights and speeds of the liquid flow channel flashboard are indirectly measured, and the device has the advantages of high precision, simplicity and convenience in installation and low installation cost.