1052 results about "Servo control" patented technology

The invention relates to the technical field of intelligent control, provides a flow regulating valve servo force control method and system based on a force sensor, and aims to solve the technical problems of response delay, weak overshoot suppression capability and poor long-term operation stability. The method comprises the following steps: acquiring a servo driving current data set and a valve displacement track data set of a target regulating valve; performing pressure feature mapping processing on the servo driving current data set to generate a pressure fluctuation feature set corresponding to the driving current waveform data; the pressure fluctuation characteristic set and the valve displacement track data set are input into a preset force control decision model for dynamic matching processing, and a servo control instruction set is generated; executing multi-stage dynamic adjustment operation on a servo driving unit of the target adjusting valve according to the servo control instruction set, and generating real-time pressure balance state data; and iteratively updating the dynamic matching processing parameters of the force control decision model based on the deviation value of the real-time pressure balance state data and the preset pressure reference value.

The invention relates to the technical field of marine monitoring, in particular to a marine target visual servo tracking method, which comprises the steps of multi-modal sensor fusion, a self-adaptive visual tracking algorithm, a servo control and visual collaboration mechanism and a shielding processing and target re-identification strategy. The problem that tracking is unstable under the conditions of illumination change, ship body shaking, target shielding and the like in a traditional method is solved. The IMU, the GNSS and the visual data are fused through extended Kalman filtering, ship body shaking is compensated, and the target state estimation precision is improved; the improved D-Fi ne target detection model is combined with an online feature updating mechanism to dynamically adapt to the appearance change of the target; the prediction and correction control strategy and the double-closed-loop PI D controller cooperate to adjust the camera holder, and the tracking delay is reduced; the multi-clue shielding detection and space-time joint feature matching technology ensures accurate re-identification of the target after shielding is removed. The real-time performance and robustness of the tracking system on an embedded platform are improved, and an efficient and stable target tracking solution is provided.

The invention relates to a multi-product-line-oriented robot welding integration method, device and equipment and a medium, and the method comprises the steps that three-dimensional geometrical characteristics and material attribute data of multiple types of workpieces are collected, and geometric parameters and material mechanical properties of weld joints are extracted; an order demand template is intelligently matched, and initial welding parameters and a clamp configuration scheme are generated; the health state of production equipment is evaluated in real time, and the collision-free movement track of the mechanical arm is planned; dynamically analyzing the joint angle sequence to generate a high-precision servo control signal; the welding process is monitored in real time, and current and molten pool temperature parameters are corrected; and iteratively optimizing the algorithm weight of the process knowledge base to improve the adaptive capacity. Through cooperation of multi-source data fusion and an intelligent algorithm, rapid switching of multiple kinds of workpieces, self-adaptive compensation of the equipment operation state and closed-loop optimization of welding process parameters are achieved, and the equipment utilization rate and the welding quality stability in a flexible production scene are remarkably improved.

The invention relates to the technical field of automatic workpiece grabbing and visual servo control, and discloses a workpiece grabbing method and system based on visual feedback, and the method comprises the steps: obtaining a real-time image through a front-view camera, a side-view camera and a top-view camera, and extracting surface features through a feature fusion network; inputting the features into a pose estimation model based on a particle filtering framework, and iteratively updating the pose in combination with a multi-dimensional observation likelihood function to generate prediction parameters; constructing a multi-target path planning model based on the parameters, and optimizing the path by adopting a dynamic planning algorithm with the shortest path and the minimum joint movement as targets; a hierarchical control model is established, a strategy layer performs global planning, an adjustment layer corrects a local path, and an execution layer realizes trajectory tracking through visual servo control and outputs a control instruction to complete grabbing. Through multi-view perception, robust pose estimation, global optimization path planning and hierarchical control, the precision, efficiency and stability of workpiece grabbing in a complex environment are improved.

The invention relates to an equipment flexible resistance adjustment servo control method and system, and the method comprises the steps: obtaining resistance torque data and a periodic control instruction of target equipment, carrying out the expansion estimation of disturbance parameters, and obtaining the total disturbance torque data and load equivalent stiffness information of a system; acquiring servo motor data of the target equipment, performing multiple feed-forward compensation on the total disturbance torque data of the system to obtain anti-interference feed-forward compensation data, and performing stiffness reference adjustment in combination with the load equivalent stiffness information to obtain a feed-forward reference coefficient; performing torque parameter coupling on the anti-interference feed-forward compensation data according to the feed-forward reference coefficient to obtain rigidity compensation torque data; and according to the servo motor data, the feedforward reference coefficient and the rigidity compensation torque data, performing instruction construction to obtain a servo control instruction. According to the invention, the dynamic characteristics of the system under complex working conditions can be evaluated more accurately, and the precision of servo control is improved.

The invention discloses a digital twinning-based major engineering construction safety active control method, system and equipment, and belongs to the technical field of construction active control. The problems of low safety risk identification efficiency and inaccurate risk control means in the major engineering construction process are solved, major engineering construction site environment and structural feature data are obtained through space-air-ground-water multi-way intelligent means and equipment, a digital twinborn model of a real-time mapping construction site is established, and the safety risk identification efficiency of the major engineering construction site is improved. Correcting the digital twinborn model by using real-time data; a digital twinborn model is used as a basic model of finite element analysis, mechanical properties of different construction stages are analyzed, dynamic early warning is performed on an analysis result in combination with real-time data, a safety risk derivation model is established to perform real-time analysis on key problems such as a risk point location, a risk influence range and risk derivation prediction in the digital twinborn model, and the safety risk derivation prediction result is obtained. Data support is provided for engineering safety active control, an active control strategy model is established, a control strategy is output to a servo control device according to risk information, strategy dynamic adjustment is performed according to a real-time effect, and high-precision cooperative control of major engineering safety monitoring is realized.

The invention discloses a precision compensation method of a composite numerical control machine tool, and particularly relates to the technical field of precision control of the numerical control machine tool, which comprises the following steps: synchronously acquiring temperature, vibration and force information under the driving of a unified clock through multiple types of sensors deployed at key nodes of the machine tool, and generating a synchronous multi-source sensing data set with aligned timestamps; inputting the data set into a multivariable coupling error model obtained through data driving training, and calculating and generating a comprehensive space volume error predicted value of a tool nose point of the tool; performing inverse calculation based on a machine tool kinematic chain model, and generating a multi-dimensional micro-compensation instruction set containing the compensation amount of each motion axis and the sequential relationship; and finally, dynamically writing the instruction set into a servo control ring of the numerical control system through a real-time data interface, and driving each motion shaft to execute synchronous compensation motion. According to the method, comprehensive compensation of multi-physics field coupling errors such as temperature, vibration and force load is achieved, and the machining precision and stability of the numerical control machine tool under complex working conditions are improved.

The invention relates to the technical field of target tracking, in particular to a photoelectric tracking algorithm and system for self-adaptive target tracking, and the system comprises an image collection module, a cross-spectrum self-adaptive sensing module, an image processing and target recognition module, a self-adaptive tracking algorithm module and a servo control module, and constructs a closed-loop feedback link to achieve the synchronous optimization of parameters in a whole link. The algorithm comprises the steps of image acquisition and adjustment, target detection, parameter optimization, servo driving and feedback. The system can accurately estimate a high-speed turning target, is adaptive to complex environments such as low illumination / haze and the like, completes sheltered target recapture within 0.5 s, has servo compensation precision of + / -0.1 degree, is suitable for airport bird monitoring, port unmanned aerial vehicle tracking and highway vehicle monitoring scenes, and significantly improves tracking stability and practical value.

The invention discloses a servo control method and system based on a PLC. The method comprises the steps of track data acquisition, interpolation instruction generation, control instruction output, state information acquisition, synchronous error evaluation, error compensation, track continuity control and the like. Wherein the PLC generates a multi-axis interpolation control instruction according to trajectory data issued by the upper computer, periodically issues the multi-axis interpolation control instruction to each servo driver through a high-speed timed task, collects feedback information in real time, and evaluates multi-axis synchronous deviation. On the basis, the PLC constructs an error vector and dynamically corrects interpolation parameters of the next period to realize synchronous control. Meanwhile, a buffer transition area is arranged at the track section switching position, acceleration and speed changes are adjusted, and it is guaranteed that the motion track is continuous and smooth. The system comprises a PLC, a trajectory data input module, an interpolation generation module, an error evaluation and compensation module and the like, has high real-time performance and high synchronization precision, and can improve motion coordination and system stability in complex trajectory execution.

The invention provides a heat-water-force coupling experimental device and a testing method based on dynamic true triaxial electromagnetic Hopkinson bar system loading. The experimental device comprises an X-axis dynamic loading system, a Y-axis lateral anti-seepage loading system, a Z-axis normal static pressure servo control loading system, a seepage system, a temperature control system and a data monitoring and collecting system. According to the device, on the basis of a dynamic true triaxial electromagnetic Hopkinson bar system, a shear loading module, a temperature regulation and control module and a seepage control module are creatively integrated, so that the true working condition of a deep rock mass under the coupling action of dynamic disturbance, osmotic pressure and temperature is simulated. The device breaks through the limitation that a traditional experiment system is difficult to realize multi-field coupling loading under a high-speed shearing condition, and provides an experiment means for dynamic response research of fractured rock mass under a complex multi-field environment.

The invention relates to a mechanical arm visual servo control method and system based on deep reinforcement learning. Firstly, real-time state observation and collision detection are conducted on the mechanical arm, and an observation result is obtained; then, a deep reinforcement learning controller is built by means of a maximum entropy deep reinforcement learning SAC algorithm network architecture, and an action space, a state space and a reward function are built according to an observation result and a target position; and then, outputting a first action representation based on the construction content, optimizing a controller according to a calculation result of the first action representation and the reward function, smoothly optimizing the first action representation by using a real-time track interpolation strategy to obtain a second action representation, and controlling the mechanical arm joint according to the second action representation. And the process is continuously repeated until the mechanical arm successfully arrives at the target position. Compared with the prior art, the method has the advantages of high control real-time performance, large application range and the like.

The invention relates to the technical field of servo control, in particular to a high-precision current closed-loop control system and method for a servo driver, and the method comprises the steps: collecting three-phase current, rotor position, winding temperature and bus voltage, and constructing a state data set; constructing a parameter identification model fusing physical prior and an attention mechanism, deducing inductance and flux linkage parameters influenced by temperature, saturation and cross coupling, and correcting a motor model in real time; the correction parameters are injected into an FOC decoupling and feedforward link, and a self-adaptive PI regulator is linked to set the gain of a current loop on line; calculating a d-q axis voltage command according to the update model to respectively control excitation and torque components; an extended state observer is introduced to estimate load abrupt change and parameter disturbance, feed-forward compensation is carried out, and three-phase PWM is generated through anti-Parker and SVPWM; and an inverter nonlinear compensation model of a dead zone and switch delay is constructed, PWM is pre-distorted and output to a power device, and robust and low-ripple current closed-loop control of the servo motor is realized.

The invention discloses a high-compliance impedance training method and system based on self-adaptive visual servo control and application of the high-compliance impedance training method and system. The training method comprises the steps that historical pose data and historical contact stress data are collected; performing feature processing to obtain stress pose information and generate a corresponding pose mapping relation; constructing a dynamic mapping model associated with the muscle force, the contact stress, the training track and the impedance parameters in combination with the stress pose information and the pose mapping relation; acquiring rehabilitation training information of a current patient, and generating and optimizing a preliminary expected trajectory; calculating deviation data of the real-time trajectory and the expected training trajectory; and an impedance adjusting model is constructed, the input of the impedance adjusting model comprises the deviation data and the real-time contact stress data, and the output of the impedance adjusting model is the impedance adjusting quantity. According to the invention, through visual real-time feedback, fuzzy PID adaptive adjustment and multi-feature fusion modeling, impedance adjustment training with better dynamic adaptability, higher safety, higher flexibility and high personalized precision can be realized.

The invention discloses a dual-redundancy servo controller and a main-standby autonomous switching method thereof, and belongs to the technical field of electric servo control. The controller comprises a host machine and a standby machine; each of the host and the standby machine comprises a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a hardware ID (Identity) identification module, a motor power driving IPM (Intelligent Power Module) and a generator tripping instruction module which are in signal connection; the DSP and the FPGA are respectively connected with an LDO (Low Dropout Regulator) power module; the FPGA is in communication connection with the control system; the motor power driving IPM is connected with the execution mechanism; the DSP processors of the host and the standby machine are in signal connection; and the switching instruction modules of the host and the standby are in signal connection. The invention discloses a main / standby autonomous switching method for a dual-redundancy servo controller, which adopts a DSP and an FPGA to cooperatively detect and process faults, improves the fault detection rate by 5%, and reduces the possibility that the output of an IPM module is not turned off by 20% when a fault occurs; three heterogeneous redundant generator tripping modes of hardware generator tripping, serial port generator tripping and heartbeat generator tripping are adopted, and the reliability of main and standby independent generator tripping is improved by 20%.

The invention belongs to the technical field of clamping, and discloses a large thin-wall shell self-adaptive floating shape follow-up clamp and a force feedback clamping method. The large thin-wall shell self-adaptive floating shape follow-up clamp has certain flexibility and can clamp a large thin-wall shell workpiece in a self-adaptive floating shape follow-up mode. The large thin-wall shell self-adaptive floating shape follow-up clamp can achieve the full-surface clamping force feedback function of a large thin-wall shell workpiece. Force sensors are arranged below the circumferential floating supporting module and the top supporting module, the clamping force can be monitored and displayed in real time through a PLC control system, the purposes of quantitatively applying the clamping force and conducting self-adaptive feedback adjustment on the clamping force are achieved, and the clamping precision is improved. The large thin-wall shell self-adaptive floating shape follow-up clamp can achieve automatic clamping and releasing of a large thin-wall shell workpiece. Based on a PLC control system, the top supporting module and the circumferential floating supporting module are controlled through air pressure and servo, the end face positioning device is driven through oil pressure, automatic clamping and releasing are achieved, manual participation is reduced, and the clamping efficiency is improved.

The invention provides a servo press control system and method based on a time-sensitive network, and relates to the technical field of intelligent manufacturing and industrial automation control, and the system comprises a time-sensitive network TSN which is used for providing global time synchronization and deterministic data transmission; a main controller of the multi-axis servo control unit is used for issuing a motion control instruction and a feeding and discharging control instruction through a TSN. A robot controller in the robot feeding and discharging unit is used for driving an industrial robot to execute plate taking and placing operation under the action of the feeding and discharging control instruction. The visual monitoring unit comprises an industrial camera accessed to the TSN and is used for collecting images and transmitting image data to the edge computing node through the TSN; the edge computing node is used for processing the image data to generate a compensation instruction and feeding back the compensation instruction through the TSN; and the upper monitoring system is used for subscribing real-time data published by the edge computing nodes, so that the control range of the servo pressure control system is expanded, and the convenience of data transmission and interaction is improved.

The invention relates to the field of servo control, and particularly discloses a servo control method and system based on a programmable logic controller. The method comprises the following steps: the main control module and the shaft control module complete communication initialization through a high-speed bus, and load a standardized instruction library to generate an adaptive program segment; the digital twin engine collects data in real time to construct a virtual model, and when the deviation exceeds a threshold value, early warning is triggered; when a fault occurs, the feature parameters are matched with the fault gene pool to judge the type, and a maintenance work order is generated; and hot plug maintenance is supported, and parameters are quickly synchronized to recover operation after a new module is inserted. According to the technology, through modularization and intelligent integration, multi-axis flexible expansion is achieved, frequent hardware change is not needed, the maintenance process is optimized, faults are rapidly positioned, a main system is not interrupted, the whole process is traceable, meanwhile, system stability and control precision are guaranteed, and the flexible requirement of industrial multi-axis cooperation is met.

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 relates to a servo driver parameter self-tuning oscillation suppression compensation method and related equipment, and the method comprises the following steps: carrying out the multi-channel synchronous collection of an operation state signal of a servo motor, and obtaining a real-time dynamic response data flow; performing time-frequency domain conjoint analysis on the servo motor based on the real-time dynamic response data flow to obtain an oscillation characteristic parameter matrix; performing oscillation source identification on the servo motor based on the oscillation characteristic parameter matrix to obtain an oscillation excitation source classification matrix; performing compensation parameter calculation on the oscillation excitation source classification matrix to obtain a multi-dimensional compensation coefficient set; and performing real-time parameter updating adjustment on the servo driver based on the multi-dimensional compensation coefficient set to obtain a servo control output signal after oscillation suppression, thereby solving the technical problem that a traditional servo driver depends on a fixed parameter setting method, is difficult to adapt to a complex and changeable working condition environment, and cannot effectively suppress an oscillation phenomenon.

This invention provides a thermal-hydraulic-mechanical coupling experimental apparatus and testing method based on a dynamic true triaxial electromagnetic Hopkinson bar system. The experimental apparatus includes an X-axis dynamic loading system, a Y-axis lateral anti-seepage loading system, a Z-axis normal static pressure servo-controlled loading system, a seepage system, a temperature control system, and a data monitoring and acquisition system. Relying on a dynamic true triaxial electromagnetic Hopkinson bar system, the apparatus innovatively integrates shear loading, temperature regulation, and seepage control modules to simulate the real-world conditions of deep rock masses subjected to dynamic perturbations, osmotic pressure, and temperature coupling. This apparatus overcomes the limitations of traditional experimental systems in achieving multi-field coupled loading under high-speed shear conditions, providing an experimental approach for studying the dynamic response of fractured rock masses under complex multi-field environments.

The invention relates to the technical field of industrial automation control, and particularly discloses a rotating speed detection and closed-loop control system based on photoelectric sensing and a PLC, and the system comprises at least one rotating body which is a rotating speed controlled object, and the surface of the rotating body is provided with a configurable number of reflection mark areas or speed measurement holes; the proximity photoelectric switches are in one-to-one correspondence with the rotating bodies, are aligned with the reflection mark areas or the speed measurement holes, and are used for detecting rotation information of the rotating bodies and generating original pulse signals; a high-speed counter input port of the PLC is electrically connected with signal output ends of the proximity photoelectric switches, and a pulse preprocessing module, a rotating speed calculation module, a deviation processing module, a control algorithm module and a signal adaptation module are arranged in the PLC. The PLC and the proximity photoelectric switch which are widely applied in the industrial field and high in popularity rate are adopted as core technical components, and expensive special servo controllers, encoders and other devices are not needed, so that the hardware purchase cost of the system is greatly reduced.

The invention relates to the technical field of motor servo control, and discloses a dual-motor servo press energy efficiency optimization method based on edge calculation. According to the method, operation parameters of a main driving motor and an auxiliary motor are collected in real time through edge calculation nodes deployed on a dual-motor servo press body; dynamically constructing a dual-motor cooperative load state matrix based on the operation parameters, and calculating a real-time comprehensive energy efficiency index by using an energy efficiency evaluation model in an edge calculation node; according to a deviation value between the index and a target energy efficiency threshold value, determining a dynamic energy efficiency adjustment parameter of the double motors; sending an instruction to the controller by the edge computing node, and synchronously updating a power distribution strategy; and monitoring and feedback adjustment are executed circularly until the dual-motor cooperative load state reaches a preset energy efficiency stable interval. According to the method, real-time monitoring and dynamic optimization of the dual-motor cooperative operation state are realized, and the energy efficiency stability of equipment operation is improved.

The invention discloses an intelligent control method for a cutter changing robot of a shield tunneling machine, belongs to the technical field of automatic control, and aims to solve the problems of low hob changing efficiency, inaccurate decision, large positioning error and the like of the shield tunneling machine under a complex stratum. Hob state parameters are collected through multiple sensors, a three-level decision threshold value is constructed, dynamic adjustment is conducted through fuzzy logic, and intelligent hierarchical control over abrasion pre-judgment, early warning and emergency response is achieved. A multi-dimensional weighting model is adopted to calculate the priority of the abraded hob, a cutterhead path is optimized in combination with a dual-objective function, and an efficient execution sequence is generated. In the positioning link, through reverse path planning, PID compensation inertial slippage and cooperation of multispectral imaging and feature matching technologies, hob mark points are accurately extracted, pose deviation is corrected, and it is ensured that the hob mark points enter a robot working space. A double-station conversion table is integrated, synchronous exchange of a new cutter and an old cutter is achieved through hydraulic and servo control, force-position hybrid control is adopted for an end effector, and the disassembly and assembly stability is improved by combining with a torque wrench for staged operation.

The invention relates to the technical field of intelligent traffic, and discloses an intelligent servo barrier gate management system. According to the system, vehicle identification information, detection information, environmental parameters and a barrier gate equipment state are acquired in real time through the data acquisition unit, comprehensive monitoring of traffic flow is ensured, the processing and analysis unit processes the acquired data by using a deep learning model, a control instruction is quickly generated, and the vehicle passing efficiency is evaluated, so that the traffic flow is ensured. The servo control unit is combined with an adaptive control algorithm to dynamically adjust the switching speed, the torque and the acceleration of the barrier gate, the vehicle passing experience is optimized, the queuing time is reduced, the bidirectional communication capability of the communication unit realizes remote monitoring and adjustment of the state of the barrier gate, and the traffic management decision making efficiency is improved. A manager can timely respond to sudden traffic conditions, the response speed and accuracy of the system are improved, the intelligent system effectively relieves the bottleneck of traditional barrier gate management, and the intelligent level of urban traffic is improved.

The invention relates to the technical field of metallurgical continuous casting production, in particular to a continuous casting blank movement tracking method, which comprises the following steps of: calculating the thermal deformation of each section of a casting blank according to the section temperature of the casting blank along the length direction in combination with the material thermal expansion coefficient and the section length at the corresponding section temperature, and generating the real-time correction position of the casting blank after a physical correction track is generated; on the basis of the real-time correction position, a preset casting blank benchmark reference position, the real-time pulling speed, the real-time cooling water amount, respective preset benchmarks and motion inertia deviations calculated on the basis of material physical properties and the real-time pulling speed, track prediction adjustment factors are generated; generating a compensation amount for the reference disturbance compensation amount by combining the matching degree of the visual solidification front edge and the model prediction, obtaining a position compensation value, superposing the position compensation value to the original trajectory, obtaining a final tracking trajectory, converting the final tracking trajectory into a servo control instruction, and dynamically correcting the casting blank tracking position. According to the invention, the precision, the dynamic performance and the intelligent performance of the continuous casting blank movement tracking are realized.

The invention discloses a three-degree-of-freedom ultrasonic motor driving control method. A three-degree-of-freedom ultrasonic motor comprises a signal generation module, a key control module, a power amplification module, a communication module, a grating ruler analysis module, a control algorithm, a data processing module, a power amplification circuit, a matching circuit and a voltage and current sampling circuit. The signal generation module outputs six paths of PWM waves with adjustable frequencies, phases and duty ratios, the control algorithm module performs adjustment through a control algorithm according to operation parameters of an ultrasonic motor fed back by a grating ruler, the key module is used for manual control, and the communication module is composed of USART logic and DMA logic. A control algorithm and data processing are generated by a single-chip microcomputer, detection and servo control are carried out through a communication USART module, and real-time monitoring, power amplification and matching are carried out on a serial port assistant of an upper computer, and a voltage and current sampling circuit drives and stabilizes operation of the ultrasonic motor. According to the invention, the amplitude modulation precision is below 4mv, and the stability is higher through a closed-loop control algorithm.

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 present application relates to a kind of vehicle body paint defects detection device and its detection method, including servo controller, industrial computer, vehicle body conveying mechanism, several area array cameras, several projectors and several projection screens, the industrial computer is connected with the servo controller, the servo controller is connected with the vehicle body conveying mechanism, the vehicle body conveying mechanism can be driven under the action of the servo controller and industrial computer and be moved in length direction and height direction for vehicle to be detected, the area array camera is distributed around vehicle to be detected, the industrial computer is connected with the projector, the projection screen is set in the periphery of the projector and corresponds with the projector, the vehicle body paint defects detection device and its detection method, collection efficiency is high, imaging quality is high, system structure is compact, and cost is low.

The invention relates to a motor encoder protocol real-time conversion device and a minimum delay method, and the method is characterized in that a high-precision clock is arranged in a protocol converter, and the following steps are executed: periodically reading position data from an encoder, recording a latching moment and a position value of the encoder, and calculating a real-time speed; and when a position reading request of the driver is received, recording a request moment, carrying out interpolation calculation by utilizing a set calculation formula, and returning a compensated real-time position to the driver. In order to minimize time delay, a phase-locked loop is adopted, the request time of the driver is taken as a reference, and the reading trigger time sequence of the encoder is synchronized and subjected to phase adjustment, so that the encoder can respond to the next request of the driver as soon as possible after data reading is completed, and the interpolation error is reduced to the minimum. The method effectively solves the problem of position transmission delay when encoders and drivers of different protocols are interconnected, and is suitable for high-precision servo control.

The invention relates to the technical field of robot control. A humanoid robot gait generation system based on hierarchical control is characterized by comprising a multi-layer control system operating at different refresh frequencies, and the multi-layer control system comprises a high-layer gait and trajectory planning layer operating at a low frequency and used for generating a macroscopic motion instruction; the middle-layer whole-body motion optimization layer runs at medium frequency, serves as a bridge of high-layer planning and bottom-layer control and is used for converting expected plantar and trunk tracks into reference motion of all joints of the whole body; the bottom joint servo control layer runs at the highest frequency and is responsible for accurately tracking a joint-level instruction output by the whole-body motion optimization layer; the state sensing and feedback closed-loop layer is used for feeding back state information, obtained in real time, of the body state of the robot to all the layers, providing a basis for track re-planning of a high layer and providing a real-time state initial value for optimization of a middle layer; and a feedback signal is provided for servo control of a bottom layer.