712 results about "Servo control" patented technology

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 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 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 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 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 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.

The invention relates to the field of industrial robot visual servo control, in particular to a visual servo grabbing dynamic compensation system. The system comprises an image acquisition module, a motion analysis module, a local modeling module, a prediction module and a compensation execution module. A target image sequence is continuously captured, a motion track is extracted, a non-parametric local motion model is established based on recent data, the position of a target at the future grabbing moment is predicted, and a compensation signal is generated according to a prediction result to adjust the grabbing track of a robot. According to the method, the motion model is constructed by adopting a local weighted regression method, accurate description and rapid adaptation of various motion modes are realized through adaptive bandwidth adjustment and an online updating mechanism, and the grabbing success rate of a moving target is effectively improved.

The invention discloses a hand-eye cooperative robot control system and method based on dynamic operator arrangement, an upper computer planning layer operates a master control computer to periodically trigger task scheduling, a joint controller of a lower computer execution layer receives an instruction through a redundant bus to perform servo control, hand-eye camera data triggers a visual assembly line through an interrupt event, and a visual assembly line is controlled through a control interface. According to the method, pressure is calculated through visual processing, motion planning and joint control in a load sharing mode, a double-buffering mechanism is adopted to enable current frame visual processing and previous frame motion control to be executed in an overlapping mode, real-time scheduling and parallel computing of tasks are completed, hot data are cached in a memory database, cold data are archived to an HDFS and migrated through an LRU strategy, and the real-time scheduling and parallel computing of the tasks are completed. Data type conversion is automatically derived and performed based on a feature type registry, and conditional branch execution is triggered according to real-time sensor data. According to the control system, cross-hardware plug and play, algorithm flow configurability and data flow real-time sharing are achieved, and the requirement for improving the efficiency of complex operation tasks is met.

The invention relates to a stress calculation method, device, equipment and medium for a floating type draught fan foundation structure, and the method comprises the steps: carrying out the frequency domain potential flow water power analysis of a wet surface element model of a foundation floating body of a floating type draught fan, and obtaining the water power pressure distribution and a water power coefficient; boundary conditions are applied to the simulation model of the floating type wind turbine foundation structure, various working conditions are loaded, finite element analysis is carried out based on hydrodynamic pressure distribution, and various structural stress transfer functions are obtained; based on the hydrodynamic coefficient, performing linear processing on the fan aerodynamic force, the impeller pneumatic torque, the floating body hydrodynamic force and the mooring restoring force of the floating fan and the influence of a fan servo controller on the floating fan, and substituting a linearization result into a motion equation of the floating fan for calculation to obtain a plurality of dynamic response spectrums; and multiplying the structural stress transfer functions by the corresponding dynamic response spectrums, and adding a plurality of multiplied results to obtain a total stress spectrum. The method can improve the efficiency.

The invention relates to the field of precision machining detection, and discloses a hydraulic shaft sleeve machining detection system and detection device which comprises a pneumatic servo control module, a signal collecting and processing module and a thermal inversion calculation module. The pneumatic servo control module drives the overturning air cylinder to apply a composite pressure waveform containing a static reference and a periodic flutter component to the hydraulic sleeve; the signal acquisition and processing module performs frequency domain analysis on a displacement signal detected by the displacement sensor and separates average displacement and displacement amplitude; the thermal inversion calculation module calculates real-time dynamic stiffness according to the displacement amplitude, a material stiffness thermal softening model is used for reversely deducing a temperature rise value, thermal expansion and elastic deformation errors are stripped through multi-dimensional error decoupling operation, and real height data under the standard temperature and without external force are calculated. According to the invention, active excitation and frequency domain analysis technologies are utilized, so that the interference of an oil film and thermal deformation is effectively solved, and high-precision online detection and processing compensation of a thermal-state workpiece are realized.

The invention discloses a vertical superfinishing machine intelligent servo control method based on dynamic parameter identification, and relates to the technical field of servo control. Comprising the steps that first sensing equipment is arranged on a key motion axis of target equipment and used for obtaining vibration data of the motion axis, and vibration information items are obtained; and second sensing equipment is arranged on the oilstone unit, is pressure and temperature integrated sensing equipment and is used for acquiring real-time pressure data and temperature data of the oilstone to obtain a pressure information item and a temperature information item. According to the method, damage sorting is combined, low-damage combinations with different oscillation frequencies and feeding speeds are preferentially selected to serve as equipment execution, updating information of vibration information items, pressure information items and temperature information items is deeply obtained, secondary adjustment is conducted on initial information items, and the accuracy of the equipment is improved. Therefore, oilstone driving control based on dynamic parameter identification of vibration data, temperature data and pressure data combination is realized.

The invention discloses an unmanned aerial vehicle relay tracking system and method for cloud side-end cooperation in an urban scene, and belongs to the technical field of intelligent traffic and unmanned aerial vehicle cooperative control. In order to solve the problems of insufficient endurance and limited sight distance of existing single-machine tracking in an urban large-range scene, a physically distributed and logically unified cloud-side-end three-level architecture is constructed, wherein a cloud end is responsible for natural language instruction analysis and global road network monitoring; the edge end serves as a regional scheduling hub and is responsible for operating a high-precision detection model, extracting a target Re-ID feature fingerprint and calculating a cross-machine relay time window; and the terminal unmanned aerial vehicle only operates a lightweight tracking model and a visual servo control law. According to the method, the urban area is divided into a plurality of honeycomb grids, seamless locking and relay of a target among unmanned aerial vehicles in different grid responsibility areas are realized by using a cross-view feature relay protocol and a collaborative finite-state machine, and the engineering problem of long-time-sequence and large-range vehicle tracking is effectively solved.

The invention discloses a multi-axis synchronous control system based on a VPX bus, and the system comprises a control platform initialization module which is used for generating a system initialization parameter set; the timing pulse synchronization module is used for forming a timing interrupt signal set; the state acquisition and error write-in module is used for acquiring an axial state, calculating an error signal and writing the error signal into the private area and the broadcast area; the distributed deviation coupling module is used for constructing a state synchronization data set; the sliding mode surface construction and state judgment module is used for constructing a non-singular fast terminal sliding mode surface; the sliding mode control output generation module is used for executing a distributed sliding mode control strategy; the optical signal conversion and data stream generation module is used for generating an optical signal control data stream; and the actuating mechanism driving module is used for converting the optical signal control data stream into an analog driving signal. According to the invention, a distributed sliding mode control and VPX high-speed synchronization mechanism is adopted, and multi-axis high-precision cooperative servo control is realized.

The invention relates to the technical field of servo control, in particular to a servo driving current harmonic compensation method and system for electromagnetic interference suppression. The method comprises the following steps: extracting common-mode and differential-mode interference by using current and voltage sampling and combining differential measurement, and configuring a multi-stage passive filter according to spectrum characteristics to construct a suppression channel; establishing a digital interference cancellation mechanism, generating a reverse compensation signal by adopting self-adaptive trapped wave and a DSP (Digital Signal Processor), and injecting the reverse compensation signal into a control loop to form a software-defined multi-channel suppression architecture; after interference suppression, a high-order tensor model is constructed for the purified three-phase current, and an alternating least square method is adopted for decomposition so as to separate multi-band harmonic waves; a graph neural network is introduced, harmonic coupling is represented, and dominant and residual harmonic decoupling is realized through message passing; according to a grading progressive strategy, dominant harmonic waves are firstly subjected to coarse compensation, then residual harmonic waves are finely adjusted, and a compensation sequence is adaptively optimized through iterative feedback, so that high-robustness closed-loop control of servo driving is realized.

A simulation device for a machine tool includes: a numerical control simulation unit that generates an axis movement command for the machine tool, based on a machining program; a servocontrol simulation unit that generates a torque command, based on the axis movement command and an axis movement virtual result for simulating an axis movement of the machine tool; and a module unit that has a form independent of the numerical control simulation unit and the servocontrol simulation unit, and is replaceable, wherein the module unit includes: a transceiver unit that receives the torque command from the servocontrol simulation unit, and transmits the axis movement virtual result to the servocontrol simulation unit; and a drive shaft simulation unit that updates the axis movement virtual result, based on the torque command.

The invention discloses a transformer oil sample automatic collection method and device based on vision and impedance control, and the method comprises the steps: determining a relative position between an oil taking injector and an oil taking port in a transformer oil sample collection process, and determining an ideal pose of the oil taking injector controlled by a mechanical arm to reach an oil taking port mark based on the relative position; based on image information collected in real time by an image taking device arranged on the mechanical arm, a space coordinate transformation matrix of the ideal pose at the oil taking opening mark and the actual pose of the image taking device is calculated; on the basis of the ideal pose and the space coordinate transformation matrix which are calculated in real time, according to a control law of pose deviation design, a visual servo control rule for the pose of the oil taking injector is determined; based on interaction between the working environment and the tail end of the mechanical arm, a butt joint depth control rule of an oil taking injector and an oil taking opening is determined through an impedance controller; based on a visual servo control rule and a butt joint depth control rule, butt joint of an oil taking injector and an oil taking opening is controlled, and transformer oil sample collection is carried out.

The invention relates to the technical field of satellite communication, and discloses a parabolic antenna pointing prediction and tracking method of an inter-satellite communication antenna servo system, which comprises the following steps of: acquiring current attitude measurement data of an antenna and a signal quality parameter of a communication link; calculating a link health degree index according to the signal quality parameter of the communication link; dynamically adjusting a process noise covariance matrix in an extended Kalman filtering model for state prediction based on the link health degree index; performing optimal state estimation on the pointing state of the antenna at the future moment by using an extended Kalman filtering model of the dynamically adjusted process noise covariance matrix; and generating and executing a servo control instruction according to the optimal state estimation. According to the method, the actual quality parameter of the communication link is quantified into the health degree index to dynamically adjust the process noise covariance of the prediction filtering model, and the robustness and tracking precision of the system under complex disturbance are improved.

The invention relates to the technical field of microwave photonics, and discloses a full-band noise microwave source system and a microwave signal generation method. An optical reference unit is used for generating an optical reference signal; the photoelectric phase detection unit is connected with the optical reference unit and is used for receiving the optical reference signal and a feedback signal sent by the microwave oscillation unit and outputting a beat frequency electric signal for reflecting a phase error; the servo control unit is connected with the photoelectric phase detection unit and the microwave oscillation unit and is used for separating the beat frequency electric signal into a low-frequency control signal and a high-frequency control signal; the microwave oscillation unit is connected with the servo control unit and outputs a target microwave signal in response to the low-frequency control signal and the high-frequency control signal. A beat frequency electric signal is separated into a low-frequency path and a high-frequency path by using the servo control unit, so that targeted suppression of phase noise of different frequency bands in a single signal source is realized.

The invention relates to a visual scale adaptive unmanned aerial vehicle detection method based on HRRP physical perception, and belongs to the technical field of mobile communication. The method comprises the following steps: constructing a cooperative monitoring architecture of an ISAC base station and a visual sensor, and establishing a space-time mapping relation between a radio frequency sensing coordinate system and a visual sensor coordinate system; performing macroscopic parameter estimation based on echo signals received by the ISAC base station, resolving spatial position coordinates of a target, generating a servo control instruction to drive a visual sensor holder to rotate, and locking the target at the center of a visual image field of view; extracting a frequency domain channel response of the echo signal, generating a time domain HRRP through IDFT, and estimating a radial physical span of a target in combination with a constant false alarm detection algorithm; constructing a self-adaptive image slice model based on physical structure constraint, and performing resampling on slices by using a scale normalization scaling factor; and inputting the normalized image block into the feature fusion detection network to complete fine detection of the unmanned aerial vehicle target.

The invention discloses a double-inertia elastic position servo system and a control method thereof, and the method comprises the steps: taking a motor speed as the input of a second-order linear expansion state observer in an active disturbance rejection controller, introducing a speed observation error, reconstructing internal and external disturbances, and observing the motor speed and the internal and external disturbances. The structure of the observer is simplified, the response speed of the system is improved, system internal and external disturbances including time-varying elastic disturbances caused by elastic deformation of the transmission mechanism are observed in real time, the time-varying elastic disturbances are compensated in combination with state error feedback, and the resonance problem is suppressed. According to the double-inertia elastic position servo system and the control method thereof, the system structure is simplified, the response speed of the system is increased, the anti-interference capacity of the system is improved, meanwhile, the inherent problems of mechanical resonance, position tail end buffeting and the like of the double-inertia elastic position servo system are effectively solved, and high-precision position servo control is achieved.

The invention discloses an intelligent low-voltage servo system based on three-ring control, and relates to the technical field of servo control, and the system comprises a double-shaft servo driver, an azimuth servo motor, a pitching servo motor, an azimuth angle sensor and a pitching angle sensor. The double-shaft servo driver comprises a control board assembly and a driving board assembly. The control panel assembly comprises a position loop controller, a speed loop controller and a current loop controller, and a three-ring cascaded closed-loop control structure is formed based on the position loop controller, the speed loop controller and the current loop controller; and the driving board assembly comprises a power amplification circuit and is used for driving an azimuth servo motor or a pitching servo motor to operate according to the pulse width modulation signal output by the current loop controller. According to the invention, a three-loop control structure of a position loop, a speed loop and a current loop is adopted, and feedforward compensation, disturbance observation and an intelligent management strategy are integrated to improve the dynamic performance and robustness of the system.

The utility model relates to a four-channel hydraulic testing machine, which belongs to the technical field of fatigue test devices and comprises a base, a door-type frame is mounted on the base, and a vertical actuator is hung on the door-type frame. A transverse actuator mounting seat and a longitudinal actuator mounting seat are fixed on the base, a transverse actuator is mounted on the transverse actuator mounting seat, and a longitudinal actuator is mounted on the longitudinal actuator mounting seat; an auxiliary workbench is installed on the base, and a plurality of sliding seats are arranged on the auxiliary workbench in a sliding mode. The four-channel hydraulic testing machine further comprises a testing pressure seat, and the testing pressure seat is movably connected with the vertical actuator, the transverse actuator and the longitudinal actuator. A clamping seat is connected below the test pressure seat; according to the utility model, dynamic loading in three directions can be carried out on the to-be-detected piece through the vertical actuator, the transverse actuator and the longitudinal actuator, the real stress condition of a plate spring and a guide arm in the automobile driving process is simulated, the structure is innovative and prominent, and servo control and module measurement are accurate.

The invention relates to the technical field of servo control, in particular to a rotary table servo compensation method based on wind load prediction, and the method comprises the steps: obtaining the motion state data of a drive end and a load end in real time; obtaining a disturbance torque I and a disturbance torque II based on the driving end motion state data and the load motion state data, and generating an error signal by using the disturbance torque I and the disturbance torque II; inputting the error signal into a self-adaptive compensation model to output a compensation torque; and generating a servo control instruction by using the compensation torque, and controlling a driving end to move.

The invention discloses an intelligent load distribution system and method for a centrifugal compressor unit. The system comprises a data sensing module, an intelligent decision-making module, an instruction execution module and a model updating module. The method comprises the steps that operation parameters of multiple parallel centrifugal compressors are synchronously collected in a high-precision mode through an industrial real-time network supporting hardware timestamps, and time-aligned system state observation data are obtained; constructing a state vector based on the data and a load prediction result, inputting a deep reinforcement learning agent fused with compressor physical characteristic constraints, and generating a load distribution instruction and a unit start-stop suggestion; after safety boundary verification is conducted on the original action, the guide vane opening degree is adjusted through a feedforward speed planning and fuzzy self-adaption PID composite servo control algorithm, and starting and stopping operation is executed; meanwhile, empirical data are collected online, and model parameters are periodically and finely adjusted. According to the invention, efficient, safe, accurate and self-evolution compressor group control is realized.

The invention relates to the technical field of hydraulic servo control, in particular to an integrated hydraulic execution device and method based on self-correcting force-displacement coupling, and the device comprises a hydraulic cylinder, a servo valve, a one-dimensional force sensor, a displacement sensor, an oil inlet pressure sensor, an oil outlet pressure sensor and an edge calculation unit; wherein the servo valve is mounted at an oil inlet of the hydraulic cylinder; the one-dimensional force sensor is mounted at the end of a hydraulic cylinder piston rod; the displacement sensor is arranged in the hydraulic cylinder barrel; the oil inlet pressure sensor and the oil outlet pressure sensor are respectively mounted at an oil inlet and an oil outlet of the hydraulic cylinder; the edge calculation unit is integrated on the outer wall of the hydraulic cylinder and is connected with all the sensors and the servo valve through signal lines; wherein the edge calculation unit operates a self-correcting force-displacement coupling control algorithm, residual error characteristics of all sensors are used as input, the corrected opening degree of a servo valve is output in real time, and closed-loop accurate control over the hydraulic cylinder is achieved.

The invention, which relates to the technical field of phased-array antenna testing, discloses an automatic phased-array testing system comprising a vector network analysis module, an antenna horn and servo control module, a phased-array antenna module, a testing tool module and an upper computer control module. The invention also discloses a phased array automatic test method. The method comprises the following steps: preparing before testing; configuring test parameters; executing an automatic test; processing and storing test data; and finishing the test and resetting the equipment. Full-process automatic testing is achieved through the upper computer automation unit, traditional testing time is shortened, large-scale phased array batch testing is adapted, personal errors are eliminated through the testing tool, the vector network module and the servo module, data credibility is improved, operation is simplified, data are automatically stored, a report is generated, modular design is adapted to multiple types of phased arrays, and testing efficiency is improved. And the cost is reduced, the application is wide, and better use prospects are brought.

The invention discloses an anti-sliding friction force testing device under the action of high-temperature hot air, which comprises a loading sealing device, an air circulation heating system, a static force loading system and a temperature measuring system, the loading sealing device comprises a bearing frame, a bottom plate, a lower flange gland, a test piece, an upper flange gland, an upper exhaust cabin, a disc type loading tool, an upper pressing plate, a window and a window pressing plate, the air circulation heating system comprises a heating system and a ventilation system, and the air circulation heating system is connected with the loading sealing device through a circulation pipeline; the static force loading system comprises an oil source control upper computer, an oil source, a cooler, a hydraulic substation, a static force loading upper computer, a servo oil cylinder, a servo controller and a switching cabinet, and the temperature measurement system comprises a thermocouple sensor, a data acquisition instrument and a temperature measurement upper computer. The test system can be widely applied to the sliding friction resistance test of various wrapped interlayer assembly structures in normal temperature and high temperature states and the design and construction of the test system.

The invention discloses a bridge intelligent inspection unmanned aerial vehicle integrated measurement and control system, and relates to the technical field of unmanned aerial vehicle measurement and control, and the system comprises a reference construction module, a pose acquisition module, a pose matching module, a coordinate generation module, and a disease locking module. According to the method, the reference three-dimensional model and the space reference control point are constructed, so that accurate registration of the real-time video stream and the historical model is realized; driving the unmanned aerial vehicle to actively adjust the pose and lock the disease area through visual servo control; the absolute three-dimensional space coordinates of the diseases are calculated through reverse ray tracing, integration of disease recognition, active observation and accurate positioning is achieved, the automation degree of bridge inspection is improved, and the problems that in the prior art, bridge disease recognition and space positioning links are disjointed, cross-cycle data cannot be aligned, and an active observation mechanism is lacked are solved.

The invention relates to a prospective control method of a multi-axis linkage machine tool in the field of intelligent manufacturing, which comprises the following steps: by analyzing the time difference distribution of each axis in a compensation time sequence, establishing a dynamic compensation matrix of multi-axis linkage, the matrix comprising the advanced starting time and speed regulation coefficient of each axis in different motion stages, determining personalized motion control parameters of each axis; according to the updated delay characteristic data and the curvature radius information of the track corner, the position deviation trend of each axis in the corner machining process is predicted, whether the motion time sequence of each axis needs to be adjusted or not is judged by comparing the deviation degree of the predicted position and the theoretical track, and an optimized multi-axis cooperative motion instruction is obtained; and the optimized multi-axis cooperative motion instruction is input into a servo controller of each axis, an actual position feedback signal of each axis is monitored at the same time, and the response consistency of each axis is ensured by calculating the real-time deviation value of an actual track and a theoretical track and dynamically correcting compensation parameters in an electromechanical coupling delay model.