33 results about "Servo control system" patented technology

Embodiments of a lift apparatus and system are disclosed herein, the system including a support and at least one lift apparatus to move a substrate between the support and a transfer plane using a servo control system. Methods for servo control of a lift apparatus and lifting a substrate off of or lowering a substrate onto a support are also disclosed herein.

This invention relates to the field of marine propulsion device manufacturing, specifically a design method for a fully azimuth-controlled adjustable-pitch ducted propeller. This method extracts the basic parameters of the ship's main engine and existing rudder propeller, and establishes an integrated arrangement scheme to replace the fixed-pitch propeller with an adjustable-pitch propeller while maintaining the original power parameters unchanged. Based on the theoretical diagram of the fixed-pitch ducted propeller, a hydrodynamic calculation program is executed, introducing correction factors for increased shell diameter ratio and slightly reduced disk area ratio, and forcibly lowering the theoretical thrust coefficient by 5%, to obtain the corrected target open-water characteristic curve. The overall rotational characteristics of the fully azimuth-controlled rudder propeller are utilized to provide thrust for reversing and steering, strictly limiting the pitch adjustment authority to adaptability requirements for low-speed navigation and providing maximum drag under multiple operating conditions. A single-crank slider mechanism is configured inside the propeller hub as the core rotor component, and a three-dimensional spatial layout is completed. An electro-hydraulic integrated servo control system, dominated by a PLC and incorporating a dual-pump parallel architecture and a built-in hydraulic lock, is established. This significantly reduces the frequency and physical amplitude of the propeller blade rotation angle.

The application discloses a kind of servo control system and method of multi-form automatic switching radar, it is related to radar servo control field, including: real-time state monitoring module, host computer operation panel, central controller, linear motion control module and angle motion control module, real-time state monitoring module, host computer operation panel, linear motion control module and angle motion control module are electrically connected with central controller respectively.The application realizes that radar array is quickly, automatically switched between multi-form, so that radar can be quickly, smoothly directed to target position, realizes the detection to different direction target, expands spatial coverage, improves the mobility and speed response accuracy of radar.

A transmission characteristic parameter identification method for a ball screw feeding system comprises the following steps: in the normal operation process of the ball screw feeding system, acquiring voltage, current, rotating speed and other signals through a servo motor and a driving system thereof, and realizing online identification of key electromagnetic parameters and mechanical parameters in stages; under the static working condition of the motor, controlled voltage excitation is applied, stator current is measured, and identification of stator winding resistance and stator inductance is completed; under the steady-state operation condition, the flux linkage amplitude of the permanent magnet is calculated based on a q-axis voltage equation; under a dynamic operation condition, a friction torque model is established through segmented constant-speed operation, a rotor motion equation is combined, a recursive least square algorithm with a forgetting factor is introduced, and online identification of the equivalent rotational inertia of the system is realized; according to the method, complete and accurate transmission characteristic parameters can be obtained in the ball screw feeding system, the identification process is stable, the calculation complexity is low, and the method is suitable for being embedded into a servo control system.

The utility model discloses an electro -hydraulic servo control system hydraulic pressure protection device relates to electro -hydraulic servo system technical field, including the casing, the casing top opening's clamping groove department is provided with the sealing cover, the casing top one side is provided with the liquid inlet pipe, the top of liquid inlet pipe is provided with the pipe plug, the inside of casing is provided with two filter plates, and one end of the inside of casing is provided with the fine filter screen away from the liquid inlet pipe. The utility model discloses being equipped with two filter plates can with some metal impurities metal barrier in oil, and the pure oil flows to the output end of casing through the aperture of filter plate, and the fine filter screen can filter the fine impurities contained in the oil, ensure the purity of oil after hydraulic oil, when needing to clean the metal impurities of the inside sediment of casing, utilize the magnet and the metal impurities of the inside sediment of casing are adsorbed, through starting the self -priming pump and the rest impurities in the body are sucked, ensure the neat state in the inside of casing.

The present invention provides a vibration control device, a vibration control method, and a vibration control program that compensate for rotational non-uniformity caused by the effects of angular transmission errors in the reduction mechanism. [Solution] The vibration damping control device is applied to a servo control system equipped with a reduction mechanism and is a vibration damping control device that compensates for rotational non-uniformity caused by the influence of angular transmission error of the reduction mechanism, and includes an angular transmission error compensator that has a predetermined compensation order, amplitude and phase and generates a sinusoidal compensation signal based on position information, and an adder that adds the compensation signal to a position command, speed command, current command, or a control signal related thereto, wherein the angular transmission error compensator corrects the compensation signal by referring to a compensation model that corrects the amplitude and phase based on speed information.

The application relates to the technical field of wind tunnel flexible nozzle profile control devices, in particular to a continuous transonic wind tunnel liquid control flexible nozzle sound speed profile maintaining method, which comprises the following steps: calculating the total load of each support node of the flexible nozzle sound speed profile, assembling a node support mechanism to a flexible plate of the flexible nozzle, the node support mechanism comprising a mechanical locker, each node returning to a mechanical zero position and locking the mechanical locker; giving a sound speed nozzle shaping instruction of a hydraulic servo control system, unlocking the mechanical locker, and making the flexible nozzle profile run to the sound speed nozzle profile from the mechanical zero position through coordinated control of the hydraulic servo system; under the condition that the sound speed nozzle profile dynamic adjustment meets the control precision requirement, locking the mechanical locker, and the hydraulic servo system exiting the dynamic adjustment state, and the mechanical locker providing locking force to maintain the sound speed nozzle profile. The purpose of making the flexible nozzle sound speed profile more stable is achieved.

This invention relates to a servo control system simulated tracking loop testing device, belonging to the field of servo system technology, and solves the problem of high personnel and product quantity requirements in existing tracking loop testing. A servo system simulated tracking loop testing device includes a host computer and a slave computer. The host computer issues commands to the slave computer through servo system debugging software. The slave computer includes a simulated tracking loop command control module, a target motion curve plotting module, and a simulated tracking loop loop control module. This invention can complete the verification of vibration performance and high / low temperature static and dynamic indicators in servo sub-machine mode, reducing the need for personnel and product quantity, saving human capital, and reducing the management cost of various sub-machine software versions.

This invention relates to a system performance analysis method based on servo system anti-manipulation, belonging to the field of system modeling and simulation technology. It establishes a servo control structure model based on the servo control system mechanism and obtains the closed-loop transfer function of the servo system. Based on the closed-loop transfer function, it obtains the performance parameter expressions of the servo system, the first theoretical threshold expression for the anti-manipulation condition of the servo system, the relationship between the performance parameters when the aerodynamic hinge torque of the servo system is 0 and the performance parameters under the anti-manipulation condition, and the second theoretical threshold expression for the anti-manipulation condition of the servo system. Based on the design parameter values ​​of the servo to be simulated and the above expressions, it mathematically simulates the divergence threshold of the servo system and the performance parameters characterizing the performance of the servo system under the anti-manipulation condition. Compared with existing technologies, this method not only overcomes the problem that a load tester is difficult to accurately simulate the system performance of the servo under anti-manipulation, but also eliminates the need for a load tester, providing a more economical, convenient, and accurate servo system performance analysis method.

A servo control system according to one embodiment of the present disclosure controls a servomotor, and comprises: a servo amplifier that supplies the servomotor with a pulse-width-modulated drive current, and that can change pulse frequencies; and a servo control device that gives the servo amplifier an instruction on the target speed or the target position of the servomotor and the pulse frequencies. The servo control device has: a target instruction unit that gives an instruction on the target speed or the target position; a power consumption calculation unit that calculates, on the basis of information on the servomotor and / or the servo amplifier, the total power consumption of the servomotor and the servo amplifier at each of a plurality of set frequencies set in advance as the pulse frequencies; and a frequency instruction unit that gives the servo amplifier an instruction to perform the pulse width modulation at a set frequency, among the plurality of set frequencies, at which the total power consumption becomes minimum.

The present invention provides a vibration control device, a vibration control method, and a vibration control program that compensate for rotational non-uniformity caused by the effects of angular transmission errors in the reduction mechanism. [Solution] The vibration control device is applied to a servo control system equipped with a reduction mechanism and is a vibration control device that compensates for rotational non-uniformity caused by the angle transmission error of the reduction mechanism, and includes a state estimation processing unit that estimates an estimated disturbance, which is an internal state quantity of the controlled object, based on observation information; an adaptive processing unit that uses the estimated disturbance as an evaluation signal and optimizes at least one of the evaluation signal or an objective function defined based on the evaluation signal; and an angle transmission error compensation unit that generates a compensation signal.

This application relates to a visual servo control method, apparatus, equipment, and non-volatile storage medium for cutterhead changing in a tunnel boring machine. The improved method includes: acquiring image data and obtaining an image to be processed; processing and compressing the image to be processed and outputting a feature vector and a compressed image; processing the feature vector and compressed image and outputting motion control commands; performing feedback checks on the execution of the motion control commands and obtaining a first feedback error, and determining the first feedback error; obtaining the current execution action and obtaining a second feedback error, and determining the second feedback error. Under harsh conditions such as changing lighting, pollution, and partial occlusion, the servo control system of this application can achieve high-precision and highly robust visual servo control, effectively improving the operational capabilities of the tunnel boring machine cutterhead changing robot.

The present application relates to the field of wind power tower construction, and more particularly to a method for constructing a conical wind power tower. The method comprises the following steps: installing a self-climbing crane on the periphery of the conical wind power tower; alternately executing the following steps: first, a servo control system drives a first variable-diameter clamping mechanism to clamp the conical wind power tower, a second variable-diameter clamping mechanism releases the conical wind power tower, and a hydraulic system drives a climbing movable frame connected to the second variable-diameter clamping mechanism to climb upward; second, the servo control system drives the second variable-diameter clamping mechanism to clamp the conical wind power tower, the first variable-diameter clamping mechanism releases the conical wind power tower, and the hydraulic system drives a climbing main frame connected to the first variable-diameter clamping mechanism to climb upward, thereby driving a telescopic crane to climb upward. The construction method relies on the foundation of the wind power tower itself, and uses a self-climbing method to synchronously lift the crane with the construction process to solve the problem of crane occupying construction area and lifting safety caused by the excessive length of the crane boom in the existing wind power tower construction process.

This invention discloses a method and system for real-time monitoring and compensation of paper cutting dimensional errors, belonging to the field of automated paper cutting. The method acquires three-dimensional point cloud data of the paper cutting contour using a laser scanning device, and combines this with multi-source data collected from tension, temperature, humidity, and blade vibration acceleration sensors. An anomaly feature comparison library is established to pre-store material deformation and blade vibration characteristics. These are then spatiotemporally aligned to form a multi-dimensional detection dataset, which is matched and analyzed to determine the types of material deformation, blade vibration, and coupling anomalies. The point cloud data is then input into an algorithm model to calculate the comprehensive dimensional error value. Finally, based on the error value and anomaly type, the corresponding compensation parameter group is called to generate a blade position compensation command. The servo control system dynamically adjusts the blade position to achieve precise compensation of cutting dimensional errors. This method solves the problems of anomaly misjudgment and compensation mismatch in existing technologies.

This invention provides a rubidium atomic clock servo control system and method based on FPGA, belonging to the field of atomic frequency standard technology. The system includes a laser driving current modulation module, a microwave radio frequency synthesis module, a photoelectric signal acquisition module, a laser frequency locking module, a microwave frequency locking module, a laser temperature control module, a cavity temperature control module, and a magnetic field control module. This invention adopts FPGA digital integration of VCSEL driving current modulation, high-precision microwave radio frequency signal generation, and digital frequency locking control to replace traditional analog circuits, reduce system complexity and cost, and improve the stability and reliability of the rubidium atomic clock.

The application discloses a Q / V frequency band low-orbit three-axis antenna pointing mark calibration method based on an MPA algorithm and belongs to the field of satellite communication antenna servo control. The method comprises the following steps: defining to-be-optimized parameters representing a plurality of error sources of a three-axis antenna; defining an error index function for evaluating pointing deviation; acquiring tracking data of a multi-orbit satellite as a training data set; establishing a pointing error correction model with a measurement angle as input and the defined parameters for correction; iteratively optimizing parameters in the model by using a marine predator algorithm (MPA) to minimize the error index function and obtain an optimal parameter set; and configuring the optimal parameter set to a servo control system for real-time tracking error correction. The application utilizes on-orbit data, does not need additional equipment, and can realize fast calibration only by using 1-2 orbit data, significantly improves pointing precision and high-elevation tracking stability, and is suitable for large-scale and rapid deployment.

The application discloses a device and method for improving the stability of a vacuum squeezed light field generator, and relates to the technical field of quantum optics. First, the cavity length of the vacuum squeezed light field generator is closed-loop locked by reflecting pump light. Then, seed light is resonated with the vacuum squeezed light field generator, and the power and spot mode of the seed light and local light are coupled and interfered after matching. The phase is adjusted to constructive interference, and an interference signal and its frequency spectrum are collected by using a Fourier real-time analysis oscilloscope to identify additional noise. Finally, noise is suppressed by combining air floating platform pressure optimization and negative feedback servo control system parameter adjustment, so that the stability of the vacuum squeezed light field generator is improved. The application can effectively improve the stability of the vacuum squeezed light field generator, and is widely applied to experimental systems for vacuum squeezed light field preparation.

The utility model discloses a hardware circuit of a servo control system of an unmanned aerial vehicle, which belongs to the field of steering engine control and comprises a control module and a driving module which are stacked in a double-layer manner, and the control module comprises a main control chip, a wide-voltage power conversion circuit, a communication circuit and an interface circuit; the main control chip is respectively connected with the wide-voltage power conversion circuit, the communication circuit and the interface circuit; the driving module comprises a pre-driving chip, a three-phase inverter bridge and a current sampling circuit; the pre-drive chip is respectively connected with the three-phase inverter bridge and the current sampling circuit; the control module and the driving module are interconnected through a board-to-board connector; and the current sampling circuit is connected with the main control chip. The circuit is compact in overall size, high in integration level, high in interference immunity and wide in voltage adaptability, and suitable for precise control over the steering engine of the unmanned aerial vehicle.

The present application relates to the field of automation control technology, in particular to a pig receiving and sending cylinder quick alignment parameter optimization method and device. The actual point cloud data of the pig tail and the receiving and sending cylinder inlet is obtained by non-contact three-dimensional scanning, the key geometric features are extracted and the initial pose deviation is quantified under the unified world coordinate system; then, in the constructed digital twin model, the constrained particle swarm optimization control algorithm is adopted, the coaxiality, parallelism and radial gap uniformity are taken as multi-objectives, and the optimal six-degree-of-freedom pose control parameters are solved; then the six-degree-of-freedom parallel platform is driven by the servo control system to execute accurate pose adjustment; finally, the residual pose deviation is obtained by verification scanning and closed-loop feedback control correction is performed until the preset tolerance threshold is met. The present application realizes the automatic control of the pig alignment process, and fundamentally solves the problems of insufficient precision and poor adaptability caused by the traditional open-loop control relying on preset parameters.

The method for grabbing dynamic objects by the mechanical arm based on visual detection and deep reinforcement learning comprises the following steps: step 1, a visual servo control system of the mechanical arm is built in a simulation scene; step 2, in the visual servo control system of the mechanical arm, a target object is identified based on an improved YOLOv8-pose network to obtain position information of object key points in a two-dimensional image; step 3, the position information of the object key points in the two-dimensional image is combined with a three-dimensional coordinate system of the object itself, a PNP algorithm is used to restore a 6D pose of the object, and a Kalman algorithm is used to smooth a motion trajectory of the moving object and estimate a pose at a next moment; and step 4, a deep reinforcement learning DDPG algorithm model is constructed according to the estimation result to drive the mechanical arm to complete tracking and grabbing of the dynamic object. The efficiency and stability of pose estimation are improved, and the tracking and grabbing performance of the mechanical arm on the dynamic target is improved as a whole.

The application discloses a universal machine servo control system and a working method thereof, relates to the technical field of mechanical testing, and is characterized in that a first conversion valve is arranged between a second oil pump and a main oil cylinder, the first conversion valve has a first working position e and a second working position f, when the first conversion valve is powered, the first conversion valve is located at the first working position e, the second oil pump and the main oil cylinder are communicated, when the first conversion valve is powered off, the first conversion valve is located at the second working position f, and the second oil pump and the main oil cylinder are blocked. At the beginning of work, the position of the first cross beam needs to be adjusted, at this time, the jaw assembly does not move, the main electromagnetic valve is located at a first working position a, an oil path between the first oil pump and the main oil cylinder is conducted, a secondary electromagnetic valve is located at a second working position d, an oil path between the second oil pump and the secondary oil cylinder is blocked, the first conversion valve is located at the first working position e, and the oil path between the second oil pump and the main oil cylinder is conducted. The first oil pump and the second oil pump both supply oil to the main oil cylinder, the power of the main oil cylinder for driving the first cross beam to move is greatly improved, and the moving efficiency of the first cross beam is further improved.

This invention provides an asymmetric axial force output servo control system and method for foundation pits. The control system includes a main support, a sleeve, a diagonal brace assembly, an angle adjustment mechanism, a monitoring component, and a controller. The main support is supported at both ends against the retaining walls on both sides of the foundation pit, and has a first servo drive mechanism inside. Its end is connected to the sleeve, and the diagonal brace assembly is symmetrically hinged to the sleeve. The end of the diagonal brace abuts against the retaining wall through a baffle, and has a second servo drive mechanism inside. The angle adjustment mechanism is located between the sleeve and the diagonal brace, and can adjust the inclination angle of the diagonal brace. The monitoring component includes displacement and axial force sensors. The controller collects the displacement of the walls on both sides in real time and calculates the difference. When the difference exceeds a preset threshold and a delay is continuously triggered, the controller controls the diagonal brace to extend and coordinately adjust the axial force and angle. This invention can achieve differentiated axial force output at both ends of the support, actively adjust the axial force of the diagonal brace according to the displacement difference, accurately match the different deformation control requirements on both sides of the foundation pit, avoid resource waste, and improve the adaptability and safety of the system.

This invention discloses a method and system for stabilizing the line-of-sight pointing of a space telescope. The method includes: acquiring the low-frequency attitude quaternions and high-frequency attitude angular velocities of the satellite; performing delay compensation on the low-frequency attitude quaternions; fusing the compensated attitude quaternions with the high-frequency attitude angular velocities using a data fusion algorithm to generate a high-frequency satellite attitude quaternion sequence consistent with the sampling rate of the servo control system; calculating the attitude transformation matrix based on this sequence; projecting the inertial frame pointing vector sequence between the target and the satellite position sequentially onto the satellite body coordinate system and the telescope base coordinate system to obtain a pointing vector sequence in the telescope base coordinate system; calculating the desired pointing angle of the telescope based on this sequence; and controlling the telescope to rotate so that the line-of-sight points towards the target. This invention solves the problems of insufficient pointing accuracy caused by low satellite attitude data sampling rate and delay in existing guidance pointing methods, effectively improving the line-of-sight pointing accuracy and stability of space telescopes.

This application relates to the technical field of wind tunnel flexible nozzle profile control devices, specifically, to a method for maintaining the sonic profile of a continuous transonic wind tunnel hydraulically controlled flexible nozzle. The method includes the following steps: calculating the total load on each support node of the flexible nozzle's sonic profile; assembling the node support mechanism onto the flexible plate of the flexible nozzle; the node support mechanism includes a mechanical locking device; returning each node to its mechanical zero position; and locking the mechanical locking device; giving the hydraulic servo control system a sonic nozzle forming command; unlocking the mechanical locking device; and allowing the flexible nozzle profile to move from its mechanical zero position to the sonic nozzle profile through coordinated control by the hydraulic servo system; when the dynamic adjustment of the sonic nozzle profile meets the control accuracy requirements, locking the mechanical locking device; the hydraulic servo system exits the dynamic adjustment state; and the mechanical locking device provides the locking force to maintain the sonic nozzle profile. This achieves the goal of maintaining a more stable sonic profile of the flexible nozzle.

The application discloses a feedback servo control method, device, equipment and readable storage medium, the feedback servo control method comprises: acquiring the position signal of a servo motor of the servo control system and the position signal of a transmission mechanism, calculating the first follow-up error between the position signal of the servo motor and the position signal of the transmission mechanism; the position signal of the servo motor is fed back to the speed loop of the servo control system and the position loop of the servo control system; the servo control system is corrected based on the first follow-up error. The feedback servo control method provided by the application can provide different servo control strategies for servo systems matched with different transmission mechanisms to cope with different control scenes.

The utility model relates to a tray loading equipment technical field, concretely relates to a piece material automatic tray loading equipment, include: first servo motor and first support plate, first servo motor drives first support plate along X direction guide rail transverse movement through first screw rod, second servo motor and second support plate, second servo motor drives second support plate along Y direction guide rail vertical movement through second screw rod, six guide grooves are fixed on second support plate, the movable bearing is equipped in the guide groove, the movable bearing is fixedly connected with vertical support rod, the utility model discloses through the collaborative movement of double servo motor and XY guide rail, and the design that the angle change drive suction nozzle synchronous opening and closing is combined to the guide groove, realizes the full automation operation of piece material tray loading, compared with the traditional manual piece by piece placement mode, the equipment can be accurate positioning handling path through servo control system, cooperates the synchronous adsorption function (maximum supports multiple pieces simultaneously to snatch) of many suction nozzles, improves the operation efficiency.

This invention discloses a modular integration and servo control system for robot joint actuators, relating to the field of robot control technology. It aims to solve the technical problem that existing technologies cannot proactively and dynamically coordinate mechanical and electrical energy paths, leading to difficulties in balancing hardware protection and energy efficiency optimization, and resulting in high overall energy loss. The system includes: a modular joint module comprising a motor, a variable stiffness elastomer, a regenerative braking circuit, and an energy storage capacitor; an energy distribution unit connected to the regenerative braking circuit and an adjustment mechanism; and a central controller communicatively connected to the energy distribution unit. The central controller is configured to acquire the operating parameters of the joint module, including the charge of the energy storage capacitor, the cumulative number of actions of the variable stiffness elastomer, and the temperature of the regenerative braking circuit. This invention achieves proactive management and path optimization of impact energy, effectively solving the problem of hardware damage caused by reactive control in existing technologies.

This application provides a relay control system and method, including: when the guide vane relay is in a closed state, a locking unit is used to lock the closed state of the guide vane relay to prevent accidental opening of the guide vane relay, which could lead to potential positional hazards of the blades. An emergency pressure control unit is used to control the on / off state of the emergency pressure control unit, which can promptly close the emergency pressure control valve and improve system stability. The locking unit's first locking unit is connected to a second locking unit and a third locking unit. When the guide vane relay is in a closed state, the guide vane relay locks the second locking unit, thereby locking the guide vane relay in the closed state by the third locking unit. When the guide vane relay is open, the second locking unit is not locked. If the first locking unit malfunctions, it will not affect the control of the guide vane relay, thus avoiding the problem of accidental locking of the guide vane relay in the open state.