541 results about "Servo control system" patented technology

The present invention discloses a laser metal curved surface automatic focus processing system and method thereof, including: a multimodal data fusion device, a curved surface detection module with a secondary tracking structure, integrated 3D structured light vision and vibration sensing equipment; a dynamic focus correction module, configured with an adaptive energy control unit and a beam shaping component; a nonlinear motion control console, including a six-degree-of-freedom parallel mechanism motion platform, and its servo control system integrates a time-space phase compensation algorithm; a core control unit, the core control unit has an embedded fusion algorithm model, and establishes a nonlinear mapping between material removal efficiency η and multivariable dynamic parameters. The processing quality level of the present invention is improved through the multi-source data fusion of 3D structured light and vibration sensing, the curvature recognition accuracy is improved, and the focus offset is reduced in combination with the axial vibration compensation mechanism, thereby effectively improving the processing quality.

The invention relates to the technical field of hydraulic servo control systems, and discloses a high-precision hydraulic servo control system and a fault diagnosis method thereof.The hydraulic servo control system comprises a system control module, a hydraulic execution module, a data feedback module, an automatic compensation module and a feedback control module; the system control module is used for receiving and processing an input signal and outputting a control instruction; the hydraulic execution module is used for generating a corresponding hydraulic action according to the control instruction; the data feedback module is used for detecting the actual position and pressure of the hydraulic execution module and transmitting a feedback signal to the automatic compensation module; the automatic compensation module is used for eliminating system errors through a compensation algorithm; the feedback control module is used for comparing the difference between the system output and a set target, generating a deviation signal, and adjusting the input of the system by using the signal, so that the system output is closer to the set target; through the system, the control precision and stability of the hydraulic servo control system can be improved.

The invention discloses a compressed air energy storage indoor simulation test device and method, and relates to the technical field of compressed air energy storage. The device comprises a triaxial pressure servo control system, a temperature control system, an air pressure control system and a multi-parameter measurement system, and can cooperatively simulate the real working environment of the underground gas storage. The triaxial system comprises a high-pressure tank body and a loading device and is used for applying triaxial stress to the rock sample; the temperature control system adjusts the temperature of the rock sample; the air pressure system comprises a high-pressure destructive experiment mode and a low-pressure precise simulation mode, the high-pressure destructive experiment mode is used for carrying out a high-pressure test and verifying the critical burial depth under different geological conditions, and the low-pressure precise simulation mode is used for researching the mechanical behavior, the damage mechanism and the leakage mechanism of the gas storage by regulating and controlling the air pressure and the flow and simulating the inflation and deflation process; the multi-parameter measurement system collects rock sample physical response data in real time. Through cooperative work of multiple systems, response characteristics of multiple support sealing systems under different conditions can be accurately reflected, and the system has remarkable simulation precision, experiment efficiency and cost advantages.

The invention discloses a servo control system and method based on data analysis, and relates to the technical field of servo control, and the system comprises a data collection unit which achieves the communication between a characteristic analysis system and a real object servo system platform through a storage and display mode based on different data sources, and a data analysis unit which carries out the data analysis of the real object servo system platform. The data analysis unit is used for analyzing time-domain characteristics and frequency-domain characteristics of the system and carrying out historical data analysis and real-time data monitoring on stored data, and the data processing unit is used for carrying out related processing on the received data based on a Mallat algorithm. According to the invention, real-time observation and control of speed and position are realized, time-domain characteristic analysis and frequency-domain characteristic analysis can be carried out on response of the servo system, data processing is realized by adopting a Mallat algorithm, and designed PI controller parameters are sent to a servo system controller to realize real-time control of the servo system.

The invention relates to the technical field of intelligent control, and particularly discloses a servo control method and a servo control system for a fast door, and the method comprises the following steps: a multi-modal data fusion step: collecting a mechanical state, an environment parameter and system health data, and constructing a multi-dimensional state vector; a self-adaptive control step: dynamically generating control parameters based on fuzzy PID and a deep learning model; a multi-stage energy consumption optimization step: switching a control strategy according to the operation stage of the door body, and introducing a regenerative braking and energy efficiency optimization algorithm; and a fault self-healing step: realizing control switching in an abnormal state through sensor redundancy and actuator backup. Compared with traditional single closed-loop control, the positioning precision is improved, and the anti-interference capability is improved through fusion of the mechanical state and the environmental data.

The invention discloses an unattended turntable servo control system. The method is applied to a two-dimensional rotary table, the rotary table comprises an azimuth rotating shaft and a pitching rotating shaft, and each rotating shaft is driven and controlled by a motor. The system comprises a control unit and a driving unit, the control unit is used for receiving the position information of the rotary table, the current information of each motor and a control instruction sent by external communication equipment, calculating a control signal required for driving each motor to a target position based on the received information, and sending the calculated control signal to the driving unit; and the driving unit generates a driving current based on the received control signal to drive the motors to rotate, so that each motor moves to a corresponding target position. According to the invention, free control of the rotary table under two degrees of freedom in the azimuth direction and the pitching direction can be autonomously realized.

The invention discloses a feedforward torque compensation control method and system for a photoelectric pod. The method belongs to the technical field of photoelectric pod real-time control. The technical problem that the requirement for high dynamic performance of the photoelectric pod is difficult to meet in photoelectric pod control is solved. The method comprises the following steps: sensor arrangement: arranging accelerometers at each motion axis of the photoelectric pod; signal acquisition and calculation: calculating the angular acceleration of each motion axis through acceleration data output by an accelerometer; calculating the disturbance torque: calculating the disturbance torque of each motion axis through the angular acceleration of each motion axis; calculating a current value of a feed-forward path: calculating a current value required by a motor of each motion shaft to resist the disturbance torque through the disturbance torque of each motion shaft; feed-forward path current and feedback path integration: injecting the current value as a feed-forward signal into a current loop given link in the servo control system, and resisting disturbance of each motion axis by controlling motor current of each motion axis.

The invention relates to a self-adaptive suspension adjusting type photovoltaic panel cleaning device which comprises a portal frame body, a first winch, a second winch, a four-connecting-rod mechanism, a first balance spring, a second balance spring, a third balance spring, a two-connecting-rod mechanism, a fourth balance spring and a fifth balance spring. The four-connecting-rod mechanism is used for guaranteeing that one side of the cleaning brush can only ascend and descend approximately vertically, and the two-connecting-rod mechanism is used for guaranteeing that the cleaning brush can conduct correct angle adjustment and translation. The photovoltaic panel cleaning device is used for the technical fields of photovoltaic power station photovoltaic panel assembly cleaning, building roof cleaning and painting and the like, by taking a photovoltaic panel assembly as an example, the photovoltaic panel cleaning device can be carried on a mobile robot or a vehicle and is adaptive to the height and angle changes of a photovoltaic panel assembly support and vibration of a mobile platform caused by the ground; the implementation difficulty of the servo control system is reduced, and the photovoltaic panel assembly and other operation objects are protected under the extreme condition of control failure.

The invention relates to a rock multi-surface direct shear test system and method considering fluid-solid coupling, and relates to the field of rock mechanics and seepage mechanics. Comprising a true triaxial loading frame which is used as a supporting frame of a test system and is used for clamping a sample and realizing a true triaxial stress state; the shear loading device is arranged in the true triaxial loading frame and is used for independently applying a horizontal shear load; the seepage module is connected with the true triaxial loading frame and is used for feeding fluid into the surface of the sample; the data acquisition system is used for monitoring and recording stress, strain, displacement, acoustic emission signals and seepage parameters in the test process in real time; and the servo control system is used for coordinating and controlling static loading, shear loading and seepage processes. According to the invention, the loading precision is improved, more real test conditions are provided for safety assessment of deep rock mass engineering and geological disaster prevention and control, and the device has important engineering application value.

The invention belongs to the technical field of robots, and relates to a humanoid dexterous hand, which comprises a palm part, a thumb and four fingers, the four fingers are respectively an index finger, a middle finger, a ring finger and a little finger, the structures of the index finger, the middle finger, the ring finger and the little finger are the same, the lengths of all knuckles are different, each finger comprises a finger body and a finger mechanical transmission chain, the thumb comprises a thumb body and a thumb mechanical transmission chain, and each finger and the thumb can be independently installed on the palm or detached from the palm. According to the humanoid dexterous hand, all the driving motors can be direct-current servo motors or stepping motors, and when fingers or the thumb stops bending and stretching movement, if the servo motors are adopted, a servo control system has the electric locking capacity due to the fact that the servo motors are in a closed-loop control mode; if a stepping motor is adopted, the stepping motor has a torque holding function, and the holding torque is far higher than the driving torque; all the power assemblies are externally arranged, namely, the power assemblies are not arranged in finger knuckle cavities.

The invention discloses a servo control method and system for a tracking turntable, and belongs to the technical field of tracking measurement. The method comprises the following steps: receiving tracking data, and setting a corresponding working mode flag bit after processing the tracking data; calling the tracking data by using the interrupt function, and generating a control quantity corresponding to the tracking data according to the working mode flag bit; a pulse width modulation signal corresponding to the control amount is generated. According to the invention, stable tracking measurement of an infrared and visible light detector on a target can be realized, and the servo control system for the tracking turntable integrates driving and control of a servo motor, so that the production, research and development cost is reduced.

The invention relates to the technical field of industrial robot control, and discloses an industrial robot mechanical arm control precision coordination optimization method, device and equipment and a computer program product. The method comprises the steps of obtaining an initial position and an initial angular velocity of a joint based on a D-H parameter method, and performing optimization fitting on a joint trajectory through an improved Bezier curve; dynamically calculating an optimal control path by adopting a particle swarm optimization algorithm; and dynamically adjusting the parameters of the joint controller according to the real-time optimized joint motion trail data in combination with the response time of the servo control system. Compared with the problem that high-precision track control cannot be achieved under the complex working condition in the traditional technology, the method has the advantages that through combined use of improved Bezier curve fitting and the particle swarm optimization algorithm, precise control over the track of the mechanical arm is achieved, and therefore the problem of track deviation is avoided, and the control precision of the mechanical arm is improved.

The invention provides an ice damage multi-physical synchronous measurement system. The ice damage multi-physical synchronous measurement system comprises a motion monitoring control system, an ice load measurement system, a non-contact deformation measurement system, a temperature and pressure monitoring system, a high-speed camera shooting acquisition system, a multi-physical quantity measurement synchronous triggering acquisition system and a multi-degree-of-freedom self-adaptive measurement integrated mobile platform, the motion monitoring control system is used for monitoring and feeding back displacement, speed and output force of the impact head in the execution process controlled by the servo control system; the ice load measuring system comprises a load force sensor which is used for calibrating system errors in the same experimental environment and providing output compensation for the motion monitoring control system; and the high-speed camera acquisition system is used for recording transient image information in the ice material fracture failure process and measuring and calculating the crack propagation speed through proportional calibration. Important parameters in the submerged jet flow and mechanical cooperation ice damage test process can be accurately monitored and recorded, and the accuracy and repeatability of the test are guaranteed.

The invention belongs to the technical field of robots, in particular to the technical field of teleoperation robots, and particularly relates to a teleoperation master manipulator based on a power-off brake, which comprises a pose acquisition part and a tail end operation part, in an actual use scene, an operator holds a handle at the tail end and pulls a trigger, a power-off brake is powered on for contact braking, and the operator pulls a main hand to move; in the movement process, the absolute encoders of all the shafts collect the current angle and directly transmit the current angle to the isomorphic mechanical arm, or the tail end pose of the main hand is settled through forward kinematics and then mapped to the heterogeneous mechanical arm through inverse kinematics; and the trigger is released, the power-off brake is immediately powered off, all joints of the master manipulator are locked, then the posture is locked, and the master manipulator enters a posture keeping mode. A joint motor in the main hand is replaced by a brake, so that a motor servo control system is also removed, and the cost and the out-of-control risk are reduced.

The invention discloses a curved surface microstructure laser-plasma combined machining device and method, and belongs to the technical field of non-traditional machining. The curved surface microstructure laser-plasma combined machining device comprises a plasma power supply, a gas supply system, a plasma generator, a nozzle assembly, a laser unit, a multi-axis moving unit, a vacuum clamp, a servo control system, a control panel and a machine tool body; and laser-plasma combined machining of the curved surface microstructure can be realized by combining linkage and interpolation movement of each shaft. Femtosecond laser is introduced into a plasma generation area, controllable output of a discharge plasma source is excited by the laser, micro plasma jet in a specific wavelength range is selected for micro-area localization machining, and the problem of machining defects caused by fluctuation and uneven distribution of jet particle energy in atmospheric plasma machining is solved. And meanwhile, laser is used for preheating in the machining area, energy needed by atom stripping of the to-be-machined material is reduced, the material atom stripping time is shortened, and the micro-plasma jet machining efficiency is greatly improved.

The invention discloses a multistage redundant servo control system and a control method. The control system comprises a redundancy control module, a steering engine control module and a position acquisition module. The redundancy controllers of the redundancy control module communicate with one another, a certain redundancy controller is determined to be a master redundancy controller based on a first selection mechanism, and other redundancy controllers are determined to be slave redundancy controllers; the main redundancy controller judges a target control command from a plurality of input commands according to a second selection mechanism; determining target position data from the plurality of position data according to a third selection mechanism; determining a target steering engine control branch from the multiple steering engine control branches according to a fourth selection mechanism; and the main redundancy controller generates a steering engine control instruction based on the target control command and the target position data, and sends the steering engine control instruction to the target steering engine control branch to control the operation of the corresponding motor. According to the technical scheme, a servo control system with better redundancy can be formed, and the stability and reliability of system operation are effectively improved.

The invention discloses a motor position nonlinear disturbance static feedforward compensation method based on a system model. The method comprises the following steps: selecting a sampling period T and a closed-loop rotating speed v suitable for a system according to frequency characteristics of nonlinear disturbance in a motor; performing an open-loop experiment on the motor servo control system to obtain a discrete transfer function from a control signal to system open-loop output, and establishing a motor system model; the method comprises the steps that a motor is subjected to closed-loop operation at a low rotating speed, rotating speed, current and angle information during steady-state operation is collected, the rotating speed and the current are substituted into a discrete transfer function, an equivalent current value of nonlinear disturbance at each angle is obtained, and then the equivalent current value is negated to obtain a corresponding feedforward compensation value at each angle; carrying out filtering and weighted average on the obtained equivalent feed-forward compensation values to obtain a group of compensation value sequences with fixed compensation point intervals; and the control unit looks up a table according to an angle signal of the encoder to obtain a feed-forward compensation value of a current angle, and superposes the feed-forward compensation quantity on the control quantity at the output end of the control unit, so that feed-forward compensation for nonlinear disturbance is realized.

The invention provides a calculation method and a test system for thrust coefficients of a pintle nozzle, and mainly aims to accurately measure the thrust coefficients of the pintle nozzle under different working conditions. The method comprises the following steps: on the basis of a pintle nozzle test model, according to an engine balance pressure calculation formula, calculating a corresponding thrust coefficient under a specified combustion chamber pressure; the test system applying the thrust coefficient calculation method comprises an engine combustion chamber, an ignition device, a servo control system, a sealing connection structure, a static frame, a movable frame, a thrust sensor and a bearing pier, the pressure intensity of the combustion chamber and the throat area of an engine can be accurately controlled in the test process, and the thrust coefficient of the spray pipe under the concerned working condition is obtained.

The invention relates to a multi-band phased array antenna two-dimensional beam automatic measurement system and method, and belongs to the technical field of phased array measurement. The system comprises a PC master controller, an automatic beam controller, a vector network analyzer, a switch, a servo control system, a mechanical arm, a microwave anechoic chamber feed source and a phased-array antenna to be tested, and the automatic beam controller is connected with the PC master controller, the switch, the vector network analyzer, the servo control system and the phased-array antenna to be tested. The switch is connected with a PC master controller, a vector network analyzer and a servo control system, the vector network analyzer is further connected with a phased-array antenna to be tested, the servo control system controls a mechanical arm, the mechanical arm is provided with a microwave darkroom feed source, and signals of the microwave darkroom feed source flow to the phased-array antenna to be tested. According to the invention, the whole two-dimensional phased-array antenna beam test can be realized only by completing one-cycle scanning in a set range, and the required measurement time is greatly shortened.

The invention discloses an antenna array servo system cooperative control method based on a dynamic performance index, and the method comprises the steps: constructing an antenna array servo control system which comprises a control unit, a controlled antenna array, an execution mechanism, a feedback measurement unit, and a disturbance measurement unit; according to the model of each antenna unit in the antenna array servo control system, establishing a state-space equation of a controlled antenna array from an input signal and a disturbance measurement signal of an execution mechanism to system pointing position output; a cooperative control performance index function of the antenna array servo control system is obtained according to the receiving power pattern of each antenna unit, and a control unit obtains a cooperative control quantity according to a measurement signal and a control strategy based on the performance index function; and transmitting the cooperative control quantity to each execution mechanism of the controlled antenna array to realize cooperative control of the antenna array servo control system. According to the cooperative control method, the antenna pointing precision and the performance of the correlator are remarkably optimized.

The invention discloses a hydraulic servo control system and method for a mining guniting robot. Belongs to the technical field of servo control. Comprising a hydraulic driving unit, a sensing and feedback unit, an electrical control unit, an embedded host and a man-machine interaction unit, wherein the electric control unit adopts a fuzzy PID (Proportion Integration Differentiation) controller for controlling the joint position of the mechanical arm according to the information of the sensing and feedback unit; aiming at linear synchronous control of chassis walking, an anti-integral saturation speed feedforward PI controller is adopted to adjust the opening size and direction of a hydraulic proportional valve in real time, and closed-loop control of the position is achieved.

The invention relates to an unmanned platform autonomous navigation method, system and equipment based on a small optical module. The method is applied to an unmanned platform carrying a small optical module, and the small optical module comprises a sensor module and a three-axis servo linkage control module. A target detection image of the environment where the small target is located is obtained through the sensor module. And extracting a plurality of small target calibration object images from the target detection image through an image detection model. And extracting position information characteristics of the small target calibration object in the small target calibration object image by adopting a long-time tracking algorithm, and obtaining a predicted position of the small target calibration object according to the position information characteristics and a preset regression model. And the three-axis servo linkage control module starts a multi-closed-loop nested loop servo control system according to the predicted position, so that when the unmanned platform controls the attitude of the unmanned platform to be stable, a navigation path between the position of the unmanned platform and the predicted position is generated. By adopting the method, the stability and precision of autonomous navigation of the unmanned platform can be improved.

The invention provides an under-water discharge machining system and method for a radiation environment. The under-water discharge machining system comprises a pulse power supply control system, an electric spark machining head device and a servo control system. The pulse power supply control system comprises a power supply control box, a rectifier and a power amplifier which are electrically connected in sequence. And the power amplifier is electrically connected with the servo control system and the electric spark machining head device. The electric spark machining head device is provided with a feedback signal wiring connected to the servo control system. The pulse power supply control system is matched with the servo control system to drive the electric discharge machining head device to guarantee the process of the workpiece to be machined, so that the problem that conventional electric discharge machining equipment cannot be used in the high-radiation and boron-containing water environment is solved.

The invention relates to the technical field of automatic control, in particular to a rapid alignment parameter optimization method and device for a receiving and sending ball cylinder of a pipe cleaner. Actual point cloud data of the tail of the pipe cleaner and the inlet of the receiving and transmitting ball cylinder are obtained through non-contact three-dimensional scanning, key geometric features are extracted under a unified world coordinate system, and initial pose deviation is quantified; then, in the constructed digital twinborn model, a constrained particle swarm optimization control algorithm is adopted, coaxiality, parallelism and radial clearance uniformity are taken as multiple targets, and optimal six-degree-of-freedom pose control parameters are solved; then, the six-degree-of-freedom parallel platform is driven by a servo control system to execute accurate pose adjustment; and finally, residual pose deviation is obtained through verification scanning, and closed-loop feedback control correction is carried out until a preset tolerance threshold value is met. According to the invention, automatic control of the alignment process of the pipe cleaner is realized, and the problems of insufficient precision and poor adaptability caused by traditional open-loop control depending on preset parameters are fundamentally solved.

The invention discloses a robot visual servo control system and control method based on dense tracking, and the method comprises the steps: carrying out the environment perception of a target robot, obtaining environment perception information, carrying out the image preprocessing of the environment perception, and obtaining the preprocessed environment perception information; a three-level Gaussian pyramid is constructed, multi-scale optical flow field construction is carried out according to the preprocessed environment perception information, and a bidirectional optical flow verification mechanism is set to carry out mismatching elimination; extracting a plurality of feature points of the current frame of image according to the constructed multi-scale optical field, introducing a DBSCAN spatial clustering algorithm to perform active point extraction to obtain a dynamic active point set, analyzing whether an error exists between a real-time operation track of the target robot at the current moment and a preset path based on the dynamic active point set, and if an error exists, determining that the target robot is in a real-time state. And if so, constructing a servo control scheme to carry out real-time error compensation. Therefore, high-precision and high-robustness visual servo control is realized.

The present application discloses a high-power single-frequency pulsed laser based on an injection locking technology, including a pump light supply device, a seed light supply device, a slave laser, a light detector and a servo control system. The servo control system receives a probe signal outputted by the light detector and controls the cavity length of the slave laser according to an error signal extracted from the probe signal. The light detector has the characteristic of saturation current, and after the probe light enters the light detector, the pulse current becomes saturated and the modulated seed current becomes unsaturated. According to the present application, a light detector with pulse saturation current characteristics is adopted to effectively avoid the problem that the error signal cannot be obtained and it is difficult to achieve injection locking.

Systems, devices, and methods including: an assembly configured to maintain a wing on an aircraft, the assembly comprising: a connector configured to removably connect to a first portion of the wing; and an actuator having a mechanism configured to removably engage a second portion of the wing, the second portion of the wing is configured to be moveable; wherein the actuator is configured to control the second portion of the wing.

The invention provides a servo control system of a multi-shaft mechanical arm for a coal mine drilling machine, and belongs to the technical field of mechanical arm control. The servo control system of the multi-shaft mechanical arm for the coal mine drilling machine comprises a strategy determining module used for determining a working mode based on construction requirements, and the same working mode has a plurality of operation strategies; the selection module is further used for selecting an operation strategy matched with the complexity of the working content of the multi-axis mechanical arm from the multiple operation strategies as a target operation strategy; the operation strategy comprises operation parameters of the multi-axis mechanical arm; the distance determining module is used for determining a target distance based on the working mode, and the target distance is the distance between the multi-axis mechanical arm and the target drill rod; and the servo control module is used for controlling a plurality of servo motors based on the target operation strategy and the target distance, and each servo motor corresponds to one part of the multi-axis mechanical arm. The problem of low working efficiency of servo control can be solved.

The invention discloses a servo motor system high-precision control method and device based on disturbance perception, and belongs to the technical field of motor control, and the method specifically comprises the steps: building a high-precision PMSM equivalent magnetic circuit model containing eddy current response based on a vector magnetic circuit theory; the method comprises the following steps: taking three-phase symmetric sinusoidal current as stator winding excitation, generating a relation model of a stator current amplitude and dq-axis current, and extracting a nonlinear characteristic of alternating-direct-axis dynamic inductance along with current change; constructing a dynamic leakage item nonlinear extended state observer DL-NIESO based on a filtering mechanism, and providing high-precision disturbance and dynamic compensation for a sliding mode controller; and establishing a self-adaptive reaching law and realizing self-adaptive control of speed error compensation and buffeting suppression according to disturbance and dynamic compensation results of the sliding mode controller. The control method provided by the invention has good response performance, robustness and smoothness, and is suitable for a high-performance servo control system.

The invention provides a two-section type variable-curvature variable-friction-coefficient semi-active tuned mass damper which comprises a damper part, a servo control part, a small-amplitude vibration control part and a large-amplitude vibration control part, and the servo control part controls the small-amplitude vibration control part and the large-amplitude vibration control part in a unified mode. According to the tuned mass damper, the accurate natural vibration frequency under small-amplitude vibration can be ensured through the constant-curvature sliding surface; limiting of the mass block under large-amplitude vibration is ensured through the variable-curvature sliding face, and the buffer collision limiting block can further prevent the mass block from being overlarge in stroke. The friction coefficient of the sliding surface of the friction pendulum support is changed through the controllable oil film system, so that semi-active adjustment of the frequency and damping of the tuned mass damper is achieved, and the vibration reduction effect is improved. The magneto-rheological damper can improve the energy dissipation and shock absorption effects of the damper under the driving of the servo control system, and the high-strength steel strand can prevent the mass block and the friction pendulum support from overlarge strokes so as to play a role in limiting.