3196 results about "Servo drive" patented technology

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

The invention discloses an intelligent photoelectric theodolite aerial target positioning and tracking system, which relates to the technical field of photoelectric detection, and comprises a multi-mode photoelectric sensor module integrating visible light, infrared thermal imaging, a laser radar and a polarized light sensor and supporting spectrum adaptive switching; the dynamic noise suppression processing module is used for eliminating environmental interference based on a time-space domain hybrid filtering algorithm; the multi-target tracking control module adopts a time-sharing partition scanning strategy and a graph neural network data association algorithm; the anti-interference servo driving module is used for realizing stable tracking under strong disturbance through inertial navigation-visual fusion compensation; and the edge computing platform is used for deploying a lightweight deep learning model to complete target recognition and trajectory prediction. According to the invention, through interdisciplinary collaboration of quantum dot materials, graph neural networks and physical equation constraints, the bottleneck of a single technology is broken through; and through closed-loop optimization of dynamic anti-interference and edge intelligence, full-link enhancement of'perception-decision-execution 'is realized.

The invention relates to steel box girder high-strength bolt operation, in particular to a high-strength bolt automatic tightening machine based on machine vision positioning and a tightening method. The automatic tightening machine for the high-strength bolts is used for automatically tightening the bolts of the steel box girder and comprises a multi-shaft moving support, a tightening assembly and a control unit. The multi-axis moving support achieves plane movement of a steel box girder top plate through a servo-driven moving part, a multi-axis support provides three-dimensional space freedom, and the tightening assembly is driven to accurately adjust the posture. The tightening assembly adopts a double-station design, a first tightening head and a second tightening head which are symmetrically arranged on the two sides synchronously move through a door frame type lifting shaft, the image obtaining set is combined to collect position and posture data of a nut and a screw in real time, and a three-dimensional motion path is generated to guide centering. The control unit coordinates multi-axis motion and torque output based on machine vision feedback, full-process automation of the bolt from recognition, positioning to tightening is achieved, the problems that manual operation is low in efficiency and large in error are solved, and screwing precision and structural reliability are ensured.

The invention provides a numerical control machine tool dynamic precision control method and system based on multi-axis linkage error compensation, and relates to the technical field of mechanical manufacturing, and the method comprises the steps: collecting shaft system motion parameters and real-time cutting load parameters of a multi-axis numerical control machine tool in a linkage machining process in real time; shafting motion parameters comprise displacement, speed and acceleration of each feed shaft, and cutting load parameters are obtained through inversion of main shaft current and servo driving torque; calculating a dynamic following error of each feed shaft in a linkage state based on the shaft system motion parameters; and carrying out load coupling correction on the dynamic following error by fusing real-time cutting load parameters to obtain an initial multi-axis linkage dynamic error. According to the invention, real-time precision control in the high-dynamic machining process can be realized.

The invention provides a system for space heterostructure material additive manufacturing, and aims to solve the problems of heterogeneous powder pollution and recovery, space heterostructure deposition workpiece precision optimization, defect control and the like in the prior art. The system comprises a device shell, a heterogeneous powder feeding and recycling device, an additive rolling cooperation platform, an ultrasonic vibration clamping platform and a powder screening and collecting device. The heterogeneous powder feeding and recycling device controls a rotating round block and a tapping sliding block to move through a servo driving mechanism to achieve switching and recycling of heterogeneous powder and cleaning work of a powder feeding path. The material adding and rolling cooperation platform integrates a 3D material adding mechanism, a powder cleaning mechanism and a rolling mechanism, the angle of a nozzle is adjusted by driving a bevel gear transmission assembly, cleaning of residual powder on the deposition surface under different defocusing amounts is achieved, and the material adding and rolling cooperation platform cooperates with the rolling mechanism to flatten the deposition surface. The ultrasonic vibration clamping platform improves the deposition quality of the laser directed energy deposition (LDED) spatial heterostructure through precise clamping and ultrasonic vibration.

The invention provides an AI-based servo driver fault on-line rapid diagnosis method and system, and the method achieves the quantitative evaluation of fault data through obtaining the candidate system fault monitoring data of a servo driver control system, and converting the candidate system fault monitoring data into a diagnosis difficulty index and a fault description knowledge attribute. When the diagnosis difficulty index exceeds the preset index and the fault data lacks dynamic change information, the method can further utilize a plurality of fault penetration derivation data and the associated fault knowledge networks matched with the data, and effectively identifies and integrates similar fault modes by calculating the state feature distance between the associated fault knowledge networks, thereby improving the fault diagnosis accuracy. Compared with the prior art, the method has the advantages that the accuracy and efficiency of fault diagnosis are remarkably improved, particularly in a complex and changeable fault scene, the fault reason can be quickly positioned, and data support is provided for instant maintenance and recovery of the servo driver, so that the downtime of a system is shortened, and the overall operation reliability and stability of equipment are improved.

The invention belongs to the technical field of automatic assembly, and discloses an automatic assembly system and method for a large nut of a water turbine ball valve, and the system comprises a mechanical arm, an end effector and an intelligent nut tightening control system. The end effector integrates an electromagnet adsorption mechanism, a servo drive rotating mechanism, a floating compensation mechanism and a visual recognition mechanism, nuts of different specifications are grabbed in a self-adaptive mode through an electromagnet, submillimeter-level accurate positioning is achieved through a laser galvanometer stereo camera, and the assembling posture is automatically adjusted in combination with the floating compensation mechanism. The intelligent control system adopts a staged tightening strategy, performs real-time monitoring through a torque sensor, and has a dual protection mechanism. The hydraulic turbine ball valve large nut assembling machine achieves full-automatic assembling of hydraulic turbine ball valve large nuts, has the advantages of being high in assembling efficiency, high in positioning precision, high in adaptability, reliable in quality and the like, solves the problems that manual assembling is large in labor intensity, many in potential safety hazards, poor in quality consistency and the like, and remarkably improves the assembling quality and efficiency of key parts of a hydropower station.

The invention relates to a split type electro-hydraulic direct-driven non-retractable fin stabilizer hydraulic system which comprises a hydraulic unit and an actuating mechanism which are independently arranged, and the actuating mechanism comprises fin rotating oil cylinders which are symmetrically arranged; a bidirectional hydraulic pump driven by a servo motor forms a closed fin rotating loop; the bidirectional hydraulic pump driven by the servo motor, the hydraulic unit and the actuating mechanism form an electro-hydraulic direct-drive fin stabilizer device; the control loop is composed of a gyroscope, a controller and an executing mechanism, and the gyroscope detects the rolling angular velocity of the ship and generates a fin rotating instruction signal; the controller compares the instruction signal with the fin angle feedback signal and outputs a servo motor rotating speed instruction; the servo driver controls the servo motor to rotate forwards and backwards, the bidirectional hydraulic pump is driven to adjust the displacement of the fin rotating oil cylinder, and therefore the fin is driven to rotate. A valve control or pump control type hydraulic system adopted by a traditional fin stabilizer is replaced, integrated optimization, light weight, high efficiency, high reliability and low noise of the fin stabilizer hydraulic system are achieved, and the occupied space of equipment is reduced.

The invention discloses a calibration system and method for a point laser module pointing to a center, and relates to the technical field of optics. The system comprises a basic positioning unit, a sensing feedback unit, a motion control unit and an auxiliary positioning device. The basic positioning unit comprises a six-degree-of-freedom module carrying platform and a high-precision displacement platform; the sensing feedback unit comprises a multi-axis attitude sensor array and a contact type probe group; the motion control unit comprises a multi-axis motion controller and a servo driving module; the auxiliary positioning device comprises a reference calibration assembly and an environment compensation module. According to the method, the contact probe extends out to be in contact with the standard ball target, an initial coordinate system reference is established, the environment is monitored in real time, the three-dimensional attitude and environment parameters are synchronously input into the LSTM prediction model, the real-time compensation amount is generated, the measurement light path is constructed, sub-pixel-level center locking is achieved through moire fringe verification, and the calibration precision is improved.

A device for inspection during the opening and closing of an umbrella, relating to the technical field of umbrella inspection. The device comprises a case (1); a raising / lowering mechanism (2) and a servo driven mechanism (7) are respectively mounted at the top of the case (1); dual-axis rotating mechanisms (3) are mounted on a raising / lowering member of the raising / lowering mechanism (2) and at the top of the raising / lowering mechanism (2); a clamping head (4) is fixedly connected to the movable end of the dual-axis rotating mechanism (3) located at the top of the raising / lowering mechanism (2); a pressing air cylinder (13) for fixing the top end of an umbrella is mounted inside the clamping head (4); a telescopic rod (5) is fixedly connected to the output end of the dual-axis rotating mechanism (3) located on the raising / lowering member. The top of the umbrella is fixed by means of the pressing air cylinder (13), the servo driven mechanism (7) and a two-level angle adjuster (6) are used to adjust the position and angle of an umbrella handle clamping mechanism (8), and by means of cooperation of the other dual-axis rotating mechanism (3) and the telescopic rod (5) as well as the other two-level angle adjuster (6), the position of a middle slot clamp (9) is determined, so that the angle of the umbrella can be changed to perform testing during opening and closing, and a plurality of industrial cameras (10, 12) can record states during the opening and closing of the umbrella.

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 provides a PID (Proportion Integration Differentiation) control method for an AGV (Automatic Guided Vehicle) wheel type driving system. The method comprises the following steps: acquiring a first parameter of an AGV; filtering the first parameter, and correcting error data in the first parameter to obtain a second parameter; setting a preset speed function based on a system error model of the AGV wheel type driving system and the second parameter, enabling the AGV to operate according to the preset speed function, and combining the error model to obtain a driving gain coefficient, a friction coefficient and a speedometer gain coefficient; substituting the plurality of coefficients into the fitness function, and carrying out optimal solution solving through a preset optimization algorithm to obtain an optimal solution; verifying the optimal solution to obtain an evaluation value, and when the evaluation value is smaller than a preset threshold value, outputting a target parameter corresponding to the optimal solution; and substituting the target parameters into an AGV wheel type driving system, and controlling a chassis motor servo driving device to cooperatively complete a specified action based on the control instruction. According to the invention, the adaptive capability of the AGV to various environments is improved.

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

The invention discloses girth welding equipment for pressure vessel production, belongs to the technical field of welding, and aims to solve the problems that the overall production efficiency of welding is low, and the health of operators can be threatened when flue gas is directly discharged into a working environment. A welding device is arranged on the rack, a guide rod is fixedly connected into the rack below the welding device, a servo motor and a first belt are fixedly connected to the bottom end of the rack below the guide rod, the first belt is arranged on the outer side of the extending end of the servo motor in a sleeving mode, a rotating shaft is arranged in the first belt, and a driving gear is arranged on the outer side of the rotating shaft in a sleeving mode. By means of the device, left-right alternate feeding can be achieved, the waiting time is shortened, the welding process is more continuous and efficient, meanwhile, smoke generated during welding can be collected, emission of harmful gas and smoke dust is reduced, and air pollution of a welding area is reduced.

The invention relates to the technical field of direct current motor servo drive control, and provides a Zynq AXI4 bus-based real-time transmission system and a control method thereof, and the system comprises a Zynq system on chip, a DDR3 common data area, an AXI4 bus interconnection architecture and a dynamic partition manager. By implementing the scheme, firstly, the multi-channel characteristic of the AXI4 bus is utilized, special transmission channels are distributed for different types of data, and parallel data interaction is realized; secondly, a dynamic partition manager is deployed at a PL end, a DDR3 public data area is dynamically divided into a plurality of partitions in real time according to needs, multi-task parallel is achieved, and the real-time performance of the system is improved; thirdly, the read-write operation on the DDR3 in each control period is split into a plurality of state machines through precise scheduling of the state machines, the state machines are combined into a state loop to be mounted to an AXI4 bus, it is ensured that key tasks are completed on time, and the certainty of the system is improved; fourthly, the size and the number of partitions in the DDR3 are dynamically adjusted through a dynamic partition manager, and the storage efficiency is improved.

Disclosed in the present invention are an all-in-one hot-pressing and formation machine and a use method therefor. The all-in-one hot-pressing and formation machine comprises: a pressing plate assembly, a battery cell inspection assembly, a heating assembly, a power system, and a power supply assembly, wherein the pressing plate assembly comprises a mounting frame, and a supporting plate and a plurality of pressing plates used for holding a battery cell; the battery cell inspection assembly is used for determining the state of placement of the battery cell in the supporting plate; the heating assembly is used for heating the battery cell held in the supporting plate; the power system uses a servo drive device to drive a pushing plate to move closer to or away from a stop plate, so as to drive the plurality of pressing plates to approach each other for pressing or to drive same to move away from each other for battery cell removal; and the power supply assembly is used for supplying power to the all-in-one hot-pressing and formation machine. When using the servo drive device to drive the pushing plates to press battery cells having different thicknesses, the present invention ensures the pressing accuracy, pressing efficiency, and pressing stability of the power system in the all-in-one hot-pressing and formation machine; a second gear assembly in a gear device enables the distance between guide rods to be adjusted, thus adapting to the formation of battery cells having different sizes.

The invention belongs to the technical field of permanent magnet assembly, and discloses a sector ring type permanent magnet assembly tool and a driving force prediction method thereof. The tool utilizes an ingenious mechanical structure to limit the freedom degrees of the permanent magnets in all directions, adopts a ball screw transmission scheme and a servo driving mode to control the assembling precision of the permanent magnets, can meet the assembling requirements of the permanent magnets of the inner / outer rotor of the permanent magnet coupler, and can be applied to the assembling field of the permanent magnets with different sizes and shapes by replacing the clamping plates A / B; the method has the advantages of high precision, high efficiency, strong universality, good environment compatibility and the like; meanwhile, according to the driving force prediction method provided by the invention, a permanent magnet equivalent magnetization current analysis model is taken as a theoretical basis, and the magnetic attraction acting force between the permanent magnet to be assembled and the inner / outer rotor hub is determined by solving the space magnetic induction intensity of the permanent magnet to be assembled. The driving force required by assembly is predicted by means of the permanent magnet assembly tool, calculation is easy and convenient, prediction precision is high, and the method is a calculation method with engineering universality and convenience.

The invention provides a synchronous shaft motion tracking control method and system in the technical field of synchronous shaft motion control. The method comprises the following steps: S1, establishing connection between a PLC (Programmable Logic Controller) and I-O equipment and a servo driver of each test equipment; step S2, the PLC configures each piece of I O equipment, and creates an FB function block based on each piece of configured I O equipment; s3, the PLC creates a virtual shaft as a driving shaft, and takes each entity shaft as a driven shaft; s4, the PLC configures process object parameters of the driving shaft; s5, the PLC controls the driving shaft to move based on the FB function block and the process object parameters, and synchronously controls the driven shafts to run along with the driving shaft; and S6, the PLC collects slave shaft operation data of each driven shaft, obtains main shaft operation data of the driving shaft based on the FB function block, compares the slave shaft operation data with the main shaft operation data to obtain deviation data, and dynamically compensates each driven shaft based on the deviation data. The method has the advantage that the precision and the stability of synchronous shaft motion control are greatly improved.

The invention provides a multi-mode adaptive control method and system for a low-voltage servo driving system, and the method comprises the steps: obtaining the state parameters of the low-voltage servo driving system, and analyzing the mode switching conditions of the low-voltage servo driving system based on the working condition monitoring parameters and system state monitoring parameters in the state parameters; the mode switching condition comprises an event triggering condition and / or a performance triggering condition, judging whether the low-voltage servo driving system meets the mode switching condition or not according to an analysis result of the mode switching condition, and when the low-voltage servo driving system meets the mode switching condition, switching the low-voltage servo driving system to the mode switching condition. Configuring a basic control mode and a self-adaptive control mode of the low-voltage servo driving system according to the state parameters, and dynamically configuring controller parameters of the low-voltage servo driving system on the basis of the configured basic control mode and the self-adaptive control mode, the requirements for precision and robustness can be met at the same time under different working conditions.

The invention discloses a truck hub maintenance-free bearing all-condition simulation testing machine, which comprises a tool table, a servo driving system, a servo hydraulic system and a temperature control simulation system, and is characterized in that the tool table is provided with a tool seat and a main shaft movably arranged on the tool seat, and a to-be-tested bearing is detachably connected between the main shaft and the tool seat; the servo driving system is in linkage fit with the main shaft to simulate the actual operation condition of the bearing, the tool table is provided with a special-shaped load plate and a mandrel, the special-shaped load plate is in linkage fit with the mandrel, and the mandrel is inserted into an inner ring shaft hole of the bearing to be tested and is detachably connected with the inner ring shaft hole of the bearing to be tested. The servo driving system is in linkage cooperation with the special-shaped load plate to simulate the load working condition of the bearing during actual operation, and the temperature control simulation system is in linkage cooperation with the bearing to be tested to simulate the actual temperature working condition of the bearing. According to the invention, the problem that a test device for carrying out a multi-working-condition simulation test on a truck hub bearing is lacked in the prior art is solved.

The invention relates to the technical field of mining permanent magnet synchronous motor sensorless control, and particularly discloses a composite sliding mode control and adaptive phase-locked loop collaborative optimization method. Aiming at the technical bottlenecks of a traditional control strategy in the aspects of rotating speed fluctuation suppression, load disturbance compensation and rotor position observation precision, a collaborative architecture of a time-varying integral terminal sliding mode control module, a sliding mode disturbance observation module and a self-adaptive phase-locked loop module is constructed, so that the dynamic performance optimization of the system is realized. According to the method, through the dynamic coupling design of the time-varying gain nonlinear reaching law and the fast integral terminal sliding mode surface, the convergence speed and the buffeting suppression requirement are balanced while the disturbance dynamic influence is eliminated; multi-dimensional decoupling observation of external load disturbance is realized based on a hierarchical disturbance observer architecture, and a disturbance real-time suppression path is established in combination with a feed-forward compensation strategy; and constructing an error self-adaptive correction mechanism of rotor position observation by dynamically adjusting a phase-locked loop proportionality coefficient and a phase compensation parameter. The limitation of parameter solidification and observation coupling in traditional control is broken through, the rotating speed tracking stability, the position observation precision and the anti-interference capability under complex working conditions are remarkably improved, and an innovative solution is provided for a high-precision servo driving system.

The invention discloses a message extraction method and device, a servo system, a storage medium and a computer program product, and the method comprises the steps: capturing an interaction message between a motion controller and a servo driver, and obtaining initial message data; screening the initial message data, and retaining a communication message between the motion controller and the servo driver; performing format conversion on the screened initial message data to obtain analyzable message data; extracting data fields from the analyzable message data, wherein the data fields reflect information of instruction transmission, operation feedback and fault states between the motion controller and the servo driver; and performing format processing on the data field, and displaying the data field after format processing in a visual form. According to the scheme, efficient extraction, presentation and real-time monitoring of the message are realized by capturing the interactive message and performing screening, format conversion, data field extraction, format processing and visual display, and the debugging efficiency and troubleshooting speed of the servo system are improved.

The invention relates to the technical field of dispensing machines, and discloses an intelligent dispensing machine based on visual feedback and a dispensing path optimization system.The intelligent dispensing machine comprises an equipment rack, a main control computer is installed in the equipment rack, and the dispensing path optimization system is erected on the equipment rack and electrically connected with the main control computer; the inner bottom wall of the equipment rack is fixedly connected with a base, the top of the base is provided with a three-axis movement mechanism, the three-axis movement mechanism comprises an X-axis linear guide rail, a Y-axis linear guide rail and a Z-axis linear guide rail which are all driven by a stepping motor, and the outer side of the three-axis movement mechanism is provided with a servo driver. Through cooperative work of a laser positioning unit and an image recognition positioning unit in the high-precision positioning module, the positioning precision is controlled within + / -0.01 mm, the dispensing position is accurately determined, the problems of dispensing deviation, point leakage and the like caused by positioning deviation are avoided, the dispensing reliability is greatly improved, and the product quality is remarkably improved.

The invention relates to the technical field of servo driving, and discloses a closed-loop control method and system for a servo driving system, and the method comprises the steps: carrying out the mathematical modeling of the servo driving system, and building an initialization system model containing a motor equation and a load kinetic equation; collecting a current signal and a position signal of the initialization system model to obtain system operation characteristic data; performing feature extraction on the system operation feature data to obtain system modeling features; constructing a three-ring nested controller according to the system modeling features, and calculating a first system control parameter; performing operation test and time-frequency analysis on the servo driving system after the first system control parameter modulation to obtain system operation state data; and performing particle swarm optimization calculation on the first system control parameter based on the system operation state data to obtain a second system control parameter. According to the method, self-adaptive adjustment of the servo driving system is achieved, and the adaptive capacity and the control precision of the servo driving system under different working conditions are improved.

The invention relates to an integral microwave-assisted additive manufacturing device and method. The integral microwave-assisted additive manufacturing device comprises a microwave high-temperature cavity, a microwave leakage-proof outer cavity, a microwave element, a high-temperature thermocouple, a high-temperature supporting mechanism and a servo driving mechanism. The microwave auxiliary device is fixed to the supporting frame, and the servo driving mechanism drives the forming base plate to move synchronously through the high-temperature supporting mechanism. According to the device and the method, an additive manufacturing component can autonomously absorb microwaves in a forming high-temperature state, microwave energy is converted into heat energy, rapid temperature rising of the material is achieved, meanwhile, under the synergistic effect of microwave coupling external heat sources, synchronous preheating and slow cooling inside and outside the material are achieved, thermal stress in the forming process is reduced, and therefore material cracking is effectively restrained. The heating temperature and the heating rate are regulated and controlled by controlling the microwave power, so that on-demand preparation of the microstructure of the material is realized; the microwave plasma heat effect and the electric field enhancement effect in the microwave heating process can promote densification of a formed component, and the overall performance of the material is remarkably improved.

The invention relates to a hard and brittle material large depth-diameter ratio small hole laser milling-precision grinding process and a device thereof.The method comprises the steps that firstly, a mapping relation between an inlet aperture and laser parameters is established through a response surface method, laser machining parameters are determined, and laser machining parameters are obtained on the basis of an optical image acquisition system; a pulse laser is adopted to prepare the large-depth-diameter-ratio micro through hole with the accurate and controllable ablation amount, the grinding amount is reduced, meanwhile, the strength, hardness or fracture toughness of materials at the machining position is reduced, and therefore the grinding force for machining hard and brittle materials and tool abrasion are reduced; and secondly, machining damage such as microcracks, recast layers and taper caused by laser machining is removed through grinding machining, and the machining quality of the small hole with the large depth-diameter ratio is improved. The device mainly comprises a machine body, a workbench, a laser machining main shaft, a grinding machining main shaft, a differential interference difference microscope, an optical CCD camera and an X-axis and Y-axis servo driving module, different machining processes and in-situ detection can be completed on the same machine tool, the problems of secondary clamping, poor repeated positioning precision and the like of workpieces are solved, the machining efficiency is improved, and the machining cost is reduced. According to the method, bottom hole laser machining of the hard and brittle materials is highly combined with grinding hole repairing and hole expanding, high-quality and high-efficiency machining of the hard and brittle materials is achieved, tool abrasion is reduced, and the machining cost is reduced.

The invention provides an aquaculture inspection device. The aquaculture inspection device comprises a conveying slide rail, a moving mechanism, a mounting plate and an inspection mechanism, a moving mechanism is arranged on the conveying sliding rail, and the inspection mechanism is connected with the moving mechanism; the inspection mechanism comprises a circuit control board, an upper shell, a lifting motor, a lifting mechanism, a detection platform, a camera, a lower shell, a processor, a first servo driving motor controller, a second servo driving motor controller, a rotating motor and a mounting plate; the detection platform comprises a pH detector, an ammonia nitrogen detector, an underwater camera and a redox potentiometer; the circuit control board is connected with the processor, the first servo driving motor controller and the second servo driving motor controller; the pH detector, the ammonia nitrogen detector, the underwater camera, the oxidation-reduction potentiometer and the camera are connected with the processor. Multi-target inspection can be efficiently achieved, time and labor are saved, the detection platform cannot be soaked in aquaculture water for a long time, the detection platform is stable, and the detection precision can be improved.

The invention relates to a mechanical arm control system and method, and belongs to the field of mechanical arm control, and the control system comprises a microkernel controller which calculates the joint angle of each joint of a mechanical arm according to the difference value between the current position and the target position of the tail end of the mechanical arm and sends the joint angle to a servo driver; the servo driver is responsible for closed-loop control of a current loop and a speed loop, accurately executes the position instruction sent by the microkernel controller and feeds back the actual state of each joint to the microkernel controller in real time; the multi-degree-of-freedom mechanical arm serves as an executing mechanism, receives the joint movement instruction from the servo driver, and drives an end effector to achieve any specified pose and complex track in a three-dimensional space through cooperative movement of a plurality of joints; and the instruction unit is used for communicating with the microkernel controller and issuing the target position information of the end effector of the multi-degree-of-freedom mechanical arm to the microkernel controller. By adopting the control method of the control system, the control precision and reliability of the mechanical arm can be improved.

The invention provides a heterogeneous multi-core-based embedded numerical control system, which comprises a development system, an operation system and a bus servo driving unit, and is characterized in that the data output end of the development system is connected with the data input end of the operation system, and the data transmission end of the operation system is connected with the data transmission end of the bus servo driving unit; the development system is used for programming and monitoring tasks, and the operation system is used for executing control logic, controlling external equipment, receiving compiled control programs from the development system and controlling on-site input and output equipment according to instructions in the programs, so that industrial automatic control is realized. The embedded soft PLC is divided into the development subsystem and the operation subsystem to be deployed on different cores of the multi-core embedded processor, the embedded soft PLC independent of PC operation is achieved, a method for directly explaining and executing the ladder diagram is provided, the ladder diagram does not need to be converted into an instruction list program, and the operation efficiency is improved. The algorithm complexity of ladder diagram compiling and interpretive execution is reduced, and the execution efficiency of the numerical control PLC is improved.

The invention provides a general servo driving method and system based on artificial intelligence, and relates to the technical field of general servo driving, and the method comprises the steps: obtaining a three-dimensional image of a to-be-cut device, a three-dimensional image of a target device, and servo driving device information; based on the three-dimensional image of the to-be-cut device, the three-dimensional image of the target device and the information of the servo driving device, multiple sets of primary selection operation schemes are determined by using an image processing model; based on the three-dimensional image of the to-be-cut device and the multiple sets of primary selection operation schemes, using a generative adversarial network to generate a simulation operation video of each set of primary selection operation scheme; determining a target operation scheme based on the simulation operation video of each primary selection operation scheme; and controlling a servo driving device to perform servo driving based on the target operation scheme. According to the method, the optimal operation scheme of the cutting processing device can be quickly determined.