1455 results about "Servo drive" patented technology

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

The invention relates to the technical field of 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.

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 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 discloses a three-port soft switching optical storage servo all-in-one machine based on device multiplexing and a modulation method. The all-in-one machine comprises a DC-AC servo driver, a low-voltage DC energy storage module, an auxiliary unit, a bus capacitor and a photovoltaic module. The DC-AC servo driver comprises three bridge arms, and each bridge arm is provided with a bridge arm upper tube and a bridge arm lower tube; the low-voltage direct-current energy storage module comprises an energy storage battery, an energy storage switch tube S7 and a direct-current energy storage inductor; the photovoltaic module comprises a photovoltaic power generation panel, a photovoltaic inductor, a photovoltaic switch tube S8 and a diode D1; the auxiliary unit comprises an auxiliary switch tube Sa, an auxiliary resonant inductor Lr and an auxiliary capacitor Cr. According to the invention, an integrated resonant soft switching architecture is innovatively adopted, zero-voltage / zero-current switching of all power switching devices is realized, and the problem of loss caused by a traditional hard switch is thoroughly solved; and by optimizing a device multiplexing technology, the number of switching tubes is greatly reduced while the soft switching performance is ensured, so that the system efficiency is improved in a breakthrough manner.

The invention discloses a chamfering machine for machining mechanical parts, and belongs to the technical field of chamfering machines, the chamfering machine for machining the mechanical parts comprises a fixed rack, and a sliding limiting mechanism is fixedly mounted in the center of the top of the fixed rack; a rotary limiting mechanism is fixedly mounted at the center of the top of the sliding limiting mechanism, a rotary feeding mechanism matched with the rotary limiting mechanism is further fixedly mounted at the top of the fixed rack, and two sets of symmetrically-arranged turning and chamfering mechanisms are slidably mounted on the two sides of the top of the sliding limiting mechanism correspondingly; a servo driving mechanism used for driving the two turning and chamfering mechanisms is installed at the bottom of the sliding limiting mechanism. According to the rotary feeding mechanism simple in design, the left feeding disc and the right feeding disc are controlled by the first servo motor to move, so that the conveying, machining pause and conveying and discharging processes are smoother, the machining pause time is shortened, and meanwhile the overall machining efficiency is improved.

The invention relates to the technical field of servo drivers, in particular to a servo driver control method, and the technical scheme comprises the steps: carrying out the online identification of load inertia and external disturbance through a self-adaptive observer, generating a dynamic compensation parameter, constructing a multi-model parallel self-adaptive observer group, and carrying out the online identification of the load inertia and external disturbance through the self-adaptive observer group, a dynamic confidence evaluation mechanism is designed, disturbance dynamic compensation is realized, parameter sudden change and slow change scenes can be taken into consideration, the real-time performance of dynamic response can be ensured, compensation parameters are input into a fuzzy neural network controller, an optimal control quantity is generated in combination with a preset control target, a multi-source compensation parameter input channel is constructed, and the optimal control quantity is generated. A dynamic input weighting module is designed, fuzzy rule confidence is updated through an online strategy gradient algorithm to generate an optimized control quantity, the working condition adaptability can be enhanced, a dynamic target can be dealt with, finally, a sliding mode variable structure algorithm is adopted to carry out high-frequency buffeting suppression on the control quantity, and a final driving signal is output to a power module. And the control precision of the servo driver is improved.

The invention relates to the technical field of satellite communication, and discloses a vehicle-mounted station satellite dynamic tracking device and method.The technical scheme is characterized in that the theoretical satellite alignment angle pointed by an antenna is calculated, the antenna is driven to rotate to the angle for coarse alignment, and picture frame searching is started when effective satellite signals are not captured; a main tracking mode and an auxiliary tracking mode are switched in a self-adaptive mode according to the real-time vehicle speed, and servo driving parameters are dynamically adjusted based on the processed tracking deviation to drive an antenna to track a satellite in real time; compensating the tracking angle of the antenna in real time; when it is judged that the satellite is lost, the current angle to which the antenna should point is predicted, and conical scanning is executed with the predicted angle as the center to recapture satellite signals. According to the invention, the adaptive hybrid tracking mode switching, multi-dimensional error real-time compensation and'inertial navigation prediction + conical scanning 'rapid recovery cooperation mechanism is adopted, and high-precision, high-stability and rapid-recovery satellite dynamic tracking under complex road conditions and high-speed movement is realized.

The invention provides an optical silica gel part liquid forming automatic production taking-out device which comprises an injection molding machine rack, a three-plate mold set, a first material taking assembly, a second material taking assembly, a water gap taking and placing assembly, a master control system, a servo drive translation mechanism and a control screen. The three-plate mold set is correspondingly installed in the middle of the injection molding machine rack, and a truss is installed on the injection molding machine rack; the first material taking assembly and the second material taking assembly are installed on the truss and located on the two opposite sides of the three-plate mold set correspondingly, and the water gap taking and placing assembly is installed on the side, close to the first material taking assembly, of the truss. The control screen is installed on the portion, close to one side of the second material taking assembly, of the truss. A servo drive translation mechanism matched with the first material taking assembly and the second material taking assembly is installed above the injection molding machine rack in the length direction of the injection molding machine rack. The production efficiency is improved.

The invention relates to the technical field of soft package power batteries, and discloses a soft package module tab automatic bending and leveling device and method.The soft package module tab automatic bending and leveling device comprises a main body support serving as a device bearing framework; the bending assembly comprises a shifting piece, a servo driving unit and a first visual detection unit, the shifting piece is in transmission connection with the servo driving unit, and the signal output end of the first visual detection unit is in communication connection with the control end of the servo driving unit; the leveling assembly comprises a transverse rolling wheel and a longitudinal rolling wheel which are sequentially arranged in the flowing direction of the tabs, and the transverse rolling wheel and the longitudinal rolling wheel are each provided with an elastic pressing unit; and the second visual detection unit is arranged at the downstream station of the longitudinal roller, and the detection area of the second visual detection unit corresponds to the lap joint area of the tab. The defect that the bending effect is influenced due to product difference is compensated according to visual compensation, the tab is prevented from being pressed and deformed in the stretching and retracting process of the shifting piece, the tab is leveled in the transverse direction and the longitudinal direction, the tab is prevented from rebounding after being bent, and therefore it is guaranteed that the tab can achieve the smoother effect.

A symmetrical link servo driving device, relating to the technical field of servo motors. The symmetrical link servo driving device comprises a driving mechanism, an electric motor, a gear reduction mechanism and a servo shaft rocker arm mechanism, wherein the gear reduction mechanism is in transmission connection with an output shaft of the electric motor, a servo shaft rocker arm mechanism is provided on the side of the gear reduction mechanism facing away from the electric motor, the servo shaft rocker arm mechanism comprises a base body, a servo shaft is rotationally connected to an inner cavity of the base body, and a crank is provided at a shaft body of the servo shaft; a self-locking mechanism capable of locking the servo shaft is provided at the bottom of the inner cavity of the base body; and a driving mechanism is provided on one side of the electric motor, the driving mechanism comprises a housing, a lead screw is rotationally connected in the housing, and the lead screw is correspondingly in transmission connection with an output gear of the gear reduction mechanism. The present invention has a simple structure, and the electric motor and the driving mechanism are arranged in parallel to effectively reduce the overall volume, such that the whole device is compact and small. The self-locking mechanism capable of locking the servo shaft is provided at the bottom of the inner cavity of the base body, that is, when the servo shaft stops rotating, the servo shaft can be locked by means of the self-locking mechanism, thereby preventing an external force from being transmitted to the driving mechanism by means of the servo shaft.

The invention relates to the technical field of suspension conveying systems, in particular to a servo-driven intelligent suspension conveying system, and solves the problems that when a servo motor suspension conveying system accelerates or decelerates, due to inertia of goods at the bottom, the power output power of a suspension system of a servo motor and the burden of a brake system are heavy, and the service life is short. And the service life of a servo motor and a brake system is shortened after long-time work. A servo-driven intelligent suspension conveying system comprises a conveying guide rail module, a guide rail sliding block, a sliding block driving module, a conveying suspension module and a control module, and the sliding block driving module is located on the outer side of the guide rail sliding block. When the guide rail sliding block is started, magnetic repulsion of the electromagnet to the guide rail sliding block is adjusted, the output torque of the double-shaft servo motor and the rotating load of the driving shaft are reduced, the situation that the double-shaft servo motor is damaged or breaks down due to high torque and high load when the double-shaft servo motor is started is avoided, and the service life of the double-shaft servo motor is prolonged.

The invention relates to the field of homogenizer intelligence, and discloses a homogenizer intelligent pressure increasing and reducing control system based on servo synchronous transmission, which comprises the following steps: extracting the operation inertia difference of each plunger mechanism under a multi-pump parallel structure, generating a synchronous offset vector map, and calculating the pressure increasing and reducing of the homogenizer based on the synchronous offset vector map. Calling a slip registration algorithm and an inertia field decoupling network, extracting reconstructed plunger stroke and pressure response mapping data, constructing a three-dimensional flow-path-stress tensor model, judging whether fluctuation-wear coupling sensitive points exist or not, activating a frequency conversion regulation and control strategy set of a servo driving layer based on a disturbance window and the coupling sensitive points, and carrying out the control of the servo driving layer. And judging whether structural thermal drift feedback unbalance exists or not, dynamically adjusting servo redundancy and a buffer response strategy in combination with a preset life curve and an abnormal response backtracking channel, and outputting a synchronous regulation and control instruction set. The method has the advantage of improving the long-term operation reliability of the homogenizer.

The invention provides a bottom dead center position self-adjustment control method and system for servo stamping equipment, and the method employs a double-speed cooperation architecture of a field programmable gate array (FPGA) and a micro control unit (MCU): the FPGA carries out the high-frequency collection and preprocessing of position, direction, current, temperature, vibration and acceleration signals in a bottom dead center core region, and transmits the signals to the MCU at a low time delay; the MCU executes bottom dead center reference calibration and transmission chain back clearance recognition, constructs a comprehensive error in combination with Kalman filtering state estimation, solves the compensation amount in a rolling mode based on model predictive control (MPC), and writes the compensation amount into a servo driver fine adjustment motion curve through a bus in cooperation with dynamic dead zone control, so that the position of a bottom dead center is stably converged for a long time, and the stamping precision and consistency are improved.

The high-power servo drive cabinet comprises a cabinet body, a bottom air inlet hole is formed in the bottom of the cabinet body, a bottom dustproof net is arranged in the bottom air inlet hole, a top air outlet hole is formed in the top of the cabinet body, and a centrifugal fan is arranged in the top air outlet hole; the device comprises two cooling supporting mechanisms, a switch controller and a servo driver, a plurality of mounting brackets are arranged at the tops of the two cooling supporting mechanisms, and the switch controller and the servo driver are mounted at the tops of the cooling supporting mechanisms through the mounting brackets; and the isolation plate is fixedly installed in the cabinet body, and four electromagnets are arranged on the isolation plate. According to the device, gas-liquid cooperative heat dissipation is adopted, the centrifugal fan and the S-shaped cooling pipe are arranged in an orthogonal mode, the heat dissipation efficiency is improved, the modular drawing design is adopted, the sliding rail and the electromagnetic lock are rapidly disassembled and assembled, the maintenance time is shortened, the high-sealing connector is adopted, the arc-shaped electromagnetic adsorption connector and a two-stage dustproof structure are adopted, and the dustproof effect is improved.

The invention discloses six-degree-of-freedom wave compensation embarkation equipment suitable for complex sea conditions and a control method of the six-degree-of-freedom wave compensation embarkation equipment. The six-degree-of-freedom wave compensation embarkation equipment comprises a base platform fixed to an operation ship deck; a lower platform of the Stewart parallel mechanism is connected with the base platform, and an upper platform of the Stewart parallel mechanism is connected with the lower platform through six hydraulic cylinders; the embarkation gangway ladder system is mounted on the upper platform; the hydraulic servo driving system is used for driving the six hydraulic cylinders; the intelligent sensing system is used for collecting ship motion data and relative pose data of the target platform; the intelligent control system is electrically connected with the hydraulic servo driving system and the intelligent sensing system; wherein the intelligent control system is configured to execute a compound control algorithm based on a nonlinear extended state observer and nonlinear model predictive control so as to drive the hydraulic servo driving system and compensate ship motion. The embarkation equipment provided by the invention has the advantages of high precision, high stability and strong robustness, and can realize accurate and stable compensation of complex sea conditions.

The invention discloses a multi-mode nonlinear model predictive control method and system for a visual servo-driven arm-carrying unmanned aerial vehicle, and belongs to the technical field of intelligent control of arm-carrying unmanned aerial vehicles. The objective of the invention is to solve the problems of unstable control mode switching and difficulty in unified control modeling of different target structures in existing unmanned aerial vehicle grabbing control. According to the technical scheme, a task-driven modal judgment mechanism is introduced, the current task modal can be judged in real time based on the target type, the image features and the flight state information, control strategy self-adaptive switching between a rod-shaped target and a plane target is achieved, and continuity and stability of control logic are guaranteed. For a rod-shaped structure target, a remote approaching, servo adjustment and compliant contact three-stage control strategy is designed, and a dynamic weight adjustment mechanism is introduced into NMPC control solution, so that smooth transition of control performance from quick response to fine compliant is realized, and the control precision and compliance of the arm-carrying unmanned aerial vehicle in different operation stages are remarkably improved. For a plane structure target, the invention provides an adsorption control strategy based on impact time prediction and angle feedforward compensation, the contact time can be accurately estimated, the attitude of the aircraft can be adjusted in advance, the adsorption stability is effectively improved, and the contact failure probability caused by inclination of a target surface is reduced.

The invention relates to the technical field of injection molding machine control, in particular to a networking injection molding machine servo drive control method. Firstly, a traditional continuous servo driving action is decomposed into a strong operation-weak voltage stabilization alternating unit sequence, and the instantaneous load peak value and the hydraulic pressure fluctuation are reduced. Secondly, product type characteristics are accurately matched based on a process database, action parameters are dynamically adjusted in combination with a multi-objective optimization algorithm, and the product quality consistency is remarkably improved. In addition, energy conservation and consumption reduction are achieved through a first-stage sleep mode and a second-stage sleep mode, a group control optimization mode is used for coordinating actions of multiple injection molding machines, load fluctuation of a workshop power grid is reduced, and the service life of equipment is prolonged. The system also supports real-time monitoring and networking management, constructs intelligent closed-loop control, enhances the production flexibility and the resource utilization rate, and provides an efficient, energy-saving and reliable solution for the injection molding industry.

The invention discloses an intelligent yarn low-tension control system, and relates to the technical field of textile control systems. A tension estimation module takes output of a physical tension sensor and torque and speed signals of a servo driver as inputs; after being processed by a filter, the tension data signals are provided for the model prediction controller module and the self-adaptive PID module; the visual detection unit is coupled with the expansion reed driving mechanism through a control signal and time sequence synchronization interface, and the visual detection unit outputs segment position information corresponding to the position of the expansion reed to the edge real-time controller according to a breadth segment. According to the invention, through a fused sensing architecture of multi-channel physical sensing and virtual tension estimation, stable and redundant tension estimation can still be provided and confidence information can be output when measuring points are insufficient or local interference exists, and the problems that traditional single-point sensing is easily interfered by local liquid drops and dirt, the point supplementing cost is high and the installation space is limited are solved.

The invention provides a servo multi-section pressure closed-loop control closed-loop system, and belongs to the technical field of servo hydraulic equipment. Comprising a pressure execution module used for recording pressure value change and feedback signals in a pressure applying process in real time, a material change and hydraulic oil interference acquisition module, a servo equipment internal material change data set, a servo equipment external material change data set and a hydraulic oil microenvironment disturbance data set, and a pressure analysis module. The parameter evaluation module is used for establishing and evaluating an internal material change influence coefficient of the servo equipment, an external material change influence coefficient of the servo equipment and a hydraulic oil microenvironment disturbance coefficient, and the intelligent closed-loop control optimization module is used for self-adaptive compensation and stable optimization according to corresponding optimization instructions. Through multi-stage pressure setting and a real-time feedback mechanism and in combination with a high-precision servo driving system, stable and high-response pressure application to a target object in different stages is realized.

The invention discloses an automatic transfer robot for a ladle. The automatic transfer robot comprises a robot body, a gate-type mechanical arm system, a ladle clamping and overturning assembly, an intelligent sensing system and an electrical control system. A servo-driven X-Y plane moving device is arranged at the bottom of the robot body, so that two-dimensional free movement is realized; the door type mechanical arm system comprises symmetrical mechanical arms, a connecting beam and a lifting and telescopic driving assembly and adapts to different positions. The clamping turnover assembly adopts a three-point positioning clamping and servo turnover device and integrates a manual switching system and a weighing system, so that accurate dumping is realized; the intelligent sensing system detects the positions of an iron outlet and a material receiving opening through laser vision; and the electrical control system cooperatively controls each component to realize automatic butt joint. The robot further comprises an automatic ladle cover opening and closing mechanism and a safety protection system, and safety is improved. Through automatic and intelligent design, the molten iron transfer safety and stability are improved, and the system is suitable for casting workshops and particularly suitable for transformation of old workshops.

The invention relates to the technical field of automatic control of glass manufacturing, discloses an optical cooperative monitoring and processing system and method for glass cold end plate explosion, and aims to solve the problems that an existing plate explosion detection range is narrow, the precision is low, and emergency response depends on manual intervention. The system adopts a dual optical detection framework of'dynamic photoelectric scanning + static CCD image recognition 'and is combined with a servo-driven photoelectric plate explosion detection module and a high-resolution defect detection module to realize accurate detection of full-breadth and full-type plate explosion phenomena (transverse / longitudinal fracture, microcracks and unbroken small cracks); a secondary intelligent response mechanism is constructed through an EtherCAT real-time communication protocol, emergency cutting, discharging or precise cutting (including block cutting and stripping / sleeving cutting) is automatically triggered, and manual intervention is not needed. The detection precision reaches 99% or above, the response delay is smaller than or equal to 50 ms, production interruption and equipment damage can be remarkably reduced, and stable and efficient operation of a glass cold end production line is guaranteed.

The invention relates to a multistage planetary roller lead screw pair structure, and belongs to the technical field of electromechanical servo transmission. The linear actuator comprises a first-stage lead screw, a first-stage pin roller, a first-stage nut, an angular contact bearing II, a first-stage actuator cylinder, a second-stage lead screw, a second-stage pin roller, a second-stage nut, a shell and an adapter shaft. Therefore, a nested structure of the first-stage planetary roller screw pair and the second-stage planetary roller screw pair is formed. The large working stroke can be provided within the small retraction size, and the large bearing capacity can be provided through the small radial size; meanwhile, the linear motion speed ratio of different graded lead screw pairs is controlled by adjusting the thread lead of the first-stage lead screw and the second-stage lead screw, accurate control over the motion speed of the tail end effective load is achieved, a guide structure within the stroke range is designed for each stage of nut, and high stability of the tail end output load of the structure can be achieved.

The invention provides a bus magnetic encoder precision improving method, system and device and a storage medium, relates to the technical field of servo control, and is applied to a main control chip, and the main control chip is connected with a bus communication chip through a first communication interface and connected with a magnetic encoder chip through a second communication interface. The method comprises the following steps: receiving a position request protocol packet sent to a bus communication chip by a servo driver through a first communication interface; when the position request protocol packet meets the preset requirement, generating a synchronous trigger signal; according to the synchronous trigger signal, calculating a target time point when the second communication interface reads the position data of the magnetic encoder chip; when the time point is reached, reading position data of the magnetic encoder chip; and generating a response position protocol packet according to the position data, and sending the response position protocol packet to the servo driver. The method has the technical effects that the delay of receiving the position data by the servo driver is reduced, and the dynamic change of the delay is minimum.

The invention relates to the field of virtual debugging, and particularly discloses a control program and a virtual debugging method of a cold roll forming machine shearing system, and the method comprises the steps: S1, building a virtual model comprising a feeding mechanism, a shearing mechanism, a servo driver and a photoelectric sensor in an NX MCD environment, outputting an accumulated feeding length and a sensor signal by the model, and receiving the position setting of a cutter; s2, a trimming procedure is written for an S7-1200 PLC (programmable logic controller) in a TIA Portal (TIA Portal); s3, two-way communication between the NX MCD and the PLC is established through OPC, the accumulated feeding length and a sensor signal are mapped into PLC input, and the cutter position set output by the PLC is mapped into NX MCD servo input; and S4, the two are simulated synchronously, control logic and parameters are optimized based on model feedback, and the target is to minimize fixed length error and motion instability. According to the invention, the problems of long field debugging period, high cost, inaccurate shearing triggering and unstable return in the prior art are solved, and the shearing precision and the operation reliability are improved.

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

The invention discloses automatic sleeve assembling equipment and an assembling method, and relates to the technical field of sleeve assembling. According to the method, on the basis of a ten-station servo rotating disc, sleeve feeding, double-bearing step-by-step press mounting, sleeve inserting mounting, triple detection and NG removing are cyclically executed; the press-in module adopts a main / auxiliary servo drive and magnetic lock switching structure, and force-position double-closed-loop press fitting and fault redundancy arrangement are achieved. And the PLC collects the press fitting curve, the detection result and the jig ID on line and uploads the data to the MES. The problems that an existing assembly line is poor in press fitting consistency, neglected fitting is difficult to detect, and shutdown protection is insufficient are solved.

The invention discloses an energy-saving servo hydraulic control system, which relates to the technical field of hydraulic control, and comprises a controller used for receiving an external control instruction and outputting an adjusting instruction according to a feedback signal; the servo driving unit receives the adjusting instruction, and a servo driver adjusts the rotating speed and the torque of a servo motor; according to the hydraulic power module, a servo motor drives a variable hydraulic pump to output oil; the hydraulic executing mechanism is used for executing a power output action; the sensing feedback module is used for collecting the position, oil way pressure and execution speed data of the hydraulic execution mechanism; the energy recovery module is used for recovering potential energy and kinetic energy under the braking or descending working condition and converting the potential energy and kinetic energy into hydraulic energy to be stored and reused; and the control valve group is used for accurately controlling the on-off, the flow direction and the flow distribution of the oil liquid. Through flow-pressure on-demand matching and graded energy recovery, the problems that a traditional hydraulic system is large in throttling loss, low in control precision and poor in load adaptability are solved.

The invention belongs to the technical field of numerical control machine tools, particularly relates to a high-speed servo drive chain type tool magazine, and provides the following scheme aiming at the risk that a tool is accidentally loosened due to vibration, impact, mechanical wear, instantaneous insufficiency of hydraulic clamping force and the like, the tool loosening easily causes a machine tool collision accident and causes heavy loss and potential safety hazards: the high-speed servo drive chain type tool magazine comprises a rack, a rotary tool magazine mechanism is arranged on one side of the rack, a tool disc is fixedly connected to one side of the rotary tool magazine mechanism, tool magazine bodies are arranged on one side of the rotary tool magazine mechanism at equal intervals, and tool bodies are arranged in the multiple tool magazine bodies. And the tool changing mechanism is arranged on one side of the rotary tool magazine mechanism. The high-speed servo drive chain type tool magazine disclosed by the invention has the effects that the falling risk is actively prevented through the anti-falling early warning module, instant locking and alarming are carried out when an accident occurs, meanwhile, the rotary deviation correction module is cooperated to ensure that a tool is accurately placed in place, and the loosening probability caused by deflection is reduced from the source.