26 results about "Servo loop" patented technology

An electronic device may include a signal path that conveys a signal. The device may include an attenuator on the signal path that attenuates the signal. The attenuator may be free from series switches on the signal path. The attenuator may include a transmission line segment coupled in series between an input and an output of the attenuator. The transmission line segment may extend from a first terminal to a second terminal. A first adjustable resistance may couple the first terminal to ground. A second adjustable resistance may couple the second terminal to ground. The transmission line segment may have a length configured to perform impedance matching for the attenuator. A controller may control an attenuation level of the signal attenuator by adjusting the magnitude of the adjustable resistances. The controller may include a servo loop around an operational amplifier to mitigate process, voltage, and temperature variations in the attenuator.

The invention discloses a gyro accelerometer dynamic error modeling and calibration method considering angular motion of a base, and belongs to the field of dynamics and control. The implementation method comprises the following steps: establishing kinematics and dynamics equations of the PIGA under the triaxial angular motion of the base, and deducing a complete error model comprising a static error term, a dynamic error term and a nonlinear error term; constructing a kinetic equation including inertia tensor, a moment balance equation and servo loop influence; quantitatively analyzing the influence of the angular motion parameters of the base on PIGA output errors; based on three-axis turntable experimental design, dynamic response of each axis of the PIGA is excited through single-axis, double-axis and three-axis angular velocity input, and error model coefficients are separated and calibrated; error model parameters are calibrated by adopting a mode of combining a least square method and other data fitting algorithms; angular velocity and angular acceleration terms are separated based on direction cosine matrix transformation, and error coefficient aliasing is avoided; dynamic response data are fitted through a least square method, and all error coefficients are calibrated at a time.

A servo loop angular velocity follow-up type partition discrete variable structure control method, comprising: obtaining the angular velocity of a table body on X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope installed on the table body and acquiring the angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system; performing partition variable structure control based on the size of the angular velocity component of an actuator according to the angular velocity component and the angle of internal relative rotation, and respectively calculating the resultant rotation angular velocity ω p of the table body on Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on X x axis and the resultant rotation angular velocity ω p3 of an outer frame on Y yk′ axis. The present application can avoid the occurrence of singular values in the servo loop decoupling process, ensure the stabilization of the platform table body relative to the inertial space, and has the advantages of full attitude, high precision, and relatively smooth interval switching.

A compliant continuous variable structure control method under the condition of a servo loop frame limiting condition, comprising: obtaining the angular velocity of a table body on an X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope mounted on the table body and obtaining the angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system; calculating the resultant rotation angular velocity ω p of the table body on the Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on the Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on the X x axis and the resultant rotation angular velocity ω p3 of an outer frame on the Y yk′ axis according to the angular velocity component and the angle of internal relative rotation; the present application can ensure that the platform table body is stabilized relative to the inertial space and has the advantages of full attitude and high precision.

The invention relates to the technical field of electric digital data processing, and discloses a photovoltaic panel cleaning nozzle self-adaptive control method and system, and the method comprises the steps: collecting a scene image below a cleaning device in real time, carrying out the semantic segmentation processing, obtaining a binary mask of an effective region of a photovoltaic panel, and extracting the left and right boundary pixel coordinates of the region in an image coordinate system; solving a nozzle swing angle boundary through a pre-calibrated pixel angle mapping model, obtaining a final control angle range in combination with a safety margin, and calculating a swing center and amplitude to generate an expected angle track; a double-ring framework is adopted to execute servo control, a low-frequency decision ring matched with a visual sampling frame rate is used for processing scene research and judgment and track updating, and a high-frequency servo ring with real-time angle feedback is used for tracking an expected track; when the boundary or the gap of the photovoltaic panel is identified, a high-priority intelligent reflection instruction is triggered, and the water pump and the nozzle are cooperatively controlled to start and stop swinging. The problems that in the prior art, self-adaption cannot be achieved, and waste is serious are solved, and the purposes of high precision and self-adaption are achieved.

The invention belongs to the technical field of aircraft tests, and discloses a test verification method for simulating control surface oscillation monitoring caused by an electrical fault, based on a fly-by-wire flight control system with backup control, a refitted REU is used, a normal control instruction and a backup control instruction received by the refitted REU are superposed, and the control surface oscillation monitoring caused by the electrical fault is realized. Then the motion of the control surface is controlled according to the superposed instruction; connecting a signal generator with the refitted REU, wherein the signal generator outputs a signal with specified frequency and amplitude; a normal control instruction received by the refitted REU is superposed with a signal output control instruction of the signal generator to simulate control surface oscillation caused by an electrical fault in a servo loop. According to the wing control surface oscillation monitoring test method, the response of the tested airplane meets the design expectation, and a test basis is provided for ensuring the safety of an airplane system.

The invention discloses an intelligent cooperative adjustment method for dynamic characteristic parameters of a three-axis inertial navigation servo loop. The method comprises the following steps: firstly, gradually measuring the open-loop dynamic characteristics of an inner-loop servo loop and an outer-loop servo loop when the triaxial inertial navigation is in a zero orthogonal moment; secondly, rotating the table body shaft by 90 degrees, and gradually measuring the open-loop dynamic characteristics of the inner ring servo loop and the outer ring servo loop of the three-axis inertial navigation in the state; according to the method, a parameter identification index function J model is established, an intelligent differential evolution algorithm is introduced to carry out cooperative identification and adjustment compensation on servo loop gain parameters with cross coupling characteristics, and optimal estimation is carried out on the parameter identification index function J; finally, four dynamic characteristic parameters with cross coupling are obtained at a time when the parameter identification index function J is optimal, so that the dynamic characteristic stability of the frequency bands in the inner ring servo loop and the outer ring servo loop is better under the condition that the table body shaft is at any position, and the repeated testing time of testing personnel can be greatly saved.

This invention relates to the field of industrial robot fault diagnosis technology, and discloses a fault early warning and remote diagnosis method for the electrical control system of an industrial robot. This method obtains mechanical load parameters through a potential load model, an inertial load model, and a basic dynamic model; obtains electrical state parameters through an electrical efficiency model; generates correction factors through a correction model based on ambient temperature; calculates dynamic current thresholds through a threshold model based on the correction factors and a basic current threshold; and finally outputs health scores and fault early warning information through a diagnostic model by combining vibration acceleration and servo loop following error. This invention integrates multi-source parameters from mechanical, electrical, and environmental sources to achieve dynamic threshold adjustment and multi-dimensional health assessment, effectively distinguishing between normal operating conditions and abnormal states, significantly improving the accuracy of fault early warnings, reducing false alarm rates, and providing a reliable remote diagnosis solution for industrial robots.

The invention discloses a high-input-impedance and low-noise capacitive coupling chopping instrument amplifier. The high-input-impedance and low-noise capacitive coupling chopping instrument amplifier comprises a main amplifier, a positive feedback loop, a pre-charging circuit and a direct-current servo loop. A positive feedback loop and a pre-charging technology are adopted, current flowing into an input capacitor Cin from a signal source is reduced through current compensation, and input impedance is improved. The positive feedback loop and the negative feedback loop share one chopper, so that the use of one chopper is reduced, and the layout area is reduced; the pre-charging circuit can take an amplifier with smaller power consumption as a buffer so as to reduce the power consumption of the system. Furthermore, a multi-rate duty ratio resistor is used as a large resistor of the integrator instead of a pseudo resistor, so that the noise introduced by the direct-current servo loop can be reduced. The circuit is good in performance, and has the advantages of high input impedance, low noise and low power consumption.

The application provides an AC coupling amplification circuit and an amplitude attenuation method thereof, which comprises a differential input port, a plurality of gain ratio capacitors, a main loop operational amplifier, a common mode feedback operational amplifier, a DC servo loop operational amplifier, a differential output port and an amplitude attenuation module; the differential input port is connected with the plurality of gain ratio capacitors and then connected with the main loop operational amplifier and the DC servo loop operational amplifier respectively; the main loop operational amplifier is further connected with the common mode feedback operational amplifier and the amplitude attenuation module respectively; the differential output port is connected with the main loop operational amplifier, the common mode feedback operational amplifier and the amplitude attenuation module respectively; the first input end and the second input end of the DC servo loop operational amplifier are connected with the amplitude attenuation module respectively; and the reference signal input end of the DC servo loop operational amplifier is connected with the reference signal input end of the common mode feedback operational amplifier. The application solves the problem of intermodulation under the condition of large signal output.

A four-axis inertial stabilization platform servo loop discrete variable structure control method, taking a hybrid discrete variable structure control as an example, comprises the following steps of: obtaining angular velocity components of a platform body on X p axis, Y p axis and Z p axis and obtaining an angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system according to angular velocity output by a gyroscope mounted on the platform body; performing partition variable structure control based on the size of an actuator angular velocity component and combining angle limitation according to the angular velocity components and the angle of the internal relative rotation, so as to respectively calculate a resultant rotation angular velocity ω p of the platform body on the Z z axis, a resultant rotation angular velocity ω p1 of an inner frame on the Y y axis, a resultant rotation angular velocity ω p2 of a middle frame on the X x axis and a resultant rotation angular velocity ω p3 of an outer frame on the Y yk′ axis. The method can avoid singular values in a servo loop decoupling process and ensure that the platform body is stable relative to inertial space.

The present application relates to a kind of ground subsidence simulation device, including model box, which is provided with subsidence simulation component in model box, and the subsidence simulation component includes vertical partition, bottom plate and top plate constitute closed space, and closed space is provided with motor, pressure sensor, laser ranging sensor telescopic rod and connecting piece;Motor drives telescopic rod to retract, and telescopic rod drives top plate to move in vertical direction;Pressure sensor is arranged at the top of telescopic rod, for monitoring the force that top plate is subjected to when displacement occurs;Motor, pressure sensor and laser ranging sensor are connected with servo loading control system;The present application uses laser ranging sensor to measure the displacement of the top plate of subsidence simulation component, and the force that top plate is subjected to when displacement occurs is monitored by pressure sensor, and servo loading control system is based on real-time sensor data, utilizes servo loop program to control the movement of micro motor telescopic rod, to simulate the process and state of ground subsidence, to provide reference for urban ground subsidence problem.

Self-servo write (SSW) is performed in a disk drive while rotating disks at an SSW rotational speed, such that the resultant product servo patterns have near-zero coherent runout when rotating the disks at an operational rotational speed. The natural uncontrolled path of a magnetic head of the drive is characterized at the operational rotational speed and at the SSW rotational speed, and the difference between the two uncontrolled paths is injected into the servo loop to modify the path of the magnetic head during the SSW process. Specifically, the natural uncontrolled path of the magnetic head of the drive at the normal operating rotational speed is characterized with a first set of non-circularity values, and the natural uncontrolled path of the magnetic head of the drive at the SSW rotational speed is characterized with a second set of non-circularity values.

The invention discloses a servo controller for a low-orbit constellation feed antenna, and the controller comprises a dual-core fault-tolerant main control unit (2) which is used for achieving the operation processing of a main control mode and a monitoring mode; the multi-channel intelligent power driving unit (3) is used for integrating a multi-channel circuit into a single package; the comprehensive interface management and health monitoring unit (4) is used for realizing external communication, signal acquisition, system state real-time monitoring and health data storage; the embedded test and on-orbit maintenance interface unit (5) is used for supporting on-orbit self-test, on-orbit software injection and on-orbit part hardware logic reconstruction, and the integrated packaging shell (1) is used for integrating all the units together. According to the invention, the bandwidth and the response speed of a servo loop can be greatly improved, and the relative motion of high-speed change between low-orbit constellations can be better tracked.

The present application relates to an automatic production equipment for label-free packaging bottles, which belongs to the technical field of packaging bottle production. The equipment comprises a machine frame, wherein a bottle body conveying device and a bottle body labeling device are arranged on the machine frame, wherein the bottle body labeling device comprises a rotating shaft arranged on the machine frame and an driving annular plate coaxially fixed on the rotating shaft, a driving mechanism for driving the rotating shaft to rotate is arranged on the machine frame, a plurality of storage plates are rotatably arranged on a top portion of the driving annular plate, the plurality of storage plates are distributed in a circular array along a circumferential direction of the driving annular plate, at least one self-rotating motor for driving each of the plurality of storage plates to rotate is arranged at a bottom portion of the driving annular plate, a servo annular plate is coaxially fixed on the rotating shaft, pressing assemblies corresponding to the storage plates are arranged on the servo annular plate, a plurality of laser heads for bottle labeling are arranged on the machine frame. The present invention is conducive to meeting the labeling requirements of large breadth and high production capacity for packaging bottles, is conducive to the mass production of the label-free packaging bottles, and is conducive to environmental recycling, energy consumption saving, and production cost reduction.

This application discloses a method and device for controlling the angle of a forklift steering wheel, relating to the field of industrial vehicle motion control, and applied to a target angle compensator for a target forklift. The method includes: acquiring the target desired angle corresponding to the target steering wheel of the target forklift and determining the steering wheel state; determining the target correction angle corresponding to the target steering wheel based on the target desired angle and the steering wheel state using a target angle correction function; sending the target correction angle to the target servo ring corresponding to the target steering wheel, so that the target servo ring controls the target motor shaft corresponding to the target steering wheel to rotate to the target correction angle based on the target correction angle, thereby controlling the target steering wheel to rebound to the target desired angle after rotating to the target correction angle. This application achieves precise control of the actual pointing angle of the forklift steering wheel tire ground contact end.

A servo loop compliance continuous variable structure angular velocity correction and determination method, comprising: obtaining the angular velocity of a table body on X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope mounted on the table body and acquiring the angle and angular velocity of the internal relative rotation of a four-axis inertial stabilization platform system; calculating the resultant rotation angular velocity ω p of the table body on Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on X x axis and the resultant rotation angular velocity ω p3 of an outer frame on Y yk′ axis according to the angular velocity component and the angle of the internal relative rotation respectively. The present application can avoid the occurrence of singular values in the servo loop decoupling process, ensure the stabilization of the platform table body relative to the inertial space and has the advantages of full attitude and high precision.

The invention relates to an aviation fuel regulator dynamic servo flow online test method. According to the invention, a servo oil leading-out joint is arranged behind a main pump of the regulator, and the servo oil leading-out joint is used for leading out part of pumped oil of the main pump; a servo oil introduction joint is arranged at the inlet of a pump regulator shell of the regulator and is used for sending the pumped oil back to a servo loop of the regulator so as to drive a servo element; a servo oil filter tool is provided, the servo oil filter tool comprises a barrel-shaped structure and an internal channel arranged in the barrel-shaped structure, the barrel wall of the barrel-shaped structure blocks servo oil in the regulator, and oil returned by the servo oil leading-in connector is led to a servo loop at the downstream of a servo oil filter through the internal channel; a flow signal between the servo oil leading-out connector and the servo oil leading-in connector, a rotating speed signal of the main pump and a displacement signal of the servo element are collected, and dynamic servo flow under different working conditions is obtained. According to the invention, the on-line measurement of the servo oil flow is realized.

An emergency backup dual-redundancy broadband digital servo system comprises two emergency backup control redundancies with the same module configuration, and the dual redundancies are electrically connected through two redundancy data interaction modules and a dual-redundancy synchronization signal module. Each of the two redundancies comprises an ADin module, a bus driving module, an FPGA module, a DSP module, a DAout module and a power amplification module. The FPGA module of the redundancy 1 and the FPGA module of the redundancy 2 are electrically connected through two redundancy data interaction modules, and the DSP module of the redundancy 1 and the DSP module of the redundancy 2 are electrically connected through a dual-redundancy synchronization signal module; two redundancies are connected through the two data interaction modules and the redundancy synchronization signal module, so that the redundancy and hardware architecture based on the backup system realizes acquisition of signals between the redundancies and rapid operation of servo control instructions, and the frequency response technical index requirements of a main paddle digital servo loop are met.

The invention relates to a circuit with a signal attenuator based on a transmission line. More specifically, an electronic device may include a signal path that transmits a signal. The device may include an attenuator located on the signal path that attenuates the signal. The attenuator may not include a series switch located on the signal path. The attenuator may include transmission line segments coupled in series between an input and an output of the attenuator. The transmission line segment may extend from a first terminal to a second terminal. A first adjustable resistor may couple the first terminal to ground. A second adjustable resistor may couple the second terminal to ground. The transmission line segment may have a length configured to perform impedance matching on the attenuator. A controller can control the attenuation level of the signal attenuator by adjusting the size of the adjustable resistor. The controller may include a servo loop surrounding an operational amplifier to mitigate process, voltage, and temperature variations in the attenuator.

This invention discloses a high-bandwidth, notch-free hybrid magnetocurrent sensor circuit, comprising a low-frequency path, a high-frequency path, a differential amplifier, a compensation path, and a dual-to-single converter. The low-frequency path utilizes a Hall effect sensor and auxiliary bias circuitry to detect the low-frequency component of the current, and simultaneously suppresses sensitivity drift and common-mode drift by replicating a negative temperature coefficient voltage. In the high-frequency path, the integrator consists of two paths with the same gain-bandwidth product but different low-frequency gains, and gain flatness is improved through compensation technology. The servo loop employs active capacitor amplification technology, using small-area resistors and capacitors to achieve ultra-low-frequency poles. The outputs of the high- and low-frequency paths are combined via a differential amplifier and then pass through a subtractor and a high-pass filter to form a compensation path for eliminating chopper ripple. Finally, the signals are converged in the dual-to-single converter to obtain a notch-free broadband output. This invention simultaneously solves problems such as chopper notch, gain unevenness caused by pole-zero mismatch, and the use of large-area passive components.

The invention provides a machining compensation system and method suitable for a vehicle domain controller shell, and the method comprises the steps: carrying out the error fusion of a thermal deformation displacement vector, a friction force vector and a path deviation vector of a numerical control machine tool, and obtaining a coupling deviation value of each error source of the numerical control machine tool in the machining of the vehicle domain controller shell; performing optimization compensation on trust domain parameters of a servo control ring in the numerical control machine tool based on each coupling deviation value to obtain a compensation matrix of the numerical control machine tool under the current working condition, and determining a machining compensation instruction of the numerical control machine tool through the compensation matrix; and the machining compensation instruction is input to each axis servo driving unit in the numerical control machine tool, the numerical control machine tool is controlled to execute machining compensation, a multi-dimensional error source of the numerical control machine tool is monitored circularly and continuously in the machining compensation process, and then error compensation of machining of the vehicle domain controller shell is achieved. Based on the above scheme, real-time fusion of multi-source errors and adaptive optimization compensation of servo ring parameters can be realized.

The invention relates to the field of robot servo parameter self-adaption, in particular to a robot servo parameter self-adaption method and a robot servo parameter self-adaption system based on a parameter set, and the method comprises the following specific steps: S1, for a basic mode, a standard control mode, a low-speed precision mode and a high-speed positioning mode in a parameter set concept, obtaining a parameter set; a robot complete machine dynamic model based on a current real load needs to be obtained in advance, and dynamic parameters are calculated based on the dynamic model; s2, performing corresponding servo parameter adaptive strategy switching according to the selected mode; the system comprises a control system with the built-in method, factory preset fixed servo parameters are adopted in a basic mode, and servo parameters in other three modes adopt a self-adaptive adjustment mode combining kinetic parameters and servo loops. According to the working condition type of the robot, the corresponding mode is determined to carry out servo parameter self-adaption, and therefore the problem that the whole machine performance is reduced due to the fact that the consistency of the servo parameters becomes poor is solved.

This invention discloses a singularity-free path continuous variable structure control method for an inertial stabilization platform servo loop, comprising: obtaining the position of the platform in the X-axis... p Axis, Y p Axis and Z p The angular velocity component on the shaft and the measured rotation angle β of the outer frame are obtained. xk , rotation angle β of the middle frame yk Inner frame rotation angle β zk Given the values ​​of the parameters of the compliant continuous variable structure and the active region corresponding to the path without singularities, the angular velocity correction value Δω of the compliant continuous variable structure is calculated; based on β xk β yk β zk And Δω, calculate ω z ω y ω x and ω yk′ ; will ω z ω y ω x and ω yk′ The output, after being fed to the linear controller, acts on the torque motors at each axis end of the inertial stabilization platform, thereby stabilizing the platform body relative to inertial space. This invention overcomes the platform swaying caused by switching between different control signals when using partitioned variable structure control, thus enhancing the stability of the platform body relative to inertial space and improving the accuracy of navigation calculations.

The application discloses a modified tool on-line temperature measuring system for surface function reconstruction and a temperature compensation method thereof, belongs to the tool temperature measuring technical field in mechanical modification processing, and carries out real-time monitoring and feedback on processing temperature, so that error compensation is carried out on a compensation scheme of a CNC machining center spindle origin translation strategy by taking the processing temperature as a compensation signal. According to the application, the temperature data containing electrical signals collected and converted by a wireless temperature monitoring module in the modified tool are taken as input, the signals are input into a single-chip microcomputer system, the modified processing thermal error amount of the CNC machining center is obtained through single-chip microcomputer calculation, the obtained modified processing thermal error amount is taken as an original compensation signal, the original compensation signal is sent to a CNC machining center controller through an I / O port line, the CNC system spindle reference origin is offset according to the principle of the CNC machining center origin translation method, and the offset is added to a control signal of a servo loop to realize the compensation of the processing thermal error amount of the CNC machining center spindle, so that the processing precision of the modified tool of the CNC machining center and the surface performance of the modified part are ensured.