51 results about "Servo loop" patented technology

The invention relates to the technical field of industrial robot fault diagnosis, and discloses a fault early warning and remote diagnosis method for an industrial robot electrical control system, and the method comprises the steps: obtaining a mechanical load parameter through a potential load model, an inertia load model and a basic dynamics model, obtaining an electrical state parameter through an electrical efficiency model, and carrying out the fault early warning and remote diagnosis. A correction factor is generated through a correction model in combination with the environment temperature, a dynamic current threshold value is calculated through a threshold value model based on the correction factor and a basic current threshold value, and finally health scores and fault early warning information are output through a diagnosis model in combination with the vibration acceleration and servo ring following errors. According to the method, mechanical, electrical and environmental multi-source parameters are fused, dynamic threshold adjustment and multi-dimensional health assessment are realized, normal working conditions and abnormal states are effectively distinguished, the fault early warning accuracy is remarkably improved, the false alarm rate is reduced, and a reliable remote diagnosis scheme is provided for the industrial robot.

The invention relates to a fly-by-wire flight control system hydraulic source fault influence indication conformity test method, which comprises the following steps of: cutting off an SOV valve of a flight control system actuator corresponding to a No.1 hydraulic source and injecting a hydraulic source fault signal to cut off an SOV valve of a flight control system actuator corresponding to a No.2 hydraulic source; and the control instruction cannot be subjected to closed-loop control in an actuator servo loop, and is equivalent to the main characteristic of the flight control system when the double-source fault of the hydraulic source on the aircraft really fails. The flight control system can reasonably enter a hydraulic source double-source fault scene, main equipment of the flight control system and working characteristics of the system are fully embodied when the double-source fault occurs, it can be guaranteed that the redundancy of a real hydraulic source on a machine is not lost, the safety of a unit during test flight of a high-risk subject is guaranteed, and the reliability of the flight control system is improved. And meanwhile, the method is accepted by a bureau to indicate the conformity of the flight control system to the CCAR25.672 (c) clause when the flight control system fails, so that the method has relatively high generalization performance.

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 signal acquisition circuit for a brain-computer interface, and relates to the technical field of integrated circuits. The acquisition circuit comprises a sensing amplifier, wherein the sensing amplifier comprises a chopping modulation capacitance coupling instrument amplifier and a band-pass filter which are connected in series; the chopping modulation capacitance coupling instrument amplifier comprises an input main chopping modulator, an input capacitor, a negative feedback circuit, a first amplification circuit and a second amplification circuit which are sequentially connected in series; a pre-charging circuit, an input capacitor and a first amplifying circuit are connected to the input main chopping modulator in parallel, a positive feedback enhancing loop is connected to a second amplifying circuit in parallel, the first amplifying circuit and the second amplifying circuit are connected with a first direct-current servo loop and a negative feedback circuit in parallel, and a ripple suppression loop is connected to the second amplifying circuit in parallel. And the second amplification circuit is connected with the signal output end through the band-pass filter. The sensing amplifier in the acquisition circuit can output the electroencephalogram signals with higher quality, so that the quality of the acquired brain-computer interface signals is higher.

The invention provides a gain design method of a three-axis stabilized platform body angular velocity weak coupling controller. Firstly, rotational inertia of a table body, an inner frame and an outer frame in three directions is measured respectively; secondly, designing a servo control loop controller; and establishing a table body angular velocity closed-loop control transfer function matrix, and adjusting gain coefficients of servo loop controllers of the outer frame shaft and the inner frame shaft according to off-diagonal coupling terms. The traditional controller design neglects the difference between servo control loop gains of an inner frame shaft and an outer frame shaft, and does not consider table body angular velocity cross coupling errors introduced due to different rotational inertia of the controller and a frame. According to the method, a complete servo loop table body angular velocity closed-loop control transfer function is established to obtain a transfer function relationship among a table body angular velocity coupling error item, the frame rotational inertia and the controller, and the gain of the controller is adjusted through the transfer function relationship to effectively eliminate the table body angular velocity cross coupling error. And the steady-state precision of the angular velocity of the table body is improved.

The invention relates to an optronic sight having a critical mode, in particular an anti-resonance mode, comprising a variable fundamental frequency, and to a motorised vehicle comprising such a sight. This optronic sight for a motorised vehicle such as an aerial, marine or land vehicle, comprises: - a sighting module (13) capable of being moved about a first axis (X) and a second axis (Y) which is not parallel to the first axis; - means (14, 15) for moving the sighting module about the first axis and the second axis; and - a servo loop for slaving a position parameter of the sighting module to a setpoint, comprising an adaptive servo corrector (16) capable of calculating a command for a controlled device having a critical mode modifying the response of the device. The sight comprises means (23) capable of determining a fundamental frequency of the variable critical mode on the basis of an operating parameter of the controlled device, the corrector (16) being calculated from the fundamental frequency determined to compensate for the anti-resonance or resonance mode.

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 application discloses a method for eliminating direct current offset between electrodes of an electroencephalogram acquisition device by using digital-analog hybrid DSL technology, and relates to electroencephalogram signal processing. The method comprises the following steps: transmitting an electroencephalogram acquisition input signal to a signal amplification module for amplification processing to obtain a first amplified electroencephalogram signal, and processing the first amplified electroencephalogram signal through an analog direct current servo loop module to obtain a second analog direct current component; then, transmitting the electroencephalogram acquisition input signal to a digital direct current servo loop module to obtain a first digital direct current component; then, converting the first digital direct current component and the second analog direct current component into alternating current through a capacitor and a chopping modulation module to offset input end alternating current; then, transmitting the first amplified electroencephalogram signal to a programmable gain amplification module for secondary amplification processing to obtain a second amplified electroencephalogram signal, inputting the second amplified electroencephalogram signal to an anti-aliasing filter, and inputting the second amplified electroencephalogram signal to a digital processing module after analog signal conversion for processing. The application shortens the time for EDO offset at the input end, and the sampling rate of an analog-to-digital converter in the digital servo loop is very low, so that the power consumption of the digital servo loop is very small, thereby effectively solving the problems of difficult realization of a high EDO suppression range and low input reference noise, and the problems of a too large time constant of an integrator in a traditional analog direct current servo loop and a too long EDO offset time.

The invention introduces a multichannel neural recording system suitable for a biosensor. The multichannel neural recording system integrates nine key modules: a band-gap reference voltage module (1), a pulse signal generator module (2), a clock signal generator module (3), an instrument amplifier module (4), an impedance boosting auxiliary loop module (5), a direct current servo loop module (6), a ripple suppression loop module (7), an ADC module (8) and a DSP module (9). The band-gap reference voltage module (1), the pulse signal generator module (2) and the clock signal generator module (3) provide stable reference voltage for the system, and pulse signals and a clock are synchronous. The impedance lifting auxiliary loop module (5), the direct current servo loop module (6) and the ripple suppression loop module (7) work cooperatively, electrode offset is effectively eliminated, and the signal quality of the instrument amplifier module (4) is improved. The system is characterized in that the multi-channel instrument amplifier module is constructed, the DSP module (9) is used for carrying out complex processing on received digital signals of the ADC module (8), and the digital signals are fed back to the instrument amplifier module, so that the signal quality is further improved. The design of the system aims at realizing efficient and accurate neural signal acquisition and processing.

The utility model discloses an aerosol mixing chamber and an aerosol diluting device, the aerosol mixing chamber comprises a cuboid shell, both sides of the cuboid shell are respectively provided with a polyfluortetraethylene plate with an opening, the cuboid shell is also internally provided with a tungsten flow guide cover, and the flow guide cover comprises two symmetrical arc-shaped shielding covers, the outer ends of the two arc-shaped shielding covers are respectively arranged above the openings of the two polyfluortetraethylene plates and are connected with the polyfluortetraethylene plates, and the inner ends of the two arc-shaped shielding covers are respectively connected with the two ends of the connecting cover; and the cuboid shell is connected with the negative pole of the high-voltage power supply. One opening of the aerosol mixing chamber is an air inlet, the other opening of the aerosol mixing chamber is an air outlet, and a servo loop is further arranged between the air outlet and the air inlet. According to the utility model, the flow can be adaptively adjusted by adjusting the servo loop according to the sampling flow and the dilution ratio required by the aerosol analyzing and testing equipment, and uniformly mixed aerosol can be generated.

The invention relates to a diagnostic method and diagnostic system of a servo actuation loop, a readable medium, a gas turbine engine and a test system. The diagnosis method comprises the following steps: S1, receiving position feedback and position expectation of a servo actuation loop; s2, obtaining a real-time error between the position feedback and the position expectation according to the S1; according to the position expectation obtained in the step S1, response types corresponding to different time stages from the first time stage to the Nth time stage of the actuating loop are obtained; and S3, according to the real-time errors obtained in the S2 and the response types corresponding to the different time stages, whether the real-time errors of the servo loop in the different time stages meet the error requirements corresponding to the corresponding response types or not is judged.

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 a self-adaptive vehicle tracking control method based on a main ring-servo ring layered architecture, which comprises a main ring control level and a servo ring control level, and is characterized in that the main ring control level is used for carrying out online planning on an ideal driving track of vehicle driving to obtain the ideal driving track; and the servo ring level is used for calculating an ideal control input signal of a corresponding actuator according to the ideal driving track output by the main ring control level and the interface form of the EPS actuator of the vehicle so as to realize tracking control of the vehicle on the ideal driving track. The tracking control method has the advantages that the state of the vehicle can be detected in real time, and the vehicle is smoothly controlled to track an ideal driving track in a safety domain; the algorithm adopts a layered modular design, each core function module can flexibly select different feasible technical schemes to be combined according to customer project requirements and system software and hardware conditions, and the adaptability is high.

A current-domain analog front end for intensity-modulated direct time-of-flight (TOF) LIDAR. A circuit for filtering a signal corresponding to the time of flight (TOF) of light from a laser reflected from an object to a photodetector includes a preamplifier, a DC cancellation loop, and an AC cancellation loop. The preamplifier can be configured to receive a signal from the photodetector corresponding to the output of the laser reflected from an object distant from the laser and the photodetector. The DC cancellation loop includes a current-feedback DC servo loop. The AC cancellation loop includes a feedback network driven by a floating class AB output stage, and a preamplifier configured to drive the floating class AB output stage, wherein the preamplifier is driven by an error signal from the feedback network and creates an AC signal path through the feedback network and the floating class AB output stage.

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.

A high-energy-efficiency frequency-domain near-infrared brain function signal acquisition system based on a multi-frequency method comprises an SAOF module and an RMDC module, the SAOF module generates multi-frequency and multi-phase reference signals by rotating a sinusoidal signal generator, drives an LD to emit optical signals, receives biological tissue reflection signals by an APD, and transmits the biological tissue reflection signals to the RMDC module. The parallel series is dynamically adjusted through the power consumption sensing trans-impedance amplifier to optimize the energy efficiency; meanwhile, the APD direct current servo loop stabilizes an APD working point and inhibits direct current offset through feedback control, the RMDC module adopts a four-phase rotation modulation and demodulation technology, signals are shunted to four phase demodulation paths, phase domain double-slope data conversion and first-order noise shaping are achieved in combination with a multi-mode ring oscillator, and environmental noise and common-mode offset are eliminated. Through dynamic power consumption distribution, pseudo sinusoidal waveform synthesis and noise shaping technologies, the system energy efficiency and measurement precision are remarkably improved, and the method is suitable for high-precision detection of cerebral hemodynamic parameters and has the advantages of process portability and low hardware overhead.

The invention belongs to the technical field of quantum measurement and control, particularly relates to a circuit and a method for automatically adjusting an ADC sampling window in a chip atomic clock, and aims to solve the problems of precise control of the temperature of the chip atomic clock and precise control of each modulation-demodulation servo loop signal. The circuit comprises a DAC output level control sub-circuit, an input signal end, a precision instrument amplifier, a digital potentiometer and an ADC sampling sub-circuit. The DAC output level control sub-circuit is connected with an inverted input end of the precision instrument amplifier, and an input signal end is connected with a normal phase input end of the precision instrument amplifier; the digital potentiometer is connected with the gain control end of the precision instrument amplifier, and the output end of the precision instrument amplifier is connected with the ADC sampling sub-circuit. According to the invention, the temperature acquisition ADC window of the chip atomic clock and the ADC acquisition window of the demodulation signal can be automatically adjusted, and the temperature control capability of the chip atomic clock laser and the atomic air chamber and the servo control capability of the laser current and the voltage-controlled crystal oscillator current are improved.

The invention discloses a three-axis stabilized platform servo loop gain change value calibration and compensation method. Firstly, a table body shaft, an inner frame shaft and an outer frame shaft are arranged at 0-degree, 0-degree and 0-degree positions, a servo loop is closed, an external test device inputs sine waves, an output signal of the three-axis stabilized platform is collected, amplitudes of the input signal and the output signal at different frequencies are calculated, and an open-loop amplitude-frequency characteristic curve of the current position of the three-axis stabilized platform is obtained. Secondly, rotating the inner frame shaft by 10 degrees every time, and calculating gain change values of the servo loop of the inner frame shaft at different angles; and finally, fitting a function between the angle of the inner frame shaft and a gain change value through the calibration data, and compensating the function into the servo loop gain of the outer frame shaft. The method for calibrating and compensating the gain change value of the servo loop of the three-axis stabilized platform under the condition that the rotational inertia is uncertain is given for the first time, and the stability of the servo loop when a platform frame system is located at any position of an inner frame is guaranteed.

The invention relates to an optimization method for improving the quick starting performance of a quartz accelerometer. The optimization method comprises the following steps: 1, separately connecting an accelerometer header with a servo loop through a connecting line; 2, a plurality of temperature sensors are arranged inside and outside the meter body and are used for monitoring a temperature gradient field; 3, establishing a temperature-error mapping model by adopting an LSTM (Long Short Term Memory) algorithm; 4, carrying out LSTM model training and verification; and 5, compensating starting data of the accelerometer based on the verified mapping output of the LSTM model. The structure of the accelerometer is optimized, the meter body and the servo loop are separated under the condition that the output precision of the accelerometer is not affected, the influence of working heat dissipation of the servo loop on the temperature field of the meter body is avoided, effective temperature compensation of the accelerometer is improved through arrangement of the multi-position temperature sensors and application of the LSTM compensation algorithm, and the test shows that the temperature compensation precision of the accelerometer is improved. And the 5min starting performance precision of the accelerometer is improved by 20%.

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.

A photonics gyroscope comprises a light source on a photonics chip that emits a broadband beam; a waveguide resonator; a reflective component; first and second detectors, the second detector coupled to the source; a RIN servo loop coupled between the second detector and the source; and a rate calculation unit. The beam is directed into the resonator such that it propagates in a CCW direction. A portion of the CCW beam is coupled out of the resonator toward the reflective component and reflected back as a reflected beam that is coupled into the resonator such that the reflected beam propagates in a CW direction. The CW beam is coupled out of the resonator to the first detector, which detects a resonance frequency shift between the CW and CCW beams. The RIN servo loop stabilizes an intensity of the beam such that bias error and noise is reduced.

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.

This invention discloses a servo motor control method, device, electronic device, and storage medium. The method mainly includes the following steps: establishing a target position coordinate system DQ based on the target position. * , compare the target location with D * Shaft coincidence; D calculated based on encoder feedback position * The angle θ between the shaft and the D-axis of the rotor coordinate system DQ; combining the two coordinate systems DQ * And DQ, select an appropriate direct-axis current Id * Calculate the electromagnetic torque Te output by the servo motor; when the load increases, set the first control strategy of Id*; when the speed increases, set Id*. * The second control strategy involves increasing the servo loop's immunity by modifying the direct-axis current Id*, without increasing the regulator's gain or adding an additional disturbance observer. This enables high-rigidity control of the servo motor in applications requiring low speed and high stability.

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.