180 results about "Servomechanism" patented technology

The invention relates to a course axis drift suppression method and device, a holder and a medium, and the method comprises the steps: receiving original data of a current course, the original data comprising an absolute angle outputted by a course encoder, and an acceleration and an angular velocity outputted by an IMU module; the original data are converted into a unified coordinate system through a rotation matrix, and mechanical installation deviation is compensated; performing data fusion on the compensated original data through a preset fusion algorithm; and outputting the fused absolute angle to a servo mechanism of the holder, and by adopting the method, through real-time sensor data alignment, a dynamic compensation algorithm and a fusion algorithm, a course drift suppression mechanism which is resistant to dynamic interference and low in cost is constructed, and static drift lt can be realized; the dynamic tracking error is 1t, 0.01 degree / h and 1t; and the technical index is 0.05 degree.

The invention discloses a groove body excavation deviation correction system which comprises an embedded industrial personal computer serving as a system information interaction and calculation processing center, a data acquisition unit which is in data interaction connection with the embedded industrial personal computer and is used for acquiring stratum and grooving states, a dynamic geological database and a digital twin engine. The embedded industrial personal computer is also electrically connected with a hydraulic servo mechanism, a posture adjusting mechanism and a power modulation module which are used for controlling the double-wheel milling equipment; the multi-sensor fusion I MU + laser + sound wave and model prediction control MPC is adopted, the axis precision of + / -8 mm is achieved, the stratum rigidity change is predicted 1-3 steps in advance through sound wave scanning, the control weight is dynamically adjusted, and the deviation convergence speed is increased by three times. The problem that in the prior art, adjustment depends on artificial experience or simple feedback control based on PI D, and the axis deviation is generally + / -30-50 mm after the depth exceeds 50 m is effectively solved.

The invention relates to the technical field of microwave remote sensing, in particular to a Ku, Ka and W three-frequency-band meteorological radar multi-source joint detection system and method and a storage medium, and the system comprises an antenna feeder subsystem, a main control computer, an integrated digital processor, a Ku / Ka integrated radio frequency machine, a Ku-frequency-band power amplifier, a Ka-frequency-band power amplifier, a W-frequency-band transmitter, a W-frequency-band power amplifier, a W-frequency-band receiver and a servo mechanism. The system is designed according to a working mode and working parameters of a main control computer, realizes multiple functions such as Ku / Ka / W single-frequency-band independent working or multi-frequency-band simultaneous working and the like, and has co-polarization and cross-polarization echo signal receiving capability; by controlling the servo mechanism, two modes of fixed-point detection and conical scanning detection are realized, and detection requirements of different meteorological elements are met; the detection capabilities of three frequency bands of Ku, Ka and W are integrated in the system, the detection mode is flexibly configured according to weather conditions and detection requirements, the system has the multi-frequency-band, multi-polarization and multi-element integrated detection capability, and the detection efficiency of the meteorological radar is improved.

This invention proposes a rapid and non-destructive method for identifying the resonant frequency of heavy-duty mechanisms. The load-end speed curves and motor-end speed curves under closed-loop and open-loop conditions at the motor end are obtained using the speed step response method and the current step response method, respectively. By performing an FFT transform on the two speed curves, the resonance peak is obtained, allowing for rapid measurement of the structural resonant frequency and the combined resonant frequency. This method eliminates the need to purchase an additional resonance analyzer, reducing measurement costs, and avoids the damage to large, heavy-duty servo mechanisms caused by sinusoidal frequency sweep measurements. It can not only be used for rapid identification of structural resonant frequencies but also to guide the design of servo controllers.

The invention provides a servo mechanism control system and method based on TSN network communication, and relates to the field of servo mechanism control. According to the system, a TSN network communication interface is adopted, and 1Gbps instruction receiving and sending can be achieved. Through optimization mechanisms such as time synchronization, flow scheduling and frame preemption, it is guaranteed that key data streams arrive at destinations within strictly specified time, delay and jitter are extremely low compared with RS422, only the us level exists, and state feedback of a servo mechanism is more real-time and accurate; in a communication period of 1ms, the maximum transmission of a single frame at a rate of 1Gbps can achieve 1500 bytes, and the capacity is greatly improved compared with that of RS422, so that a servo mechanism can return more state information; an optical cable is adopted as a communication medium, electromagnetic interference is avoided, and the real-time performance and stability of the communication process of the servo mechanism are guaranteed; and for a high-dynamic precise control scene, the communication period can be shortened to 500us, the state feedback of the servo mechanism is real-time, and further precise control is facilitated. The problems that a traditional servo mechanism is low in communication rate, limited in single-frame capacity, poor in anti-interference capacity and the like are solved.

The present application relates to servo mechanism calibration technical field, and it relates to a kind of servo mechanism zero automatic calibration auxiliary device.It includes fixed component, for positioning fixed unit;Transmission assembly includes transmission unit, support unit and flexible unit;Transmission unit one end transmission connection movable unit;Transmission unit other end is connected with support unit;Support unit one end is equipped with accommodating hole;The sliding block of flexible unit and guide block are movably arranged in accommodating hole;First elastic module is equipped between sliding block and the inner side wall of accommodating hole;Second elastic module is equipped between guide block and the side wall of accommodating hole;Guide groove is equipped in the one end of guide block;The central axis of sliding block, the central axis of guide block and the central axis of transmission unit are on the same straight line;Driving assembly includes rotary head;When working state, rotary head is inserted into guide groove and the inner side wall of guide groove is abutted.Such has solved the problem that adjustment result consistency is difficult to guarantee in the zero adjustment process of existing servo mechanism using pure mechanical structure.

The invention discloses a high-power-density driving and energy control integrated electromechanical servo mechanism. Control drive components are integrated into an intelligent microsystem through the SIP stacking technology, high integration and miniaturization of a control driver are achieved, and the problems of heat dissipation and heat conduction are solved by attaching the metal adapter plate to the surface of the shell. The semi-solid lithium ion battery pack is used as an energy part, the appearance of the battery pack is designed according to shell structure matching, and the total envelope size is reduced. Meanwhile, the peak current output capability of the power supply is fused with a motor acceleration control method, and the regenerative electric energy absorption capability of the power supply is fused with a motor deceleration control method; a driver direct current bus input filter capacitor and a power supply output capacitor are fused, power supply output current and voltage detection and driver bus voltage monitoring are fused, and the optimal design of energy control driving comprehensive performance is achieved.

A columnar product testing platform relates to the technical field of avionics product testing. The present invention can complete various prescribed actions required for columnar product testing, reliably fix the columnar product on the console, and has three degrees of freedom of motion: pitch, azimuth, and roll. Each degree of freedom has a locking device and an adjustment mechanism, and can move horizontally along the longitudinal axis. The columnar product can be quickly and conveniently adjusted to the required posture and position, and the relevant parameters of a certain type of columnar product can be tested. The present invention is safe, convenient, and fast to operate, and can very smoothly cooperate with the testing equipment to complete various testing tasks. It has high work efficiency and strong reliability, and meets the use requirements. The present invention has a simple structure and operation, high adjustment accuracy, small space occupation, no need for servo control, and low cost for testing columnar product testing platforms. The present invention is designed based on this demand and can complete relevant testing experiments without using computer systems or servo mechanisms.

The utility model relates to the technical field of workshop robot gluing, and discloses an automatic robot gluing system which comprises a supporting column, a cross beam is fixedly connected to the outer wall of the supporting column, a robot servo mechanism is arranged at the bottom of the cross beam, a mechanical arm is arranged on one side of the robot servo mechanism, and a glue gun is fixedly connected to the output end of the mechanical arm. A control cabinet is arranged at the bottom of the cross beam, the conveying belt is arranged at the bottom of the supporting column, the workpiece is arranged at the top of the conveying belt, and a glue supply mechanism is arranged on one side of the control cabinet. According to the gluing robot, the 3D camera scans the to-be-glued area of the workpiece, the mechanical arm conducts gluing through the glue gun according to the track result, the gluing effect of gluing faces in different directions is achieved through one robot, the problem that the robot is difficult to guarantee gluing uniformity, especially in the areas such as corners and grooves is solved, and the gluing efficiency of the robot is improved.

This invention provides an active heating method and system for a two-dimensional turntable servo mechanism, belonging to the field of laser communication technology. The method includes acquiring the feedback temperature and motor torque of the azimuth or pitch axis; when the motor torque is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, heating is performed by determining a first heating power based on the first d-axis current and the electrical control angle; when the motor torque is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, heating is performed by determining a second heating power based on the second d-axis current and the q-axis current, until the temperature difference returns to the preset range and heating stops. This invention utilizes the heat generated by the motor's own current to replace external heating devices, achieving uniform heating from within, effectively reducing deformation and frictional torque fluctuations in key moving parts caused by temperature gradients, and improving the turning table's pointing accuracy and thermal stability under extreme temperature changes.

The present invention provides a combined frequency modulation method and apparatus for a main steam valve and heat supply. Combined frequency modulation aims to further exert the advantage of relatively high thermoelectric power after flexibility improvement, on the basis of an original main steam valve regulation strategy, and to provide a primary frequency modulation capability for a power grid, by using unit thermal energy storage provided by steam extraction heat supply. Under the strategy of combining main steam valve and heat supply frequency regulation, when a frequency difference of the power grid exceeds a dead zone, a speed regulator system of a power plant obtains, through calculation, a power increment instruction, then parses the power increment instruction into valve opening degree and heat supply butterfly valve opening degree regulation amounts, and sends the instruction to the main steam valve and heat supply butterfly valve by means of an electro-hydraulic servo mechanism. The present invention further provides a dynamic simulation method for the combined frequency modulation strategy, which mainly comprises the impact of boiler dynamic heat exchange on a power increment after a main steam regulating valve is changed, the impact of a change in the opening degree of the butterfly valve on an output of a steam turbine, and simplification of a total power increase as a superposition of the two strategies. The dynamic simulation method can be used to quantitatively evaluate the primary frequency modulation capability of the combined frequency modulation strategy, to provide reference for quantitative improvement of frequency modulation optimization of a power plant and frequency safety analysis of a power grid.

The invention relates to a diversion component and method for karst cave natural wind diversion control in a tunnel operation period, and belongs to the technical field of tunnel construction of tunnel engineering. The invention discloses a diversion component and method for diversion control of natural wind in a karst cave in a tunnel operation period, and the diversion component comprises a T-shaped diversion air pipe which comprises a rotatable outlet section, and an inlet section, a main pipe leading-out section and a branch pipe diversion section which are communicated with the rotatable outlet section, a split butterfly valve, a left arc-shaped wind shield, a right arc-shaped wind shield and a servo mechanism used for driving the wind shields to rotate are arranged in the rotatable outlet section, and the servo mechanism drives the left arc-shaped wind shield and the right arc-shaped wind shield to rotate in the rotatable outlet section. And the communication and closing states of the rotatable outlet section, the main pipe leading-out section and the branch pipe shunting section are adjusted. The tunnel karst cave natural wind is subjected to real-time multi-stage regulation and control, the ventilation efficiency is improved, and the acquisition cost of ventilation equipment is saved.

The application discloses an integrated double-channel control driving device, which comprises two sets of control driving modules; the two sets of control driving modules are completely same and each comprises a control module, a driving module, an absorption capacitor, a control module supporting plate, a plug-in connector, a supporting frame, a bottom plate and a shock pad; the control module receives displacement information of an electric static pressure servo mechanism collected by a three-redundancy displacement sensor and outputs a PWM driving signal; the driving module receives the PWM driving signal and outputs an alternating current signal, which is used for driving displacement of the electric static pressure servo mechanism.

The invention discloses a feedback monitoring voting method suitable for a four-redundancy servo system, and the method comprises the steps: 1, setting a monitoring voting surface position, enabling a DSP to obtain an FPGA rocket command signal and other data, and writing the signals into an FPGA dual-port RAM; step 2, fault isolation counting and redundancy reconstruction are carried out in the DSP, and channels with obvious faults are prevented from continuously participating in system voting; 3, monitoring the four paths of feedback signals in the DSP; 4, executing a corresponding voting algorithm according to monitoring results of the four paths of signals; 5, performing closed-loop operation according to the voted servo mechanism position feedback, and outputting a PWM control signal; and step 6, performing deviation signal interaction on the control instruction and voted feedback, updating a fault status word according to a voting result of a deviation signal, and transmitting the fault status word to the FPGA. According to the four-redundancy servo system, the redundancy design that the performance of the four-redundancy servo system is not affected when two paths of signals fail can be ensured, and the flight reliability of a carrier rocket is improved.

The utility model provides an automatic linear screen wiping device, which is characterized in that a three-stage linkage module is controlled by a servo mechanism, the three-stage linkage module comprises a first-stage linear module, a lifting servo module and a linear wiping module, the first-stage linear module realizes the linear movement of a sponge, the lifting servo module controls the sponge to apply pressure to a screen in the vertical direction, and the linear wiping module is used for wiping the screen. And the linear wiping module controls the sponge to linearly wipe the surface of the screen plate in a reciprocating manner. Compared with manual wiping and joint robot wiping in the prior art, the surface contact with the screen printing plate can be kept, the damage to the screen printing plate is reduced, and the uniformity is high; the extension arm is driven by the belt wheel transmission mechanism, high-speed reciprocating motion of wiping action can be achieved, the circulation time of wiping of a single screen printing plate is only half of that of a conventional joint robot, and the cleaning quality and the automation level are remarkably improved.

This application discloses a simulation method and system for a launch vehicle attitude control system. The simulation method specifically includes the following steps: a host computer compiles a simulation model and generates an executable program, which is then downloaded to a simulation computer; the host computer runs the simulation model and selects a simulation mode; an industrial control computer simulates the flight test process, uploads the flight control software to the flight control assembly, and starts the process; the host computer controls the simulation computer to send ignition and takeoff command signals to the flight control assembly; the simulation computer calculates and obtains attitude angle and attitude angular velocity measurement information and sends it to the flight control assembly; the flight control assembly operates after receiving the ignition and takeoff command signals, issuing actuator control commands based on the received measurement information. This application achieves step-by-step, layered verification of the theoretical controller, flight control software algorithm, flight control assembly, and servo mechanism, facilitating problem localization and analysis, and ensuring the safety and reliability of the experimental process.

This invention relates to a position synchronization control method for multiple permanent magnet synchronous motors based on common-mode and differential-mode separation, belonging to the field of multi-motor cooperative drive and control technology. This invention decouples the system control objective in terms of topology by constructing common-mode and differential-mode loops. The common-mode loop uses a unified speed controller to generate a common-mode current reference value based on a weighted average feedback speed. The differential-mode loop uses a nonlinear synchronization controller for each motor, which generates a differential-mode current reference value based on the synchronization deviation input, combined with an adaptive nonlinear gain and a recovery coefficient. The adaptive gain is the maximum value between a first gain based on mechanical clearance constraints and a second gain based on disturbance rejection requirements, and the recovery coefficient is dynamically adjusted in segments according to the deviation and its rate of change. This invention achieves complete decoupling of speed tracking and position synchronization, significantly improving synchronization accuracy and disturbance rejection capability under current saturation constraints, and is suitable for high-performance multi-motor cooperative drive applications such as space servo mechanisms and precision transmissions.

The utility model provides a kind of slide self-overturning transfer device, including support plate and the transfer box connected in support plate, the loading groove of accommodating slide is opened in transfer box, the transfer box is overturned to horizontal state from vertical state relative to support plate under the action of push rod component.Push rod component is driven by linear servo mechanism and is translated along horizontal direction, including push part and pressure part, wherein pressure part and the groove edge of loading groove are contacted, and transfer box is overturned relative to support plate by exerting push force to groove edge;After transfer box overturns in place, push part and slide are contacted, and push slide and move out transfer box horizontally.The utility model realizes the overturning and translation of slide by one driving component simultaneously, reduces additional power setting, and reduces the power cost of complete machine.Linear servo mechanism in embodiment adopts belt pulley transmission structure, makes full use of the space on support plate, and the structure is compact and practical, especially suitable for medical instrument automation detection field.

The utility model relates to the technical field of resistor discs, and discloses a resistor disc feeding device, a resistor disc feeding system and a resistor disc mounting system. In the resistor disc feeding device, a first servo mechanism is arranged along a first direction; the carrier is connected with a first servo mechanism; the carrier is used for fixing the resistor disc stock bin and is provided with an operation hole; the second servo mechanism is vertically connected with the first servo mechanism; the execution rod is connected with a second servo mechanism; the execution rod is driven by the second servo mechanism to move in the second direction and penetrates through the operation hole to stretch into the resistor disc stock bin to push the resistor discs. The carrier or the second servo mechanism is driven by the first servo mechanism to move in the first direction. According to the technical scheme, the first servo mechanism and the second servo mechanism of the resistor disc feeding device achieve orthogonal movement, multi-station resistor disc feeding of the resistor disc stock bin is further achieved, the resistor discs can be accurately fed, and feeding is flexible and convenient.

This application discloses a method for calculating the thrust envelope of a solid rocket motor based on servo uncertainty, relating to the field of solid rocket motor technology. This method focuses on the gas valve servo system of a throat-operated solid rocket motor, performing uncertainty modeling of the motor drive system and transmission system, analyzing the main influencing parameters of servo system uncertainty, including transmission clearance, eccentric shaft friction coefficient, and other uncertainty parameters and their probability distributions; generating random parameter samples based on the uncertainty model, and using the servo system control model to solve for the actual throat displacement response under random samples, obtaining the engine thrust time history under single-valve and multi-valve cooperative working modes; and fitting the thrust uncertainty envelope by calculating the mean and standard deviation of the thrust response through Monte Carlo simulation. This application quantitatively characterizes the degree of influence of internal factors of the servo mechanism on thrust performance, providing a reference for ensuring precise thrust control of solid rocket motors.

The invention relates to the field of air conditioner parts, and provides a feeding and servo cooperative positioning system and method for water swelling machining of air conditioner parts, and the feeding and servo cooperative positioning system comprises a water swelling machine, a feeding area, a grabbing device, a recognition device, a main control system, a machining device and a material distribution system; the feeding area comprises a vibration disc and a servo mechanism, materials are manually placed on the vibration disc, and the vibration disc is used for conveying the materials into a servo clamping groove in the servo mechanism. The grabbing device comprises a mechanical arm and a running track and is used for grabbing materials in the feeding area to the machining area of the water expansion machine for machining, and through the technical scheme, the number of workers is greatly reduced, the working time is greatly shortened, the cost is reduced, and the production efficiency is improved; touch screen control is accompanied, and a manual mode and an automatic mode are flexibly switched; waste is automatically treated, the number of finished products is intelligently recorded, and efficient operation is facilitated.

The present application relates to the field of rocket engine nozzle testing, and particularly relates to a flexible rocket engine nozzle cold swing test simulation test system and a test method thereof, the system comprising a pressure vessel, a servo mechanism, an inclinometer, a linear displacement sensor and a real-time simulator, the pressure vessel provides a cold pressurized environment, the servo mechanism drives the nozzle to swing, the inclinometer calibrates the swing angle, and the linear displacement sensor detects the swing and outputs an analog signal. During testing, the swing angle-voltage relationship is calibrated through the inclinometer and the linear displacement sensor; then the real-time simulator sends a sine instruction to drive the nozzle to swing, and synchronously collects the displacement signal, analyzes the dynamic characteristics of the servo mechanism and the coordination with the nozzle. Through the swing angle-voltage equation obtained by calibrating the swing, combined with continuous attitude simulation controlled by the simulator, the nozzle swing angle data is calculated, and the dynamic response of the servo mechanism under the pressurized condition is evaluated, the present application can truly reflect the continuous swing working condition of the nozzle, and improve the reliability and authenticity of the test data.

The present application relates to a kind of screw failure mechanical redundancy stroke scaling electromechanical servo mechanism, adopt multi-stage drive telescopic trapezoidal screw, as spare connection and transmission component, in the case of reduced reserve transmission efficiency and dynamic torque, ensure basic static bearing capacity, can significantly shorten the zero length of EMA mechanical redundancy scheme, suitable for application in narrow installation space occasion.

A dual-degree-of-freedom serial servo mechanism with a high-voltage electrostatic powder spraying end relates to the field of powder coating. It includes a base, a first end of which is provided with an θ-axis rotating body, and a φ-axis rotating body is mounted on the θ-axis rotating body. A sealed cavity is provided at the second end of the base, within which an θ-axis servo motor and a φ-axis servo motor are housed. A high-voltage module is disposed inside the θ-axis rotating body. The θ-axis servo motor is connected to the θ-axis rotating body via a first transmission assembly, used to drive the θ-axis rotating body to rotate. The φ-axis servo motor is connected to the φ-axis rotating body via a second transmission assembly, at least a portion of which passes through the interior of the θ-axis rotating body, used to drive the φ-axis rotating body to rotate. This invention optimizes the isolation between the high-voltage electrostatic part and the servo drive part, resulting in strong anti-interference capability, high motion control precision, and good safety.

The invention provides a high-thrust rocket four-machine rack static test loading device. The high-thrust rocket four-machine rack static test loading device comprises a rack force transfer ring boundary stiffness simulation device, a rack joint boundary stiffness simulation device, an engine thrust axial loading device, an engine transverse overload loading device and a servo mechanism loading device. The rack force transmission ring boundary stiffness simulation device is connected with each engine force transmission ring of the rack test piece; the rack joint boundary stiffness simulation device is connected with a joint of the rack test piece; the engine thrust axial loading device is positioned below the rack force transfer ring boundary stiffness simulation device and is connected with the rack force transfer ring boundary stiffness simulation device; the engine transverse overload loading device is located on the periphery of the exterior of the test piece, extends out of the test piece in the loading direction to be fixed and is connected with a transverse overload loading point of the rack test piece. The servo mechanism loading device decomposes servo force into a horizontal component force load and a vertical component force load, and the horizontal component force load and the vertical component force load are applied respectively, so that the loading requirement of the servo mechanism of the rack is met.

A digital twin-driven electric servo mechanism health index system construction method belongs to the technical field of electric servo mechanism health management, and is characterized in that a unified functional unit digital twin fault model of an electric servo mechanism covering functional units such as a controller, a power amplifier, a motor, a transmission mechanism, a sensor and the like is constructed; various typical fault modes such as poor contact, power tube open circuit and magnetic steel demagnetization can be simulated, influence rules and characteristic expressions of various faults on dynamic performance of the system are revealed through a step response and sine response simulation system, and accurate twinborn simulation data can be provided for diagnosis strategy design without relying on physical entity fault tests. The complex process of fault influence mechanism analysis and diagnosis basic data acquisition is greatly simplified; the full-period health management requirement of the electric servo mechanism can be met, the universality is high, and the technical application efficiency can be greatly improved.

The present application relates to a kind of adjustable output angle ball screw pair servo mechanism and its adjusting method, belong to servo drive system technical field, solve the problem that the stroke of ball nut is difficult to limit and the volume of ball nut is large in prior art.The ball screw pair servo mechanism of the present application is cooperated with guide rail by the lug on the ball nut, and the ball nut is made to slide along the guide rail;When the trunnion on the ball nut moves, it can drive the output shaft to rotate.The displacement stroke of ball nut is limited by adjusting the position of the two limiting structures on the guide rail, and finally the maximum deflection angle of the output shaft is limited.The present application can avoid the problems of ball deformation or deviation from raceway, ball nut jamming and unable to return to zero or rudder out of control caused by the movement range of ball nut exceeding the maximum stroke.

The invention discloses a vertical fixed wing ground mooring test device and a test method thereof, and relates to the technical field of aircraft ground test, the vertical fixed wing ground mooring test device comprises a rack structure, the upper part of the rack structure is used for placing a vertical fixed wing, and the rack structure is arranged in a cross recess of the ground; the servo mechanism is arranged in the rack structure, and the servo mechanism is located at the central position of the cross groove; the four winch mechanisms are arranged at the four ends of the cross groove respectively, and each winch mechanism is connected with the servo mechanism through a transmission mechanism; the winch mechanism comprises a telescopic mooring rope, and the mooring rope is connected with a mooring point on the vertical fixed wing; the control mechanism is in control connection with the servo mechanism and the winch mechanism; according to the test device, the mooring height can be automatically adjusted in the test process, so that the processability of test data is improved, the flight control guidance efficiency of the mooring test is improved, and meanwhile, the test safety risk is reduced to the maximum extent.

The present invention discloses a neural network modeling and control method for a dual-flexible nozzle of an electric servo mechanism, relating to the field of simulation technology. The method comprises: a neural network identifier employing a BP neural network algorithm identifies model parameters of a multi-loop system based on the swing angle to obtain a dual-flexible nozzle neural network model; a Gray Wolf optimized PID controller uses the deviation between the multi-loop system's command swing angle and the dual-flexible nozzle neural network model as an error signal based on parameter changes of the dual-flexible nozzle neural network model and the disturbance experienced by the electric servo mechanism, thereby determining the neural network system learning algorithm. The output of the Gray Wolf optimized PID controller is the control voltage of the electric servo mechanism system. The present invention can establish an accurate load model for the dual-flexible nozzle under different conditions and disturbances, addressing the problems of time-varying parameters, severe interference from nonlinear factors, and structural defects of conventional models.

The invention discloses an intelligent rock drilling robot angle correction method and system based on artificial intelligence. Comprising the following steps: acquiring distance data between a drill rod and a target rock surface by using a laser ranging module, calculating a current deflection angle and generating a deviation correction signal; inputting the correction signal into a pre-trained BP neural network to output a dynamic correction threshold value; generating a control instruction if the current deflection angle absolute value is greater than or equal to a threshold; the hydraulic servo mechanism executes an instruction to adjust the angle of the drill rod, and the inertial measurement unit performs feedback to form closed-loop control. The system comprises a data acquisition module, a decision control module, an execution mechanism and a feedback module. The pulse type laser ranging technology is adopted, the angle is calculated by combining multi-position data fitting, and the measurement precision reaches + / -1 mm. The BP neural network is trained based on different operation data and can output a reasonable correction threshold value. Besides, the method is optimized, such as echo intensity analysis and acquisition frequency adjustment, so that the problem of drill rod angle control can be effectively solved, and the drilling efficiency and the drilling precision are improved.