226 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 relates to a motion compensation type pile gripper perpendicularity adjustment control method which comprises the following steps: 1, mounting a tilt angle sensor and a displacement sensor on a pile gripper for detecting the tilt angle theta of a pile body and the position of a supporting arm in real time; step 2, acquiring a current inclination angle value theta c and a target value theta t through a control system, calculating a real-time perpendicularity deviation delta theta = theta c-theta t, and driving a servo mechanism to adjust the position of a supporting arm according to the perpendicularity deviation delta theta so as to perform motion compensation; and step 3, dynamically correcting the compensation process by using a closed-loop control algorithm until the condition that verticality adjustment is completed is met, namely delta theta is less than or equal to epsilon, and epsilon is an allowable error threshold. A high-precision inclination angle sensor and a displacement sensor are installed on the pile gripper, the inclination angle of a pile body and the position deviation of a supporting arm are detected in real time, and a control signal is dynamically generated through a closed-loop control algorithm to drive a servo mechanism to conduct adjustment. A dynamic parameter compensation mechanism is designed, control parameters are corrected in real time according to the inclination angle of the foundation and external force interference, the adjusting precision and stability under the conditions of complex terrains and dynamic external force are remarkably improved, a servo mechanism achieves precise action through a hydraulic driving system and a proportional control valve, the response time of the servo mechanism meets the engineering requirement, and the engineering cost is reduced. And the perpendicularity error of the pile body can be controlled within a preset range, the construction efficiency and the long-term stability are improved, and the problem that a traditional manual adjustment and mechanical auxiliary system is insufficient in precision is solved.

The invention discloses an automatic control method for the air introduction amount of a dry quenching furnace, and relates to the technical field of dry quenching, and the method comprises the following steps: collecting CO and H concentration distribution data and dust concentration gradient data in an annular flue of the dry quenching furnace, and boiler inlet temperature and circulating gas flow in real time; establishing a multi-parameter coupled dynamic prediction model, and predicting coke burn-out rates and boiler thermal efficiency under different air introduction amounts; an optimal air introduction amount threshold value is calculated through a model prediction control algorithm; on the basis of the optimal air introduction amount threshold value, the opening degree of an electric valve of an air introduction pipe is dynamically adjusted, meanwhile, displacement compensation of a servo mechanism at the position of an introduction opening in the annular flue is triggered, and an introduction point is made to be located in the optimization interval of the CO concentration, the Hconcentration and the dust concentration all the time; and a self-adaptive correction module is established, when it is detected that coke maturity is abnormal and coke discharge temperature fluctuation is abnormal, a compensation control mode based on deep reinforcement learning is automatically switched, and dynamic prediction model parameters are updated.

The invention relates to the technical field of equipment operation control, and discloses an operation control system of a spin coating roaster. The system comprises an initialization module used for carrying out parameter initialization on the uniform glue baking machine and generating equipment initial state data; the time sequence control module is used for performing time sequence control on an upper shovel hand servo mechanism and a lower shovel hand servo mechanism of the uniform glue baking machine to obtain wafer position data and adsorption state data; the rotating speed grading control module is used for carrying out five-section type rotating speed grading control on rotating servo equipment of the spin-coating baking machine to obtain rotating speed control data; the gluing control module is used for carrying out gluing control on gluing equipment and generating gluing parameter data; and the compensation control module is used for performing inter-region heat coupling compensation control on the four-region heating units of the spin-coating baking machine and outputting a temperature uniformity control result. According to the invention, the gluing positioning precision control is realized, the consistency of the gluing amount is improved, and the variation between batches of products is reduced.

The invention relates to a large-angle and high-precision control method for a 3-RPS parallel servo mechanism. The method comprises the following steps: step 1) establishing a kinematic model of the 3-RPS parallel servo mechanism and performing motion constraint analysis; 2) considering speed feed-forward compensation of the parallel mechanism, and performing attitude closed-loop cooperative control on the basis of the speed feed-forward compensation; and step 3) planning a motion trail of wide-angle attitude change, considering multiple physical constraints, and realizing accurate and rapid attitude control. According to the large-angle and high-precision control method for the 3-RPS parallel servo mechanism, the kinematics of the 3-RPS parallel servo mechanism is analyzed to obtain an analytic equation of a 3-RPS off-axis angle, an azimuth angle and a parallel three-connecting-rod; the control rate based on speed feed-forward and position compensation gives consideration to motion rapidity and accuracy; multi-physical constraint trajectory planning is considered, and the platform performance is brought into full play; and large-angle and high-precision servo control of the 3-RPS parallel mechanism is realized.

The invention discloses a mining small-sized anti-vibration trepanning directional measurement device and method. The mining small-sized anti-vibration trepanning directional measurement device comprises a battery module, a measurement module, a vibration reduction module, a display module, a power switch and a charging interface, the measurement module comprises an MEMS gyroscope, an MEMS accelerometer, a conductive slip ring, a servo mechanism, an IMU module, a main control board, a motor control board and an external interface connector. Based on the high-precision small-size MEMS gyroscope, the MEMS accelerometer and the integrated small IMU, the equipment size is reduced, the cost is reduced, and the power consumption of the whole machine is reduced; through a four-position north-seeking method, the measurement time is shortened, and high-precision autonomous orientation is realized; based on an integrated small IMU, the tapping direction is updated in real time through quaternion calculation, and dynamic tracking measurement is achieved in the drilling machine adjusting process; according to the vibration reduction module and the vibration reduction method, the vibration resistance problem of an MEMS device is solved, the data quality of an MEMS gyroscope and an MEMS accelerometer is improved, vibration reduction filtering in the tracking process is achieved, and the equipment orientation precision is improved.

The invention provides a carrier rocket engine frame deformation compensation method. The carrier rocket engine frame deformation compensation method comprises the steps that an additional swing angle estimated value caused by frame deformation of an engine frame under the action of different thrust is measured in advance through a static test; the length of the servo mechanism is adjusted, and on the basis of the original swing angle, swing angle pre-compensation is conducted on an engine rack; according to the additional swing angle estimated value and a pre-compensation angle of swing angle pre-compensation, compensation and amplitude limiting are conducted on the engine swing angle instruction, and the compensated and amplitude-limited engine swing angle instruction is obtained; and the compensated and amplitude-limited engine swing angle instruction is sent to a servo controller. According to the method, the tilt angle compensation amount changing along with time can be provided and used for offsetting the additional tilt angle caused by deformation of the engine frame, so that the attitude control precision is improved, and then the safety during stage separation is improved, the load injection precision is improved, or the propellant consumption of an auxiliary power system is reduced.

The utility model relates to a crimping mechanism and a pressure testing device. The crimping mechanism comprises a base plate, a plurality of driving members, a support plate and pressure head assemblies arranged in one-to-one correspondence with the plurality of driving members. When a pressure test is carried out, the servo mechanism drives the whole crimping mechanism to get close to the carrier carrying the chip until the plurality of positioning seats are respectively abutted against the positioning structures on the carrier to realize positioning. Then, each driving member drives the corresponding pressure head to move towards the chip so as to apply test pressure to the chip, thereby realizing batch test. Due to the fact that the base plate and the supporting plate are supported by the supporting rods, the supporting strength of the supporting plate is high. Therefore, when the positioning base abuts against the positioning structure, the supporting plate is not prone to generating large deformation due to the counter-acting force, it is ensured that the multiple pressing heads can be kept in the same plane, the situation that part of the pressing heads abut excessively, but part of the pressing heads abut not in place is effectively avoided, and then the accuracy of batch testing can be improved.

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 invention relates to a low-temperature double-channel flow synchronous regulator based on an adjustable venturi tube. The low-temperature double-channel flow synchronous regulator comprises a base, the venturi tube installed on the base, a plug cone, a driving device and an air replacement structure used for ice prevention and removal of the plug cone. The venturi tube, the plug cone and the driving device are sequentially arranged on the base; wherein the plug cone is in sliding connection with the base; the driving device is connected with the plug cone so as to control the flow area of the inlet of the venturi tube by adjusting the position of the plug cone relative to the venturi tube; the driving device is integrated with a displacement detection device for feeding back the output displacement of the driving device; the two venturi tubes are arranged side by side, and the plug cones and the venturi tubes are arranged in a one-to-one correspondence mode so as to be used for two-way flow control over an oxidizing agent and fuel. The high-precision servo mechanism serves as a driving device, the one-driving-two adjustable cavitation venturi tube serves as a flow adjusting element, and the two-way low-temperature oxidizing agent and fuel side flow synchronous control can be achieved.

The invention discloses a model and test probe servo mechanism for a high-temperature hypersonic flow field test, and relates to the technical field of aerospace test equipment. The probe scanning system has two degrees of freedom and is integrated by a probe X-direction adjusting assembly and a probe gamma-direction deflection assembly; the model supporting system has four degrees of freedom and is composed of a model Z-direction lifting assembly, a model X-direction adjusting assembly, a model beta-direction yaw adjusting assembly and a model alpha-direction attack angle adjusting assembly. Telescopic heat insulation sleeves of the heat insulation cooling system are arranged on the two sides of the probe X-direction adjusting assembly in a sleeving mode, an air cooling pipeline is connected with four servo drivers of the model supporting system in series, and a follow-up heat insulation cover plate moves along with a model at the top of the model supporting system to synchronously shield an upper flow field. Deflection degree of freedom is integrally arranged on the probe scanning system, and the high-temperature anti-interference capability is improved through the arrangement of the telescopic heat insulation sleeve, the follow-up heat insulation cover plate and the air cooling pipeline, so that the multi-working-condition efficient test requirement is met.

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 utility model discloses a starter rotor polishing device which comprises a machine box, a tool table, a moving sliding table, a rotor shaft polishing device, a rotor commutator polishing device and a rotor rotating device, and the tool table, the moving sliding table, the rotor shaft polishing device, the rotor commutator polishing device and the rotor rotating device are arranged in the machine box. The tool table transports the starter rotor to a polishing operation position through the moving sliding table. The rotor shaft grinding device and the rotor commutator grinding device enable a grinding belt to move under the control of a servo mechanism so as to grind a rotor shaft or a rotor commutator; the rotor rotating device drives the starter rotor to rotate through friction between the belt and the starter rotor. According to the circuit, synchronous polishing of the starter rotor shaft and the starter rotor commutator is achieved by arranging the rotor shaft polishing device and the rotor commutator polishing device at the same time, and the polishing uniformity of the starter rotor shaft and the starter rotor commutator is optimized through the rotor rotating device.

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 invention discloses a control system test method suitable for engine frame compensation, and the method comprises the steps: carrying out the zero debugging of a first-stage servo mechanism after the final assembly of the first-stage servo mechanism is completed; a rack compensation value delta, namely an offset signal, is sent to the first-stage servo mechanism through ground test equipment, and after the first-stage servo mechanism responds to the offset signal, a protection hoop is installed on the first-stage servo mechanism; the length of the first-stage servo mechanism is adjusted, so that the length of the first-stage servo mechanism is consistent with the length of the installed upper arrow; and carrying out a whole-rocket integration test. According to the invention, the pre-launch test work of deformation compensation of racks of different carrier rockets is solved, understanding and interpretation are facilitated, and the engine bellows is protected from long-term offset.

The invention relates to the technical field of motor manufacturing, in particular to a shaping device for an armature winding end part of a brushless motor, which comprises a rack, and a back plate and a base servo mechanism are arranged on a workbench of the rack; an upper pressing servo mechanism, a left pressing servo mechanism and a right pressing servo mechanism are mounted on the back plate; the base servo mechanism is used for clamping an armature and driving the armature to rotate around the axis of the armature. The upper pressing servo mechanism is provided with an upper roller used for rolling the upper end face of the armature. A left roller is arranged on the left pressing servo mechanism and used for rolling the outer cylindrical surface of the upper part of the armature; the right pressing servo mechanism is provided with a roller column used for rolling the inner hole face of the upper portion of the armature. When the armature is shaped, three-face pressure is formed on the upper end portion, the outer circle and the inner circle of the armature winding, and the shaping effect is greatly 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.