48 results about "Viscous friction" patented technology

The invention is suitable for the field of tracking rotary tables, and provides a tracking rotary table follow-up adjustment control system and method based on dynamic identification, and the method comprises the steps: building a discretization mathematical model of a tracking rotary table servo system; running a recursive least square algorithm with a variable forgetting factor by using the collected running state data; the equivalent rotational inertia and the total viscous friction coefficient are obtained based on identification; adjusting the gain of a feedback controller in real time according to the equivalent rotational inertia obtained by identification and a preset system closed-loop bandwidth index; carrying out superposition synthesis on the feedforward compensation torque and the feedback control torque, and carrying out parameter validity verification and amplitude safety verification on the synthesized control quantity to generate a motor driving signal for driving a tracking turntable to eliminate tracking errors; by means of variable forgetting factor identification and a composite control strategy, the problems of load time varying and nonlinear interference are solved, bandwidth constant keeping and zero phase lag tracking are achieved, and dynamic response and steady state precision are remarkably improved.

The invention relates to the technical field of intelligent inspection of rail transit, and discloses a compensation method for joint friction force of a mechanical arm of a metro underbody inspection robot, which comprises the following steps of: acquiring angular velocity, angular position and temperature data in real time through a joint angle and temperature sensor, and establishing an improved LuGre friction force dynamic model; a temperature correction term is introduced to accurately characterize coulomb friction, viscous friction and a Stribeck effect. A recursive least square algorithm is adopted to realize online identification of model parameters, a predicted friction force compensation item is introduced into a servo control loop, and unmodeled disturbance correction is realized in combination with PID control, sliding mode control and an extended Kalman filter. And in the low-speed interval, a gain coefficient is adopted to enhance friction compensation and inhibit joint crawling. According to the method, trajectory tracking errors can be remarkably reduced in a complex environment, and the operation stability and detection precision of the inspection robot are improved.

The invention discloses a self-adaptive identification and compensation method for friction nonlinear characteristics of a feeding system of a numerical control machine tool. According to the method, parameters of a LuGre friction model are initialized by collecting an actual position signal, an actual speed signal, an actual current signal and an instruction position signal of a feeding system; friction parameter self-adaptive identification is carried out based on motion state segments, coulomb friction parameters and viscous friction parameters are updated by adopting a least square method in a constant speed stage, and bristle rigidity parameters, bristle damping parameters and Stribeck speed parameters are updated by adopting an extended Kalman filter in an acceleration stage and a deceleration stage; generating a friction force estimation value according to the identified friction parameter, converting the friction force estimation value into a compensation current signal, and adding the compensation current signal to a servo driver current instruction after phase lead compensation. According to the method, the friction characteristic change can be adaptively identified on line, tracking errors and vibration caused by friction nonlinearity are effectively inhibited, and the machining precision and stability of the numerical control machine tool are improved.

The application discloses a kind of industrial robot dynamics identification method with nonlinear viscous friction, it is related to robot dynamics modeling and control field.The method is considered in robot modeling, nonlinear term of viscous friction, different from traditional coulomb viscous friction model, its content includes robot friction model construction, excitation trajectory model selection, parameter optimization and dynamics parameter solving.In excitation trajectory selection optimization, the trajectory model of five order Fourier series and five polynomials is selected, and the genetic algorithm with penalty function is used to optimize the parameters of excitation trajectory;In solving process, based on interior point method, iteration fitting is carried out, and complete dynamics parameters of robot are obtained.The friction model considered in the application has higher modeling accuracy, and the problem of system jitter at start and end position is overcome, the efficiency and accuracy of robot dynamics parameter identification are improved, and can be used in robot mobile handling, polishing and polishing and heavy load hydraulic industrial scene.

This invention relates to the field of bearings, specifically to a noise-reducing bearing with an integrated micro-perforated plate sound-absorbing structure. Rolling elements are disposed between the inner and outer rings of the bearing, and these rolling elements are positioned at intervals by a cage. A sealing ring is disposed on one side of the outer ring. The sealing ring has a mounting structure for installing the micro-perforated plate. The micro-perforated plate is annular and installed at the sealing ring, with a uniform array of micropores. An air cavity is formed between the micro-perforated plate and the sealing ring, constituting the back cavity of the sound-absorbing structure. In this invention, by setting a micro-perforated plate sound-absorbing structure at the bearing's sealing structure, the bearing maintains its original sealing function while possessing active sound absorption capability. When noise generated during bearing operation propagates to the micro-perforated plate, sound waves enter the micropores, generating viscous friction and heat exchange between the air and the pore walls within the micropore channels, thereby converting some of the sound energy into heat energy and dissipating it.

The invention provides a motor rotational inertia identification method and device, electronic equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the steps that a motor is driven to rotate according to a preset sine rotating speed instruction, and the motor output torque and the actual rotating speed of the motor are obtained; acquiring a motor output torque and a motor actual rotating speed; obtaining a differential signal of the actual rotating speed of the motor according to the actual rotating speed of the motor and a preset tracking function; and obtaining the rotational inertia of the motor according to the differential signals of the motor output torque and the actual rotating speed of the motor and the motor motion equation. According to the method, the load torque and the viscous friction torque in the motor motion equation are eliminated by utilizing the periodicity characteristic of the sine rotating speed instruction, the fundamental wave characteristic of the sine rotating speed instruction is tracked by utilizing the preset tracking function, and the effective signal of the actual rotating speed of the motor is extracted, so that the identification accuracy and stability of the rotational inertia of the motor are improved.

The application discloses a robot friction parameter identification method and device, a terminal and a medium. The method comprises the following steps: acquiring a dynamic speed threshold of a robot joint; identifying a static friction coefficient, a coulomb friction coefficient and a critical speed in a low-speed section where the speed of the robot joint is lower than the dynamic speed threshold; and identifying a viscous friction coefficient in a medium-high speed section where the speed of the robot joint is higher than the dynamic speed threshold, in combination with the obtained static friction coefficient, the coulomb friction coefficient and the critical speed. The application has the advantage that higher-precision robot friction parameters can be obtained, thereby facilitating the construction of a high-precision robot friction model.

The shock absorption structure of the submersible pump for the coal mine machine comprises a base, the top of the base is fixedly connected with a pump body, and the outer portion of the pump body is fixedly connected with a connecting base; the damping assembly comprises two damping rods, and the two damping rods are both fixedly connected to the bottom of the base; and the protection assembly comprises a steel mesh. When the device is used, the device is firstly mounted at a proper position, and the two damping rods are utilized based on the physical effect of damping. When an object is subjected to external force, vibration energy can be gradually converted into heat energy due to factors such as viscosity, friction and deformation of a medium, the vibration amplitude can be reduced in cooperation with a buffer spring, in the daily use process after installation, broken stones falling from the outside can be prevented from directly hitting the pump body through the protection frame, and the overall protection effect on the pump body is improved; and the durability and the stability of the whole device in the using process are improved.

The utility model provides a composite sound absorption structure and a vehicle provided with the composite sound absorption structure, the composite sound absorption structure comprises a perforated plate, a sound absorption part and a support part; a gap exists between the sound absorption part and the perforated plate, a square containing cavity is defined by the micro-perforated plate in the sound absorption part, and the honeycomb filler is arranged in the square containing cavity; the perforated plate is provided with a plurality of through holes to form a sound transmission channel in the compartment body, so that noise reaches the sound absorption component connected with the perforated plate through the through holes, the micro-perforated plate of the sound absorption component is a direct reflection surface of the noise, and sound waves consume energy due to a viscous friction effect when passing through micropores of the micro-perforated plate. Cavities and micropores in the honeycomb filler form resonance sound absorption; and compared with a single-layer micro-perforated plate which can only cover low and medium frequency sound, the micro-perforated plates encircle to form the square accommodating cavity to form three groups of double-layer micro-perforated plate structures, namely an up-down double-layer micro-perforated plate structure, a left-right double-layer micro-perforated plate structure and a front-back double-layer micro-perforated plate structure, so that the sound absorption frequency band can be expanded to

The application discloses a kind of power transformer internal inspection robot fault diagnosis and monitoring method, it is related to motor control field, comprising: collecting motor ambient temperature, shell temperature, three-phase stator current and power consumption parameters, extract negative sequence intrinsic current component and construct heat dissipation barrier factor, generate negative sequence suppression attenuation coefficient to correct original negative sequence compensation voltage instruction, inhibit abnormal heating, for torque drop, based on the coefficient and static viscous friction threshold value calculation static friction torque gap, calculate negative direct-axis field-weakening current component to carry out thrust compensation, utilize extended back electromotive force online observation flux linkage amplitude, and generate dynamic limiting amplitude extreme value in combination with safety threshold to clamp direct-axis field-weakening current, based on presequence calculation parameter generation fault diagnosis and health monitoring data.The application realizes the collaborative balance of heat accumulation inhibition, thrust maintenance and permanent magnet demagnetization protection, guarantees the continuous safe operation of robot under fault state.

The utility model discloses a high vacuum solenoid valve which comprises a valve body and an electromagnetic control device, the valve body is provided with a flow channel, the electromagnetic control device is internally provided with a static iron core and a movable iron core which movably blocks the flow channel, the movable iron core is sleeved with a guide pipe, the end portion opposite to the static iron core is provided with a spiral groove, and the end, facing the valve body, of the movable iron core is provided with a rivet ring. The rivet ring is internally provided with an anti-leakage gasket which abuts against the end portion of the movable iron core. According to the high-vacuum electromagnetic valve, the structural framework arrangement is optimized, assembling is facilitated, the sealing performance is improved, the guide pipe is arranged on the outer side of the movable iron core, the QPQ processing technology is conducted on the guide pipe, outer surface processing is conducted on the guide pipe, the abrasion resistance is improved, the starting performance is better, the spring abuts against the end of the movable iron core, and the spiral groove is formed. The spiral dimpled grains enhance electromagnetic force through the edge magnetic field concentration effect in the initial stage of movement, viscous friction is reduced, the response speed is increased, and the electromagnetic iron core responds faster.

The invention relates to the technical field of computers, in particular to a variable damping control method and device based on a continuous friction model. The method comprises the following steps: acquiring construction parameter data of a continuous friction model; wherein the constructed parameter data comprises a nonlinear dynamic coefficient, coulomb friction, maximum static friction, turning speed, a viscous friction coefficient and an actual rotating speed of the motor; constructing a continuous friction model based on the construction parameter data; based on a continuous friction model, determining a differential function of friction torque to speed; determining a variable damping coefficient based on the differential function of the friction torque to the speed and a preset adjustment principle of an additional damping coefficient; determining the voltage of a permanent magnet synchronous motor of the space optical pointing servo system based on the variable damping coefficient; and controlling the permanent magnet synchronous motor of the space optical pointing servo system based on the voltage of the permanent magnet synchronous motor. Through the configuration mode, the control precision of the space optical pointing servo system can be improved.

A viscous friction clutch (100, 00) includes a rotor (106, 206), a housing (112, 212) rotatable relative to the rotor, a working chamber (115, 215) between the rotor and the housing such that a volume of shear fluid can be selectively introduced into the working chamber to contact both the rotor and the housing, an electromagnetic coil (101, 201), a valve assembly (107, 207) that controls the volume of shear fluid present in the working chamber, and a flux path (A, A') that magnetically joins the electromagnetic coil with the valve assembly. The flux path passes through a flux guide portion (105, 105', 205) made of a ferromagnetic material that extends through the rotor in the interior of the viscous friction clutch and across a flux gap (B) that traverses both an air gap and a non-ferromagnetic portion (112b-1, 212b-1) of the housing.

The application discloses a shield machine main drive sealing performance prediction method and device under actual complex service conditions, and relates to the field of mixed lubrication. The method takes a rotary lip seal as a research object, is based on a two-dimensional axisymmetric finite element model of a shield machine main drive rotary lip seal, and combines solid mechanics, lubricating oil film fluid mechanics, sealing lip surface micro-convex body contact mechanics, sealing lip surface normal and tangential elastic deformation, and thermodynamic analysis to quantitatively analyze data representing sealing performance of the shield machine main drive seal under actual complex service conditions, such as viscous friction and friction torque under different pressure differentials. The application can predict the sealing performance of the shield machine main drive seal under actual complex service conditions.

A method for calculating the joint motion parameters of a quasi-hyperbolic manipulator using a nonlinear mixed friction model relates to the field of joint mechanics calculation in robotics. Although the traditional calculation model can describe the relationship between friction force and relative motion speed or contact surface positive pressure to a certain extent, it ignores the nonlinear characteristics of friction force, resulting in large errors in motion parameters and unable to meet the current design requirements for high-precision manipulators with the rapid development of industrial automation technology. Therefore, in order to improve the accuracy of the calculation of the joint motion parameters of the manipulator, the present invention proposes a method for calculating the joint motion parameters of a quasi-hyperbolic manipulator using a nonlinear mixed friction model. The friction model is based on the Gauss friction model and combines the Coulomb friction model, the viscous friction model and the Stribeck friction model to provide a more accurate pre-calculation method for the subsequent structural design of the manipulator, the manufacturing of rods and fuselage, and the trajectory control of the end effector.

This invention discloses a linear motor friction compensation method combining model feedforward and observer, belonging to the field of linear motor friction compensation. The invention addresses the problem of frictional abrupt changes in existing permanent magnet synchronous linear motors during positive and negative velocity crossings, where the Stribeck friction model leads to overcompensation. The method includes: calculating the current static frictional force F based on the current mover velocity v. f Take the current static friction force F f The friction force feedforward compensation is calculated as 0.5 times the current value. Simultaneously, an observer estimates the viscous friction force compensation as an auxiliary compensation for the current static friction force based on the q-axis current command and the current actual position of the mover. The friction force feedforward compensation and viscous friction force compensation are converted into a compensation current and then superimposed with the current control command output by the position loop controller to obtain a compensated current control command, which is then input to the current loop. This invention is used for friction force compensation in linear motors.

The invention discloses a truss manipulator zero-force dragging teaching method, which comprises the following steps of S1, building a truss manipulator kinetic model: obtaining parameters including gravity torque, static friction force and viscous friction coefficient by building a single-axis kinematics model of a truss manipulator; s2, designing an action process, and identifying each parameter of the kinetic model; and S3, compensating torque output required during mechanical movement according to the obtained identification parameters, and realizing zero-force dragging. The invention provides a zero-force dragging teaching method for a truss manipulator, which can enable an operator to enable the manipulator to move along an expected running track in a dragging manner, and after the dragging is finished, a system records the motion track during the dragging motion of the manipulator and reproduces the motion track during automatic running. Therefore, an operator only needs to understand the action technological process of the manipulator and does not need to have programming skills, application of the manipulator can be achieved, and the operation process is simplified.

This invention discloses a shock-resistant relay, relating to the field of relay technology. It includes a base body with an electromagnetic system assembly mounted on its top. In use, the shock-resistant pad isolates the electromagnetic system assembly and the shock-absorbing plate from the base body, absorbing some of the vibration energy. Vibration energy is dissipated through the viscous friction of a liquid magnetorheological fluid. The negative Poisson's ratio honeycomb panel has a negative Poisson's ratio honeycomb structure, with highly elastic silicone rubber filling the honeycomb cells to disperse the impact load transmitted by the base body. Through the tensile effect, it achieves three-dimensional vibration energy absorption. A piezoelectric ceramic sheet converts mechanical vibration into electrical energy to power the excitation coil, achieving "self-harvesting of vibration energy." After the excitation coil is energized, the magnetorheological fluid transforms into a near-solid-state damping layer, improving the shock resistance in complex vibration environments. Dynamic shock absorption is achieved through the switching between liquid and solid states of the magnetorheological fluid.

The utility model relates to the technical field of bearing machining, in particular to an efficient heat dissipation bearing lubricating device which comprises a workbench, a lubricating table is fixedly connected to one side of the workbench, a conveying sliding way is fixedly connected to the outer wall of the workbench through a supporting base, a sliding groove is formed in the conveying sliding way, and an L-shaped conveying belt is arranged in the sliding groove. And a plurality of bearings are placed in the L-shaped conveying belt. The micro heat pipe is arranged above the bearing seat, so that heat generated by viscous friction during bearing lubrication can be transferred out, the heat sequentially passes through the evaporation section, the heat insulation section and the condensation section of the micro heat pipe, and steam is condensed, refluxed and circularly radiated under the action of cold air of the cooling box and the radiating fins; compared with a traditional air cooling heat dissipation mode which is low in heat dissipation efficiency, complex in liquid cooling structure and prone to leakage, the heat dissipation mode is efficient and stable, the surface temperature of the bearing can be effectively kept stable, lubricating grease performance reduction caused by high temperature is avoided, and it is ensured that the lubricating effect is lasting and good.

The present application relates to the technical field of unmanned aerial vehicle flight control, and relates to an unmanned aerial vehicle wind resistance adaptive control method based on real-time environment sensing, which comprises issuing a desired rotating speed instruction to an electronic speed regulator according to an attitude control loop, synchronously acquiring actual quadrature axis current and absolute physical acquisition time; extracting a quadrature axis current sequence to identify and update rotor aerodynamic drag coefficients and motor viscous friction coefficients; combining the identified coefficients to calculate a desired quadrature axis current and construct a time domain reference sequence, deducing a synchronous desired quadrature axis current and subtracting the actual quadrature axis current, mapping actuating current residuals into single-rotor disturbance torque residuals; inverting a three-dimensional wind speed vector of the machine body and using a confidence decay coefficient to correct and generate an effective wind field vector; calculating a dynamic weighted feedforward control vector and fusing it with a feedback control vector to solve a desired angular velocity instruction and execute wind resistance control. The present method does not require a physical anemometer, and can realize environment wind field sensing and adaptive feedforward compensation only by online identification of underlying electrical data and parameters.

The application discloses a kind of calculation methods of friction torque of planetary roller screw pair, comprising: establishing roller thread load distribution model;Solving the contact characteristic index of planetary roller screw pair;Calculate the elastic hysteresis friction torque caused by elastic deformation hysteresis before and after rigid body loading and unloading;Calculate the spin slip friction torque caused by the fact that the actual rotation axis of roller is not perpendicular to the common normal of contact surface;Calculate the differential slip friction caused by the relative sliding between screw, roller and nut;Calculate the lubricant viscous friction torque caused by the surface viscous force of lubricant;Iterate the above friction torque to obtain the friction torque of the whole planetary roller screw pair.The thread load distribution law and contact characteristics of the planetary roller screw pair can effectively and accurately derive each part friction torque, which can effectively improve the transmission efficiency of the planetary roller screw pair, and has guiding significance for the parameter design of the planetary roller screw pair.

The application discloses a gas-floating type turbine cylinder pawl structure suitable for deep peak regulation and relates to the technical field of turbines.The gas-floating type turbine cylinder pawl structure comprises a cylinder, a pawl fixed to the side wall of the cylinder and a supporting platform, and a gas-floating gasket assembly is arranged between the pawl and the supporting platform; the gas-floating gasket assembly comprises a gas-floating gasket body fixedly connected with the pawl, a solid cavity is formed in the gas-floating gasket body, and a porous disc is arranged at the bottom of the gas-floating gasket body. The gas-floating gasket assembly is arranged between the pawl and the supporting platform, high-pressure air is introduced into the solid cavity, the high-pressure air is uniformly discharged through the porous disc to form a micron-level air film, traditional dry friction is changed into gas viscous friction, the friction force is reduced by more than 95%, the overturning force of the bearing box caused by the friction jam when the cylinder is heat-expanded is eliminated, and the temperature rise of the bearing bush and the abnormal wear failure of the shaft seal are avoided from the root.

The present application provides a method and device for real-time monitoring of the health status of a hydraulic plunger pump, which belongs to the field of aviation hydraulics. The method includes: determining a first relationship between the total leakage of the hydraulic plunger pump and the operating parameters of the electrostatic actuator, and screening the follow-up parameters based on the dynamic change characteristics of the operating parameters with the working condition and health status of the hydraulic plunger pump; adjusting the first relationship of the total leakage of the plunger pump based on the follow-up parameters to obtain a second relationship; calculating the plunger pump torque based on the second relationship in combination with the law of conservation of energy; optimizing the plunger pump torque calculation formula based on the correlation between the viscous friction torque, the Coulomb friction torque and the follow-up parameters; monitoring the real-time operating parameters of the plunger pump, calculating the first coefficient and the second coefficient based on the real-time operating parameters, and inputting the first coefficient and the second coefficient into a neural network to construct a state monitoring model to evaluate the operating status of the plunger pump. The method and device provided by the present application can realize real-time monitoring of the operating status of the hydraulic plunger pump.

The invention belongs to the technical field of offshore oil and gas deepwater exploration, and provides a method for determining a viscous friction force model of drilling well drainage liquid after marine riser dissociation, and the method comprises the steps: S1, obtaining original data, comprise the pressure difference between the top and the bottom of the riser, the liquid column height, the cross section area of the inner wall of the riser, the flow velocity of liquid in the riser, the viscous friction force of discharged liquid of the inner wall of the riser and the like; s2, analyzing data features, and analyzing and screening Top-N key features of the data features; s3, processing and classifying the data, and executing a data feature standardization operation by using a Min-Max scaling normalization method; s4, determining and optimizing a data driving model structure, and selecting a random configuration neural network as a core tool; s5, training the model, and alternately executing network node growth and a Dropout regularization algorithm; and S6, testing the model, and verifying whether the Top-N key features on the test data are matched or not.

The invention relates to the technical field of centrifugal pumps, and discloses an anti-blocking multistage energy-saving centrifugal pump which comprises a pump shell, the pump shell comprises an upper shell body and a lower shell body, a first liquid storage cavity is fixedly installed at the upper end of the interior of the upper shell body, and a second liquid storage cavity is fixedly installed at the upper end of the interior of the lower shell body; and inner cylinders are rotationally installed in the upper shell and the lower shell and located below the first liquid storage cavity and the second liquid storage cavity correspondingly, the two inner cylinders are symmetrically arranged, a water inlet pipe is fixedly installed on the outer wall of the upper half portion of the upper shell, and a water outlet pipe is fixedly installed on the outer wall of the upper half portion of the lower shell. According to the multi-stage pressurizing pump, multi-stage pressurizing conveying of water flow in the pump body is achieved through rotation of the multiple sets of impellers, the first protruding blocks and the second protruding blocks are fixedly installed on the outer walls of the tail ends of the blades, vortex and flowing separation of water flow at the tail ends of the blades can be restrained, and hydraulic losses are reduced; and meanwhile, the blade surface flow state can be adjusted, and mechanical energy loss caused by viscous friction resistance is reduced.

The application relates to the technical field of robot driving control, and discloses a high-precision driving control method and system for a dexterous hand, which comprises the following steps: collecting end voltage, phase current, rotor angular velocity and external contact force signal of a microminiature hollow cup motor; obtaining a coil resistance estimation value and an inverse electromotive force coefficient estimation value based on the end voltage and the phase current by using an extended Kalman filtering algorithm; mapping the coil resistance estimation value into a viscous friction coefficient evolution value, and mapping the external contact force signal into a Coulomb friction torque correction value; combining the rotor angular velocity to calculate a total friction compensation torque; and normalizing a total electromagnetic torque target value after superposition by using the inverse electromotive force coefficient estimation value to generate a driving current instruction. The application solves the problem of a thermal compensation blind area of a micro driving module without a temperature sensor, and realizes high-precision force and position control of the dexterous hand under complex working conditions with variable temperature and variable load.

This invention discloses a bearing thermo-mechanical coupling analysis method based on finite element thermal networks, comprising the following steps: calculating the initial radial deformation of the bearing under assembly conditions and centrifugal force; considering fluid viscous friction, improving the bearing pseudo-dynamic analysis, and calculating the precise distributed heat generation of the bearing; using the finite element thermal network method, precisely applying heat sources to calculate the refined temperature field of the bearing, its shaft, and bearing housing; based on the discrete temperature field, calculating the comprehensive radial deformation of the bearing under assembly conditions, centrifugal force, and temperature rise, and updating the geometric relationship; updating the heat generation and temperature field through pseudo-dynamic analysis, and iterating through pseudo-dynamic distributed heat generation-temperature field-comprehensive deformation coupling until the lubricating oil outlet temperature converges; outputting the bearing kinematic and dynamic parameters and the bearing temperature field. This invention achieves precise positioning of the bearing heat source and refined temperature distribution of the bearing, its shaft, and bearing housing, providing theoretical guidance for precise thermal analysis in the design and application of high-speed ball bearings.

The invention relates to the technical field of robot control, in particular to a robot joint dynamic parameter identification method based on a CSFM nonlinear friction model and a mixed GWO-PSO algorithm. Comprising the following steps that a dynamic model is built, specifically, the relation between the joint position, speed, acceleration and joint driving torque of a robot operation arm is defined based on a centrosymmetric static friction model, and the robot dynamic model is built; an optimization algorithm: dynamically fusing a particle swarm optimization algorithm and a grey wolf optimization algorithm in stages; dynamic parameter identification: carrying out dynamic parameter identification on the robot dynamical model, firstly generating a motion track through a track generator, then respectively executing the motion track to the robot and the robot dynamical model to generate respective joint torques, inputting an error of the torques of the robot and the robot dynamical model into a target function defined by an optimization algorithm, and carrying out dynamic parameter identification; therefore, dynamic parameters are adjusted and optimized, and dynamic parameter identification is achieved. According to the method, the CSFM model describes the nonlinear friction characteristics of the robot joints, multiple factors such as static friction, coulomb friction, viscous friction and the Stribeck effect are fused, the hysteresis effect is considered, the friction behaviors of the joints under different working conditions can be reflected more comprehensively, and the adaptability to complex motion scenes is remarkably improved.

The invention discloses an atmosphere data probe soldering paste curing device and curing method, belongs to the technical field of aerospace atmosphere data probe sensor manufacturing, and solves the problem that soldering paste on the inner wall of an atmosphere data probe is prone to being stacked in the curing process. The atmosphere data probe soldering paste curing device comprises a mounting groove, a rapid clamping device and a motor, wherein one end of the mounting groove is in transmission connection with the motor through a transmission mechanism; the installation groove is provided with a rapid clamping device, and the atmosphere data probe is fixed on the installation groove through the rapid clamping device. According to the device, the atmosphere data probe is fixed to the mounting groove through the rapid clamping device, the atmosphere data probe is placed in a high-temperature environment for solder paste solidification, the motor drives the atmosphere data probe to rotate in the solidification process, at the moment, the solder paste is in a steady state under the combined action of gravity, centrifugal force and viscous friction force, and the situation that the solder paste spontaneously flows under the action of gravity is avoided; the soldering paste stacking phenomenon is prevented, and the thickness consistency of the soldering paste coating layer is guaranteed.

The present invention belongs to the field of automobile technology, specifically, a method for estimating the clamping force of an electronic mechanical brake system based on an improved super-helical sliding mode observer. Step one, establish an electronic mechanical brake system model, including a drive motor model, a friction model, and a transmission mechanism model; Step two, use direct testing method, least squares method, and linear regression method to accurately identify the internal parameters of the system friction model, namely, static friction torque, viscous friction coefficient, Coulomb friction torque under no-load, and Coulomb friction coefficient; Step three, based on the above-established accurate electronic mechanical brake system model, design a method for estimating the clamping force of an electronic mechanical brake system based on an improved super-helical sliding mode observer to achieve accurate estimation of the clamping force. The present invention accurately estimates the clamping force of the electronic mechanical brake system, providing a basic basis for the design of future intelligent automobile brake pressure control algorithms.