35results about How to "Improve servo performance" patented technology

A method is disclosed for improving servo performance in a disk drive having a plurality of concentric tracks. Each track has a plurality of first-type servo sectors and a plurality of second-type servo sectors. In the method, track identification information and track position information are read from a first-type servo sector. A track number and a transducer position are estimated for a second-type servo sector. Track position information is read from the immediately following second-type servo sector. An odd / even property from the second-type servo sector is compared with an odd / even property for the estimated track number. The odd / even property of the estimated track number is conditionally adjusted such that the odd / even property of the estimated track number matches the odd / even property from the second-type servo sector. A position error signal is determined using the adjusted track number and the track position information read from the second-type servo sector.

The number and weight of wires interconnecting a host and / or controller with a precision measurement assembly is reduced using a common or shared bus. The bus may be entirely electrical or may include optical fibers to reduce EMI susceptibillty. A custom bus or a known serial network bus such as CAN or SIRCOS may be used.

A lithographic apparatus comprising a control system, such as a motion control system, is presented. The control system includes an actuator for effecting a movement of a moveable part and a feed-forward path from a setpoint input of the control system to the actuator. The control system further includes a feed-back loop, a feed-forward transfer function of the feed-forward path having a feed-forward transfer function part which is an inverse of a part of the actuator transfer function having a stable inverse, the actuator transfer function including a part having a stable inverse and a remainder potentially having an unstable inverse. The setpoint path includes a setpoint delay function, and the feed-forward transfer function further includes a second feed-forward transfer function part. A difference in delay between the setpoint delay function and the second feed-forward transfer function part is equal to a delay of the potentially unstable remainder of the actuator transfer function. Further, a method is described to find an optimal feed-forward controller directly on the basis of measured data.

An apparatus is disclosed for enhancing the operation performance of a servo. The apparatus comprises a rotational enhancement mechanism configured to functionally engage an output shaft associated with the hobby servo and a support panel displaced from the servo and having a aperture formed therein for receiving the rotational enhancement mechanism.

The invention discloses a pump-valve composite two-degree-of-freedom electro-hydraulic motion loading control method. According to the method, a pump-valve composite two-degree-of-freedom electro-hydraulic motion loading system is subjected to loading control, a speed servo subsystem and a pressure servo subsystem are subjected to independent coordination by a speed command planner to achieve two-degree-of-freedom servo control of speed and output force of a loading actuator, a speed controller controls rotating speed of a motor according to speed reference commands generated by the speed command planner, control of pressure of a chamber A and a chamber B of the loading actuator is achieved by adjusting displacement of a valve core of a loading valve, and further, the output force of the loading actuator is controlled to equal loading commands. The pump-valve composite two-degree-of-freedom electro-hydraulic motion loading control method achieves physical decoupling of steering engine motion interference, is high in loading precision and energy efficiency and is particularly applicable to high-power loading occasions.

A method is disclosed for enhancing the operational capacity of a hobby servo having an internal potentiometer and internal components that limit a rotational capacity. The method comprises disconnecting the internal potentiometer, modifying the internal components to increase the rotational capacity, and connecting the hobby servo to an external potentiometer. The method further comprises operably connecting the hobby servo to an auxiliary shaft that is displaced from the hobby servo, connecting the external potentiometer to the auxiliary shaft, and utilizing feedback from the external potentiometer.

A system, method and an article of manufacture to provide more accurate magnetic tape servo operation are disclosed. Accurate measurements of the width of the servo pattern written on the magnetic tape are accomplished in the presence of relatively large motion of the magnetic tape. The accurate measurements of the width of the servo pattern are used to produce a corrected position error signal that provides improved servo track following to maintain the tape head at an optimal alignment for writing and reading data tracks on the tape.

The invention provides a permanent magnet fault-tolerant motor drive controller for thrust vector control. The controller includes a digital controller composed of a DSP and an FPGA, an isolated drivecircuit, a fault-tolerant power driver and a signal processing circuit. According to the drive controller, a Hall current sensor is used to collect the phase winding current of a motor, the positionand rotating speed signals of a motor rotor are collected through a rotary transformer, after the signals are processed by the signal processing circuit and are subjected to analog-to-digital conversion, digital signals representing a phase winding current value, a rotor position and a rotating speed are sent to the digital controller, the digital controller estimates the rotor position and the rotation speed of the motor in real time through a sensorless control method based on non-orthogonal two-phase winding high-frequency injection according to a non-fault two-phase winding current signalof the motor, which is in mutual dissimilarity redundancy with motor rotor position and speed signals obtained by a mechanical sensor, and the reliability of the motor position detection is improved.The controller has good fault isolation ability and fault-tolerant running performance and high power density, and the drive control requirements of high reliability, high power density, and high servo performance of a thrust vector control system in the aerospace field can be effectively satisfied.

A stop device for a robot for stopping the relative motion of a pair of mutually movable parts, having a stopper member provided at least one of the pair of mutually movable parts, the stopper member being sandwiched between the pair of mutually movable parts when the pair of mutually movable parts collide with the stopper member, wherein the stopper member is a combination member composed of at least two members of different hardness adhered to each other, such that opposite end faces of one member of highest hardness of at least two members, are adapted respectively to come into direct contact with the pair of mutually movable parts and to receive a compression load exerted between the pair of mutually movable parts at a time of collision in a generally perpendicular direction to the end faces.

A machine learning device that performs machine learning with respect to a changing unit configured to change a parameter of a control unit configured to control a servo motor and a compensation value of at least one of a position command and a torque command includes: a state information acquisition unit configured to acquire state information including the position command, a positional error, a combination of the parameter and the compensation value; an action information output unit configured to output action information including adjustment information of the combination of the parameter and the compensation value included in the state information; a reward output unit configured to output a reward value of reinforcement learning based on the positional error included in the state information; and a value function updating unit configured to update a value function based on the value of the reward, the state information, and the action information.

An apparatus is disclosed for enhancing the operational performance of a servo. The apparatus comprises an auxiliary shaft that is independent and displaced from the servo and an actuation sensor that is operably coupled to the auxiliary shaft. The auxiliary shaft is configured to be driven by a motor associated with the servo.

A machine learning device is configured to perform machine learning with respect to a servo motor control device including a non-linear friction compensator that creates a compensation value with respect to non-linear friction on the basis of a position command, the machine learning device including: a state information acquisition unit configured to acquire state information including a servo state including position error, and combination of compensation coefficients of the non-linear friction compensation unit, by causing the servo motor control device to execute a predetermined program; an action information output unit configured to output action information including adjustment information of the combination of compensation coefficients; a reward output unit configured to output a reward value in reinforcement learning, based on the position error; and a value function updating unit configured to update an action value function on the basis of the reward value, the state information, and the action information.

An optical pickup apparatus is disclosed which can be formed in a minimized thickness while realizing improvement in focusing servo performance, improvement in heat radiation, reduction of the voltage, reduction in number of parts, and reduction of the cost. A swing arm having an optical pickup includes an optical pickup base plate formed from a thin plate member of an iron alloy or a copper alloy, and a hole perforated in the optical pickup base plate is closed up from the opposite sides with a silicon substrate and a glass cover to form an enclosed space. An integrated optical pickup unit including a semiconductor laser and an optical system integrated on the silicon substrate is disposed in the enclosed space.

A manufacturing method of a tape-form recoding medium in the present invention is configured with a raw web winding process of winding on a winding core raw web having a support body, a data recoding layer laminated on one side of the support body, and a minute convexity laminated on the other side thereof; a raw web rewinding process of rewinding on other winding cores the raw web wound on the winding core in the raw web winding core; and a heat treatment process of heating the rewound raw web and decreasing a number of a concavity not less than 30 nm in depth formed in the data recording layer in the raw web winding process to not more than 80 pieces / mm2.

The invention discloses an electromechanical static-pressure actuating system. The electromechanical static-pressure actuating system comprises a servo motor, a hydraulic variable pump, a first valvebank and a hydraulic cylinder. The servo motor is connected with the hydraulic variable pump through a coupling assembly. The hydraulic variable pump is connected with the hydraulic cylinder through the first valve bank. The first valve bank comprises two high-pressure pre-tightening branches. Each high-pressure pre-tightening branch comprises a first energy accumulator and a first valve. Each first energy accumulator is used for maintaining the oil pressure of the corresponding high-pressure pre-tightening branch, and each first valve is used for controlling the corresponding high-pressure pre-tightening branch to be on and off. The hydraulic variable pump is driven through the servo motor. By means of the first valve bank, two cavities of the hydraulic cylinder are in the controllable state. According to the electromechanical static-pressure actuating system, by means of the first valve bank, the high-pressure environment is provided for an oil inlet pipe and an oil return pipe of the hydraulic variable pump, so that the two oil cavities of the hydraulic cylinder are in the controllable state; the inherent frequency of the electromechanical static-pressure actuating system can beremarkably increased; and the dynamic property of the electromechanical static-pressure actuating system can be improved.

The present invention provides a linear motor-based electro-mechanical actuator control system and a control method, and relates to the field of design of a linear motor control system and an electro-mechanical actuator. The linear motor-based electro-mechanical actuator control system consists of a linear motor, a grating scale, a power supply conversion board, a grating decoding module, a digital controller, and a driver; wherein a main program of the digital controller acquires a position feedback value outputted by the grating decoding module, an actuator position instruction which is externally inputted, and a current detection value transmitted by the driver to perform control rate operation, so as to obtain turn-on and turn-off signals of switching tubes of the driver, and transmits the signals to the driver to actuate the linear motor. In comparison with an electro-mechanical actuator adopting a conventional ball screw structure, the linear motor-based electro-mechanical actuator control system has the advantages that the structure is simplified, components are simplified, and better actuation characteristics are achieved on a high-thrust and high-dynamic linear actuation occasion.

The present disclosure relates to a motion-controlling method of a robot and the robot thereof. A main control circuit continuously transmits a controlling instruction to a cache circuit. The controlling instruction may include the controlling information of a specific servo. A driving circuit is configured to obtain and analyze the controlling instruction from the cache circuit, so as to obtain the controlling information of the specific servo. The driving circuit transmits the controlling information to the specific servo to control the specific servo. As such, coherence of the robot may be improved.

In a servo controller and an optical disk device (FIG. 4), the following performance for disturbance is improved. By disposing a characteristic change section to change a characteristic to improve the following performance for disturbance, the disturbance is detected by use of a signal in a stage after the characteristic change section.

PROBLEM TO BE SOLVED: To constitute a small-sized coreless motor which is light as the entire rotor, low in inertia, small in mechanical time constant, quick in response, and is excellent in reliability and durability by elevating heat dissipative property, and a radio-guided model game machine which is excellent in servo performance, reliability, and durability. SOLUTION: The small-sized coreless motor is constituted, including a cup-type rotor which is composed of a coil 1 that is wound in cylindrical form out of a copper-clad aluminum wire or an aluminum wire, a hub 2 that is made in disc form out of aluminum or aluminum alloy, and a rotating shaft 3 that is retained by an commutator base 10 of insulating resin provided at the center of the hub 2. It is mounted as a servo motor on a radio-guided model game machine. COPYRIGHT: (C)2005,JPO&NCIPI

A machine learning device is configured to perform machine learning with respect to a servo motor control device including a non-linear friction compensator that creates a compensation value with respect to non-linear friction on the basis of a position command, the machine learning device including: a state information acquisition unit configured to acquire state information including a servo state including position error, and combination of compensation coefficients of the non-linear friction compensation unit, by causing the servo motor control device to execute a predetermined program; an action information output unit configured to output action information including adjustment information of the combination of compensation coefficients; a reward output unit configured to output a reward value in reinforcement learning, based on the position error; and a value function updating unit configured to update an action value function on the basis of the reward value, the state information, and the action information.

In a servo controller and an optical disk device (FIG. 4), the following performance for disturbance is improved. By disposing a characteristic change section to change a characteristic to improve the following performance for disturbance, the disturbance is detected by use of a signal in a stage after the characteristic change section.

A control system for a positioning device includes a controller connected in a feedback loop. The controller calculates a current for supply to the positioning device according to the error between a desired current value and a measured current value. This current is converted to a voltage by an amplifier and further modified by a feedforward voltage calculated using mechanical and electrical characteristics of the positioning device and a desired position and / or desired derivatives of position.

The invention provides a ground connecting wall flexible impervious body construction method and a structure thereof. A composite soil impervious body surrounds a joint seam position between two adjacent ground connecting walls in the structure, a guide wall at the joint seam position of the ground connecting wall is directly formed in the composite soil impervious body after the composite soil impervious body is formed; a construction method of the structure comprises: staking out in survey, i.e., determining the joint seam position of the ground connecting wall according to a standard of the ground connecting wall; forming mutually occluded composite soil piles along a thickness direction of the wall at the position to form a flexible composite soil impervious body; after construction of the composite soil impervious body is finished, constructing the guide wall and then constructing the grounding connecting wall. The ground connecting wall flexible impervious body construction method and the structure thereof have the beneficial effects that the flexible composite soil impervious body is firstly constructed, the guide wall is arranged on the flexible composite soil impervious body, the underground ground connecting wall is then constructed in the composite soil impervious body, and since the deformation of the composite soil impervious body and the ground connecting wall have well servo property, the problem of leakage of a joint seam of the current ground connecting wall is solved.

A machine learning device that performs machine learning with respect to a changing unit configured to change a parameter of a control unit configured to control a servo motor and a compensation value of at least one of a position command and a torque command includes: a state information acquisition unit configured to acquire state information including the position command, a positional error, a combination of the parameter and the compensation value; an action information output unit configured to output action information including adjustment information of the combination of the parameter and the compensation value included in the state information; a reward output unit configured to output a reward value of reinforcement learning based on the positional error included in the state information; and a value function updating unit configured to update a value function based on the value of the reward, the state information, and the action information.

The present disclosure relates to a motion-controlling method of a robot and the robot thereof. A main control circuit continuously transmits a controlling instruction to a cache circuit. The controlling instruction may include the controlling information of a specific servo. A driving circuit is configured to obtain and analyze the controlling instruction from the cache circuit, so as to obtain the controlling information of the specific servo. The driving circuit transmits the controlling information to the specific servo to control the specific servo. As such, coherence of the robot may be improved.

PROBLEM TO BE SOLVED: To constitute a small-sized coreless motor which is light as the entire rotor, low in inertia, small in mechanical time constant, quick in response, and is excellent in reliability and durability by elevating heat dissipative property, and a radio-guided model game machine which is excellent in servo performance, reliability, and durability. SOLUTION: The small-sized coreless motor is constituted, including a cup-type rotor which is composed of a coil 1 that is wound in cylindrical form out of a copper-clad aluminum wire or an aluminum wire, a hub 2 that is made in disc form out of aluminum or aluminum alloy, and a rotating shaft 3 that is retained by an commutator base 10 of insulating resin provided at the center of the hub 2. It is mounted as a servo motor on a radio-guided model game machine.

The present invention proposes a high-precision high-speed motion platform synchronous motion control system based on Open VPX, including a system control card, a motion control card, a data acquisition control card, a grating signal processing card, a multi-channel digital-to-analog conversion controller, and the environment information of the motion platform Acquisition card, motor driver, eddy current acquisition board, sensor information acquisition board, grating ruler reading head and host computer. The present invention adopts Open VPX to support the VITA66.4 optical interconnection backplane bus protocol, the optical fiber connector adopted supports multi-channel optical fiber interconnection, the data transmission rate of a single channel can reach 14Gbps, and the optical interconnection backplane bus is used for data transmission. It can meet the high servo frequency, large data volume and high real-time requirements of the high-end lithography machine motion table synchronization control system.

The invention discloses an optimal active-disturbance-rejection control method for an electromechanical actuator of an all-electric brake system. The method is an optimal active-disturbance-rejection method based on a finite time observer. The method comprises the following steps: firstly, establishing a mathematical model of an electro-mechanical actuator (EMA) system, and summarizing load change, parameter uncertainty and unmodeled dynamics into lumped disturbance terms of the EMA system; forming an extension system by the extension variables of the system lumped disturbance; designing a finite time observer to estimate system lumped disturbance, and designing a state feedback controller based on a linear active disturbance rejection control theory; constructing a target function of the system according to the ideal control performance; and finally, predicting the brake pressure, solving the reference value of the control input quantity, minimizing the target function, and solving the optimal control gain corresponding to the current state feedback controller. According to the optimal active-disturbance-rejection control method provided by the invention, the control gain can be automatically calculated according to the defined target function, and the optimal control performance can be kept in a relatively wide working range.

The double-deep-groove-ball-bearing pre-tightening eccentric cam follower is simple in structural form, high in rigidity, small in rolling friction coefficient, stable in transmission and convenient to install. According to the technical scheme, an eccentric wheel shaft (1) provided with a flange rocker arm base and a cantilever shaft is adopted, an adjusting ring (3) is clamped between an upper deep groove ball bearing (4) and a lower deep groove ball bearing (2) through the cantilever shaft diameter of the eccentric wheel shaft, the upper deep groove ball bearing fixes the adjusting ring (3) in a bearing seat through an outer ring, and a closed structure is formed. And the screw (6) axially passes through the through hole of the pre-tightening cover (5) and is tightened into the threaded hole of the cantilever of the eccentric wheel shaft, so that the double-deep-groove ball bearing is pre-tightened in the cantilever shaft of the wheel shaft. The problems that in the prior art, a thread part is prone to breakage, a cam follower is used for being matched with a nut, enough screwing torque is difficult to obtain, a fixed end is prone to loosening, bending stress is concentrated, and a rod end is damaged at the thread part of a bearing are solved.