85 results about "Input shaping" patented technology

The invention relates to a method for controlling an index time-varying slide mode of flexible spacecraft characteristic shaft attitude maneuver, and belongs to the technical field of spacecraft control. The method comprises the steps that firstly, a system dynamically equivalent model, a dynamic model and a flexible vibration model are established under a spacecraft system, then, the vibration frequency and the damping ratio parameter of a closed loop system with the index time-varying slide mode control law are calculated, and a single-shaft multi-modality filtering input shaping device with a characteristic shaft as a rotary shaft is designed according to the designing method of the single-shaft input shaping device to restrain flexible vibration in three-shaft motion. Meanwhile, a state observer is designed to estimate flexible modal information in real time, and the method for controlling an output feedback index time-varying slide mode is formed. At last, saturability analysis is conducted on control torque so as to satisfy the physical saturation constraint of the control torque. By means of the method, the application range of existing input shaping is expanded, the input shaping technology is expanded from single-shaft maneuver to three-shaft maneuver, the self-robustness of filter input shaping is enhanced, and the purpose that the attitude maneuver path of the spacecraft is the shortest is achieved.

The invention relates to a rapid stable joint control method for attitude maneuver of spacecraft and belongs to the field of spacecraft attitude control and vibration control. The method is invented by absorbing advantages in spacecraft attitude maneuver trajectory planing technology and input shaping technology, and allows spacecraft to maneuver in task-required time and keep attitude quickly stable within index required values after maneuvering. Torque outputting capacity of a spacecraft attitude control actuator and maximum angular velocity maneuverability of spacecraft are further considered comprehensively, so that output torque of the spacecraft attitude control actuator is easy to implement.

The invention discloses a robot joint tail end residual vibration restraining method based an input shaper. The robot joint tail end residual vibration restraining method based the input shaper comprises the steps that firstly, the undamped inherent frequency omega0 and the damping ratio zeta of a robot system are obtained; secondly, a linear programming problem mathematic model about the pulse amplitude parameter of the input shaper is established; thirdly, a pulse amplitude expression is solved through a lagrangian multiplier method, and the optimal solution of the pulse amplitude is workedout through iteration; fourthly, the optimal solution of the pulse amplitude and the pulse generation time are combined to form the control error optimization input shaper; and fifthly, a reference signal and the control error optimization input shaper are subjected to convolution operation, so that a novel shaping signal is obtained, and after a predicted path is planned for the novel shaping signal, the system is driven by the signal to restrain robot tail end residual vibration. According to the robot joint tail end residual vibration restraining method based the input shaper, the robustness of the input shaper is enhanced, and a process control error and a positioning error are minimized; and the predicted path is planned for the shaped signal, and thus the system lag time caused by input shaping is compensated and reduced.

The invention discloses a method for restraining flexible arm tail end vibration of a robot. The method comprises a robot flexible arm, a control system and a processing system for providing a control command signal to the control system. The method comprises the following processing steps of: computing a point vibration displacement transfer function of the tail end of the flexible arm according to driving torque of the flexible arm; computing an optimal input shaping transfer function with smallest residual vibration according to natural frequency and damp of the flexible arm; performing normalization process on the optimal input shaping transfer function; selecting the lag time of an optimal input shaper according to the movement speed of the flexible arm, thus obtaining the optimal input shaper; performing convolution on an input command signal and the optimal input shaper to obtain a new input command signal, discretizing the new input command signal, and transferring the discretized input instruction signal; and refreshing the instruction signal of the control system with the servo cycle serving as the time interval until the end. The method can be used for effectively restraining the vibration at the tail end of the robot flexible arm, improving the follow accuracy and achieving the quick and accurate positioning on the robot flexible arm.

The invention discloses a laser diode driver for an optical communication transmitter. The laser diode driver comprises an input shaping circuit, a laser diode modulated current control circuit which is provided with a modulated current switch and is connected with the output end of the input shaping circuit and a to-be-driven laser diode, a laser diode bias current control circuit which is provided with a bias current switch and is connected with the laser diode, a photoelectric switching circuit, a peak detection circuit in direct-current coupling with the photoelectric switching circuit to carry out quick detection of electric signals output by the photoelectric switching circuit to output a detection signal and a differential comparison amplifying circuit in direct-current coupling with the peak detection circuit, wherein the output end of the differential comparison amplifying circuit is connected with the laser diode modulated current control circuit and the laser diode bias current control circuit to form a negative feedback loop. The laser diode driver has the advantages that the driver is suitable for transmitting both burst signals and random balanced signal flows.

The invention relates to a satellite attitude maneuver control method, in particular to a flexible agile satellite attitude maneuver rolling optimization control method. The flexible agile satellite attitude maneuver rolling optimization control method resolves the problems that when rapid maneuver of an existing flexible satellite attitude is carried out, nonlinearity is strong, various constraints are provided, and a flexible accessory vibrates easily, and then the control requirement can not be met easily. A nonlinearity state space equation comprising satellite attitude dynamics, kinematics and vibration of the flexible accessory is built and used for carrying out accurate prediction of future information of the satellite attitude. A weighing optimization index for achieving rapid maneuver of the satellite attitude and restraining vibration of the flexible accessory is built, design of an expectation control law is carried out through a nonlinearity model prediction control method, the planned expectation moment is shaped based on the input shaping technology, the manipulation law of a CMG group is designed through a robust pseudo-inverse method, the expectation control moment obtained after input shaping serves as input, a frame angular speed of each CMG is planned, and large-angle rapid maneuver control over the satellite attitude restraining vibration of the flexible accessory is achieved.

The invention discloses a robot high-speed high-precision motion trajectory planning method and device, equipment and a medium. The method comprises the following steps that the motion parameters of arobot are optimized and solved in the parameter space through time optimal trajectory planning, and an original motion trajectory expressed in the parameter space is obtained; a vibration signal of the robot is analyzed, modal parameters are calculated, and an input shaper is designed; the compensation coefficient is calculated to accelerate the original motion trajectory according to the delay time of the input shaper; input shaping is performed on the accelerated new motion trajectory through the input shaper in the parameter space; the shaped parameter sequence is substituted into a robotinverse kinematics model to solve to obtain a motion trajectory of each joint of the robot, and the motion trajectory of each joint of the robot serves as the reference input of a robot controller torealize high-speed high-precision motion of the robot. According to the robot high-speed high-precision motion trajectory planning method and device, the equipment and the medium, the advantages of time optimal trajectory planning and input shaping are fully combined, the robot high-speed high-precision motion trajectory planning method and device, the equipment and the medium are applied to robottrajectory planning, and high-speed high-precision motion of the robot is realized.

The invention provides a robot vibration suppression method based on an acceleration sensor. The robot vibration suppression method comprises the steps that robot track pre-operation is executed, specifically, the three-shaft acceleration sensor is mounted at the tail end of a robot, and vibration signals in three directions in the mounting position during pre-operation of the robot are collected; vibration parameters of the industrial robot are extracted according to the collected vibration signals; an input forming device is designed according to the obtained vibration parameters; and the input forming device acts on the operation track of the industrial robot so as to correct the operation track of the industrial robot through the input forming device. Through the method of applying input shaping to the industrial robot, the problems that input shaping parameters are difficult to obtain, and shafts move asynchronously due to the input shaping time lag are solved, vibration of the industrial robot can be suppressed, and track precision and positioning precision are improved.

The invention discloses an intelligent anti-swing control method for a multi-section uniformly-variable-speed crane. The acceleration process of a running mechanism is divided into multiple sections of the uniform acceleration processes or the deceleration process of the running mechanism is divided into multiple sections of the uniform deceleration processes by taking the preset maximum allowable load swing amplitude and the lifting rope length as input variables on the basis of the system dynamics analysis rule of the crane through the input shaping principle of a two-order oscillation system according to the load deflection cycle, and load deflection is finally inhibited by controlling running of the running mechanism; meanwhile, multiple sections of the uniformly variable speed processes are optimized through an interpolation method. According to the method, by taking the maximum allowable load swing amplitude as the input variable, the safety of the crane in the running process is fully taken into account, the precision is controlled, and the safety and the working efficiency of the crane are significantly improved.

A system includes a plurality of actuators and a control system operably associated with the plurality of actuators. The control system having a control logic architecture having a dynamic command input shaping model associated with an input command, a robust inner loop associated with the dynamic command input shaping model, and a time delay cancellation model. The method includes selecting a control law based upon a flight performance of an aircraft, decoupling the control law into a first individual component and a second individual component of the aircraft flight motion, analyzing each individual component separately, regrouping the component of flight motion, analyzing the control law with a time delay cancellation model and providing the necessary dynamic flight quickness with a different command input condition.

The invention provides a voice coil motor shaping signal control method, a driving chip and a control method of the driving chip. According to input shaping, convolution is conducted on a pulse sequence and an input signal of a system, and thus a shaped input signal is generated; the shaped signal acts on the system, the remnant oscillation of the system can be eliminated or greatly reduced, the adaptive error range of system parameters of a voice coil motor can be enlarged, and the cost for designing, producing and testing a voice coil motor module can be reduced.

The invention relates to a positive and negative POSICAST input shaping method-based crane anti-swing control method. The method includes a positive and negative POSICAST method adopted when a swing angle returns to zero after a time point 3Td / 2, a positive and negative POSICAST method adopted when the swing angle returns to zero after a time point Td, and a positive and negative POSICAST method adopted when the swing angle returns to zero after a time point 3Td / 4, wherein Td is the damped oscillation period of a system. The method of the invention is either applicable to a damped system or an un-damped two-order system. The method of the invention is an open-loop control method. With the method adopted, a measuring sensor for closed-loop feedback is not required. According to the method of the invention, step acceleration input is utilized, and the shaping of step acceleration output is targeted. Compared with a pulse acceleration input method, the method has the advantages of continuous speed change and easiness in engineering realization. The method of the invention is applicable to any damped two-order systems adopting step signals as input, and is used for an anti-swing system or a system of which the output of a certain item is expected to return to an original position.

The invention relates to the field of motion control of a large-calibre radio telescopes, specifically to a cascade vibration-absorbing planning method and system used for source change of a large-calibre radio telescope, and aims to reduce system vibration caused by acceleration / deceleration motion in a source change process, and cost can be prevented from being increased due to use of a physical damper. In the planning system, a task parameter instruction issuing module sends specified source change parameters to a cascade vibration-absorbing planning module, and the module has two sub processing processes: preliminary motion curve planning and ZVD input shaping, an output final motion planning curve solves a control instruction of each execution mechanism through an instruction resolver, and a source change task of the large-calibre radio telescope is completed through control of a driving mechanism. In addition, the cascade vibration-absorbing planning module needs to use system parameters generated by a system parameter estimator. According to the cascade vibration-absorbing planning system provided by the invention, the system vibration caused by acceleration / deceleration motion is remarkably reduced, the positioning accuracy of a feed source receiver is improved, and the rapidity of the system is guaranteed.

An apparatus and a method for driving a voice coil actuator of a camera are disclosed. In the apparatus for driving a voice coil actuator of a camera, when an input shaping execution unit generates a shaping signal using a resonance frequency of the voice coil actuator to output a drive control signal subjected to input shaping, a drive circuit unit controls an operation of the voice coil actuator connected to a rear end according to the drive control signal using the shaping signal as an initial input. The shaping signal is used for removing resonance of the voice coil actuator and may be one of a 2-step shaping signal, a multi-step shaping signal having 4 or more steps, a linear shaping signal, a toggle shaping signal and the like. Accordingly, it is possible to control undesirable vibration by reducing high resonance response characteristics of the voice coil actuator and it is possible to implement an autofocus function more precisely.

The invention discloses a pulse switch input interface circuit, which comprises an input shaping module, a burr filtering module and a pulse detection module, wherein the input shaping module is used for carrying out shaping processing on pulse signals, the burr filtering module is used for filtering the pulse signals determined to be interference signals, the pulse detection module is used for detecting the pulse coming to output the maintained level signals, the input end of the input shaping module is connected with an external pulse switch for receiving the pulse signals output by the external pulse switch, the output end of the input shaping module is connected with the input end of the burr filtering module, the output end of the burr filtering module is connected with the input end of the pulse detection module, and the output end of the pulse detection module is connected with an external back-stage control circuit for outputting state signals required by the work of an external back-stage control circuit to the external back-stage control circuit. The pulse switch input interface circuit has the advantages that the circuit structure is simple, in addition, the interference pulse lower than the set pulse width can be filtered, and the pulse signals can be effectively converted into corresponding level signals required by the work of the back-stage control circuit.

A method and device for controlling a movement of a movable machine element of a machine tool or production machine with at least two drive axles are disclosed. At least one mechanical characteristic frequency is determined for each drive axle of the machine, and the lowest mechanical characteristic frequency is selected from the determined mechanical characteristic frequencies. For each drive axle of the machine, desired values are supplied to a control unit associated with the drive axle, whereby the desired values of the drive axles having a mechanical characteristic frequency higher than the lowest mechanical characteristic frequency are time-delayed. The disclosed method and device modify a method referred to as “Input Shaping” so that geometrically linked drive axles can be operated simultaneously.

The invention relates to a flexible operating arm elastic vibration suppression method based on frequency characteristic identification. The method comprises the following steps of 1, determining a flexible operating arm boundary condition with an end load, and obtaining a frequency equation of the flexible operating arm; 2, establishing a mapping relation table between the mass of the end load and the modal frequency of the flexible operating arm; 3, designing an elastic vibration feedforward adaptive controller of the flexible operating arm; and 4, performing elastic vibration feedforward adaptive controller control parameter adjustment according to a simulation effect. The flexible operating arm elastic vibration suppression method effectively improves interference resistance of a routine input shaping method in a variable-load working condition and can realize effective controlling to elastic vibration of the flexible operating arm in different working conditions of the end load. The flexible operating arm elastic vibration suppression method improves operation safety of the flexible operating arm and has higher adaption capability.

The invention relates to an impulse input shaping crane anti-swing method suitable for the situation of any number of impulse acceleration inputs. At different moments, impulse responses of differentamplitudes are superposed, and the swing angle can return to zero within a certain time. The method is an open-loop control method and is simple in operation, easy to implement and suitable for adopting any number of impulses as inputs, and in a damped two-stage crane system, anti-swing control of a crane is achieved. In the method, each impulse input method can effectively control swing generatedby loads, and the swing angle returns to zero. The larger the number of impulse inputs is, the longer the zero return time of the swing angle generated by the loads is, the smaller the maximum angleof the swing angle during swing is, and a user can achieve selection according to engineering needs.

The invention discloses a generating device of a large-amplitude ultra-high speed synchronization pulse. The generating device of the large-amplitude ultra-high speed synchronization pulse comprises an input signal shaping circuit and a synchronization pulse generating circuit, wherein the input signal shaping circuit is used for shaping input trigger pulse signal to output low voltage positive pole emitter coupling logic (LVPECL) reference level signal, and the synchronization pulse generating circuit is used for generating the large-amplitude ultra-high speed synchronization pulse with the LVPECL reference level signal as trigger signal. No transistor with an extremely high working voltage is needed in the generating device and method of a large-amplitude ultra-high speed synchronization pulse, therefore, voltage demand on a direct current voltage source is not high. Key functions of the generating device and method of a large-amplitude ultra-high speed synchronization pulse is achieved by a multilevel broadband transistor circuit which can send out positive pulse and negative pulse with pulse front smaller than 200ps and amplitude close to 15V. Meanwhile, compared with input synchronization pulse, delaying time shake of output synchronization pulse is small and smaller than 20ps.

The invention discloses an instruction design method for changing configuration of an assembly based on input shaping, used for solving a technical problem of poor suppression of flexible vibration in a conventional changing process of the present spacecraft assembly configuration. A technical scheme is to design an input shaping machine based on a closed loop system model of the changing configuration assembly, and to modulate a cabin section inversion instruction for enabling the flexible vibration to be suppressed effectively when the assembly performs configuration change according to the modulated instruction, thereby improving the performance of finishing tasks such as on-orbit assembly of a large and complex spacecraft. The input shaping modulation is added into an original instruction, and thus when the assembly performs inversion according to the modulated instruction, vibration amplitude of flexible accessories is reduced by more than 20% compared with that of the flexible accessories during the inversion of the assembly according to the original instruction, and simultaneously, the stability of the posture of a core cabin in the inversion process is improved.

The invention belongs to the field of the mechatronics technology and relates to a non-contact data transmission device, wherein the non-contact data transmission device comprises a shaper, a phase separator, an electric field coupling ring, a first charge amplifier, a second charge amplifier, a subtracter, a forward comparator, a negative comparator and an R-S trigger; after being shaped by the shaper, input signals are sent to the input end of the phase separator; two paths of D+ data line signals and D- data line signals with difference of 180 degrees are obtained by the phase separator; and the D+ data line signals and D- data line signals are sent to the first charge amplifier and the second charge amplifier through the electric field coupling ring. The non-contact data transmission device provided by the invention is a data transmission device which is high in reliability and long in service life, and is free from abrasion and not affected by impurities.

The invention discloses a vibration suppression method for a steel rail welding head straightness detection system. The vibration suppression method comprises the following steps of S1, establishing a servo motor mathematical model, performing Laplace conversion on the servo motor mathematical model, and combining with a current ring to obtain a servo motor transfer function; S2, establishing a drive system mathematical model according to a relation between working platform displacement and servo motor output displacement, and performing Laplace conversion on drive system mathematical model to obtain a transfer function of a working platform; and S3, an input instruction, after being subjected to input shaping in the steps S1 and S2, and PID regulation in a servo motor control link, controlling the drive system to move. By adoption of the vibration suppression method, noise signals in detection data and data processing difficulty can be reduced while the detection efficiency and detection result accuracy are improved; and the vibration suppression method is wide in applicable range, simple in design, and relatively high in industrial application value.

The invention proposes a method for the combined inhibition of vibration based on iterative learning control and the input shaping technology, and the method comprises the steps: selecting a given repeated track of an industrial robot system, and arranging a displacement sensor for the industrial robot system; enabling system parameters to act on a set input shaper, carrying out the convolutionalcalculation of the input shaper and a reference track, taking a convolutional calculation result as the input of the industrial robot system, operating the industrial robot system, and obtaining a system output result; solving the difference between the system output result and the reference track, obtaining a tracking error, and judging whether to complete the iteration or not according to the tracking error; taking the tracking error as an updating parameter of a control law in the iterative learning control, and updating the system parameters through the control law; repeatedly carrying outthe above steps till a preset error threshold value is met, and carrying out the control of the vibration inhibition of the industrial robot system. The method can greatly reduce the amplitude of thevibration, remarkably shortens the setting time of the vibration, guarantees the dynamic performances of a system, and achieves the quick no-vibration response of the system.

The present invention relates to a device and method for driving an under damped voice coil motor (VCM) actuator of a camera lens. In one embodiment, the device for driving an under damped VCM actuator comprises a first generator operable to read a first manufacture data from an image signal processor (ISP) and to generate a half natural period, ½ Td, of the VCM actuator by selecting a value approximate to the first data in a first table of the device, a second generator operable to read a second manufacture data from the ISP and to generate the maximum overshoot, K, of the VCM actuator by selecting a value approximate to the second data in a second table of the device, an input shaping signal generator operable to read an input signal corresponding to a desired camera lens moving distance from the ISP and to generate a shaping signal according to the value of the half natural period and the maximum overshoot. The input shaping signal may be produced from second order, third order and fourth order input shaping function. The present invention also provides a simple implementation of a driver configuration to achieve a fast camera lens focus speed, yet robust to tolerate actual system deviation from a manufacture design.

The invention provides a servo system tail end residual vibration suppression method based on model tracking control. The method is characterized by on the basis of a traditional input shaping method,adding the self-adjusting parameter model tracking control, and designing a compensation controller to effectively suppress the errors caused by system parameter changes; and when the actual model parameters of the system deviate from the ideal model parameters, searching the optimization parameters of a compensation controller in model tracking control by using a golden section method. The method has the advantages that on the basis of the input shaping method, the self-adjusting parameter model tracking control is added, and the vibration caused by the system parameter changes is restrainedby optimizing the parameters of the compensation controller; and when the system model parameters change to different degrees, the golden section method is used for searching the optimization parameters of the compensation controller in model tracking control, so that the method is suitable for a large-range frequency vibration condition, and the robustness of the system is enhanced.

A method and device for controlling a movement of a movable machine element of a machine tool or production machine with at least two drive axles are disclosed. At least one mechanical characteristic frequency is determined for each drive axle of the machine, and the lowest mechanical characteristic frequency is selected from the determined mechanical characteristic frequencies. For each drive axle of the machine, desired values are supplied to a control unit associated with the drive axle, whereby the desired values of the drive axles having a mechanical characteristic frequency higher than the lowest mechanical characteristic frequency are time-delayed. The disclosed method and device modify a method referred to as “Input Shaping” so that geometrically linked drive axles can be operated simultaneously.

The invention relates to a wave form shaping circuit, etc. which outputs signals after shaping the input signal to a duty 50% wave form regardless of whether or not input signals are of duty 50%, wherein a duty determination circuit is provided, which determines and instructs the timing position of duty 50% of clock signals to be outputted, upon receiving a timing signal prepared by a timing generation circuit 2. The duty determination circuit is composed of a cycle measurement circuit 10 for measuring a length of one cycle in the first cycle arriving at every interval integral number times one cycle T of an input clock signal EXT-CK, an operation circuit 19 for calculating the half length of one cycle on the basis of the measured value, an actual measurement circuit 20 for executing measurement of the length in each of the second cycles in above-mentioned interval, and a coincidence circuit 28 for outputting a coincidence output as a timing position of above-mentioned duty 50% when the corresponding measured value becomes coincident with above-mentioned calculated value, wherein a clock signal having a pulse width corresponding to above-mentioned duty 50% is prepared and outputted on the basis of a signal synchronized with the front edge of the input clock signal EXT-CK and the timing position determined and instructed by above-mentioned duty determination circuit 3.