CN109460079A - A kind of load speed real-time calibration control device - Google Patents
A kind of load speed real-time calibration control device Download PDFInfo
- Publication number
- CN109460079A CN109460079A CN201811443959.7A CN201811443959A CN109460079A CN 109460079 A CN109460079 A CN 109460079A CN 201811443959 A CN201811443959 A CN 201811443959A CN 109460079 A CN109460079 A CN 109460079A
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- load
- signal
- speed
- real
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The application belongs to load speed calibration and its control technology field, in particular to a kind of load speed real-time calibration control device.The device, include: TT&C system, receive feedback signal and load given rotating speed signal, rated engine speed is obtained according to its received feedback signal and load given rotating speed signal, and with generating rated engine speed control instruction according to rated engine speed, and rated engine speed control instruction is exported；Driving device receives rated engine speed control instruction, is rotated according to its received rated engine speed control instruction, and generate rotational speed of driving unit signal according to its velocity of rotation, and rotational speed of driving unit signal is exported；Load, is connect with driving device by flexible clutch, is driven and is rotated by driving device；Load speed sensing device experiences the revolving speed of load, generates load speed signal according to the revolving speed of the load of its impression, and load speed signal is exported；Wherein, feedback signal includes rotational speed of driving unit signal and load speed signal.
Description
Technical Field
The application belongs to the technical field of load rotating speed calibration and control, and particularly relates to a load rotating speed real-time calibration control device.
Background
When an airplane ground simulation experiment is performed or an airplane is maintained in a overhaul factory, the rotation speed information of onboard equipment such as airplane wheels and the like is often required to be acquired to verify the detection and control capability of the airplane, and the rotation speed information of the airplane is generally acquired by the following two methods:
1) directly driving the airplane wheels and other onboard equipment to rotate so as to acquire the rotating speed information of the airplane wheels;
2) the small-power motor is used for carrying and rotating the onboard equipment such as the simulator wheel and the like so as to acquire the rotating speed information of the onboard equipment.
Although the actual speed signal can be obtained by directly driving the airplane wheels and other onboard equipment to rotate, the cost is too high, and the specificity is strong; the small-power motor loaded rotation simulator has the advantages that the small-power motor loaded rotation simulator can rotate the onboard equipment such as the airplane wheels, the economy is realized, the operation is flexible, and the simulation of the onboard equipment can be conveniently realized. Based on the above consideration, those skilled in the art tend to select a technical scheme that a low-power motor is loaded to rotate an onboard device such as a simulator wheel when acquiring the rotation speed information of the onboard device such as the wheel.
When the technical scheme that the onboard equipment such as a low-power motor loaded rotation simulator wheel rotates is adopted, the motor is connected with the load through the flexible coupler, the rotating speeds of the motor and the load are not completely synchronous, the motor and the load need to be calibrated for obtaining accurate rotating speed information, the motor and the load are calibrated by adopting a manual calibration mode, and the calibration mode has the following defects:
1) the load rotating speed is measured by a handheld tachometer and is greatly influenced by manual operation of personnel;
2) manual testing of rotational loads at high rotational inertia is a potential risk;
3) the method is based on calibration of a plurality of static points, lacks real-time performance and cannot obtain dynamic errors;
4) has higher requirements on professional knowledge and engineering experience of technicians and does not have universality.
Accordingly, a technical solution is desired to overcome or at least alleviate at least one of the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The present application is directed to a load rotation speed real-time calibration control device, so as to overcome or alleviate at least one of the above problems.
The technical scheme of the application is as follows:
a load rotating speed real-time calibration control device comprises:
the measurement and control system receives the feedback signal and the load given rotating speed signal, obtains a calibrated rotating speed according to the received feedback signal and the load given rotating speed signal, generates a calibrated rotating speed control instruction according to the calibrated rotating speed, and outputs the calibrated rotating speed control instruction;
the driving device receives the calibration rotating speed control instruction, rotates according to the received calibration rotating speed control instruction, generates a driving device rotating speed signal according to the rotating speed of the driving device, and outputs the driving device rotating speed signal;
the load is connected with the driving device through a flexible coupling and is driven to rotate by the driving device;
the load rotating speed sensing device is used for detecting the rotating speed of the load, generating a load rotating speed signal according to the rotating speed of the load and outputting the load rotating speed signal;
wherein,
the feedback signal comprises a driving device rotating speed signal and a load rotating speed signal.
Optionally, the drive means comprises:
the servo driver receives the calibrated rotating speed control command and the rotating speed coding signal, generates a servo driving command according to the received calibrated rotating speed control command and the received rotating speed coding signal, and outputs the servo driving command;
the servo motor receives the servo driving instruction, rotates according to the received servo driving instruction, generates a rotating speed coding signal according to the rotating speed of the servo motor, and outputs the rotating speed coding signal;
wherein,
the servo driver also generates a driving device rotating speed signal according to the rotating speed coding signal received by the servo driver and outputs the driving device rotating speed signal.
Optionally, the servo drive is a self-tuned variable frequency drive and is based on vector control.
Optionally, the load speed sensing means comprises an optoelectronic speed sensor.
Optionally, the measurement and control system includes:
the real-time controller receives the feedback signal and the load given rotating speed signal, and obtains the rotating speed WM of the driving device, the rotating speed WL of the load and the load given rotating speed WCM according to the received feedback signal and the load given rotating speed signal;
the real-time controller obtains a calibration rotating speed WC according to a rotating speed WM of the driving device, a rotating speed WL of the load and a given rotating speed WCM of the load;
the real-time controller generates a calibration rotating speed control instruction according to the calibration rotating speed WCM and outputs the calibration rotating speed control instruction;
the real-time controller outputs the rotating speed WM of the driving device, the rotating speed WL of the load, the given rotating speed WCM of the load and the calibrated rotating speed WC;
the measurement and control system further comprises:
the storage device receives and stores the rotating speed WM of the driving device, the rotating speed WL of the load, the given rotating speed WCM of the load and the calibrated rotating speed WC;
and the display device acquires and displays the rotating speed WM of the driving device, the rotating speed WL of the load, the given rotating speed WCM of the load and the calibrated rotating speed WC which are stored by the storage device.
Optionally, the step of obtaining the calibrated rotation speed WC by the real-time controller according to the rotation speed WM of the driving device, the rotation speed WL of the load and the given rotation speed WCM of the load comprises:
step one, judging a rotating speed difference threshold value of | WL-WM | < or less;
and step two, obtaining WC according to the judgment result of the step one.
Optionally, the obtaining of WC according to the determination result of the step one in the step two specifically includes:
if the rotating speed difference threshold value is less than or equal to | WL-WM |, WC is equal to WCM;
otherwise, judging WL < WM, and obtaining WC according to the judgment result of WL < WM.
Optionally, in the second step, obtaining WC according to a determination result of WL < WM, specifically:
if WL < WM, WCM ═ WCM + α 1| WL-WM |;
otherwise, WCM is equal to WCM- α 2| WL-WM |;
wherein,
0< α 1 < 1 ≦ first experience value > 1;
0< α 2 < 2 > is less than or equal to a second empirical value, and the second empirical value is > 1.
Alternatively, α 1 ═ 1.
Alternatively, α 2 ═ 1.
The application has at least the following beneficial technical effects: the device is provided with a load rotating speed sensing device for sensing the load rotating speed and transmitting a load rotating speed signal to a measurement and control system as a feedback signal, the measurement and control system obtains a calibrated rotating speed according to the load rotating speed signal, a driving device rotating speed signal and a load given rotating speed signal and generates a calibrated rotating speed control instruction according to the calibrated rotating speed, and the driving device rotates according to the calibrated rotating speed control instruction to further drive the load to rotate, so that closed-loop control of the load rotating speed is realized.
Compared with the prior art, the device uses the load rotating speed sensing device to transmit a load rotating speed signal, and a design algorithm obtains a calibration rotating speed to generate a calibration rotating speed control instruction, thereby controlling the driving device to drive the load to rotate, realizing online real-time load rotating speed calibration and control, solving the technical problems that manual calibration precision is greatly influenced by people and continuous dynamic calibration cannot be realized, and in addition, the device has automation capacity, can shorten the load rotating speed calibration and control period to a certain extent, improves the load rotating speed calibration and control efficiency, and is safe and easy to realize.
Drawings
FIG. 1 is a schematic structural diagram of a load rotation speed real-time calibration control device according to the present application;
fig. 2 shows a specific process of obtaining the calibrated rotating speed WC according to the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present application and for simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the scope of the present application.
The present application is described in further detail below with reference to fig. 1-2.
A load rotation speed real-time calibration control device comprises:
the measurement and control system 1 receives the feedback signal and the load given rotating speed signal, obtains a calibrated rotating speed according to the received feedback signal and the load given rotating speed signal, generates a calibrated rotating speed control instruction according to the calibrated rotating speed, and outputs the calibrated rotating speed control instruction;
the driving device 2 receives the calibration rotating speed control instruction, rotates according to the received calibration rotating speed control instruction, generates a driving device rotating speed signal according to the rotating speed of the driving device, and outputs the driving device rotating speed signal;
the load 3 is connected with the driving device 2 through a flexible coupling and is driven to rotate by the driving device 2;
the load rotating speed sensing device 4 is used for detecting the rotating speed of the load 3, generating a load rotating speed signal according to the rotating speed of the load 3 and outputting the load rotating speed signal;
wherein,
the feedback signal comprises a driving device rotating speed signal and a load rotating speed signal.
Further, the driving device 2 includes: the servo driver 21 receives the calibrated rotating speed control command and the rotating speed coding signal, generates a servo driving command according to the received calibrated rotating speed control command and the received rotating speed coding signal, and outputs the servo driving command; the servo motor 22 receives the servo driving instruction, rotates according to the received servo driving instruction, generates a rotating speed coding signal according to the rotating speed of the servo motor, and outputs the rotating speed coding signal; the servo driver 21 further generates a driving device rotation speed signal according to the received rotation speed encoding signal, and outputs the driving device rotation speed signal.
Further, the servo drive 21 is a self-tuned variable frequency drive and is based on vector control.
Further, the load rotation speed sensing device 4 includes a photoelectric rotation speed sensor. The rotation speed of the load 3 is measured by a non-contact photoelectric detection method, and the rotation speed of the load can be measured under the condition that the normal work of the airborne rotation speed sensor is not influenced.
Further, the measurement and control system 1 includes: the real-time controller 11 receives the feedback signal and the load given rotating speed signal, and obtains a rotating speed WM of the driving device 2, a rotating speed WL of the load 3 and a load given rotating speed WCM according to the received feedback signal and the load given rotating speed signal; the real-time controller 11 obtains a calibration rotating speed WC according to the rotating speed WM of the driving device 2, the rotating speed WL of the load 3 and the load given rotating speed WCM; the real-time controller 11 generates a calibration rotating speed control instruction according to the calibration rotating speed WCM and outputs the calibration rotating speed control instruction; the real-time controller 11 outputs the rotating speed WM of the driving device 2, the rotating speed WL of the load 3, the load given rotating speed WCM and the calibrated rotating speed WC;
the measurement and control system 1 further comprises:
the storage device 12 receives and stores the rotating speed WM of the driving device 2, the rotating speed WL of the load 3, the given rotating speed WCM of the load and the calibrated rotating speed WC; the display device 13 acquires and displays the rotation speed WM of the driving device 2, the rotation speed WL of the load 3, the load set rotation speed WCM, and the calibration rotation speed WC stored in the storage device 12.
Further, the step of obtaining the calibrated rotation speed WC by the real-time controller 11 according to the rotation speed WM of the driving device 2, the rotation speed WL of the load 3 and the load given rotation speed WCM includes:
step one, judging a rotating speed difference threshold value of | WL-WM | < or less;
and step two, obtaining WC according to the judgment result of the step one.
Further, in the second step, WC is obtained according to the determination result of the first step, and specifically:
if the rotating speed difference threshold value is less than or equal to the absolute value WL-WM, WC is equal to WM;
otherwise, judging WL < WM, and obtaining WC according to the judgment result of WL < WM.
Further, in the second step, obtaining WC according to the determination result that WL < WM, specifically:
if WL < WM, WCM ═ WCM + α 1| WL-WM |;
otherwise, WCM is equal to WCM- α 2| WL-WM |;
wherein 0< α 1 < 1 > the first empirical value, the first empirical value >1, 0< α 2 < the second empirical value, and the second empirical value > 1.
The first and second empirical values are used herein only to represent the range of values that α 1 and α 3 may take, for which it should be understood and appreciated by those skilled in the art that the α 1 and α 3 values may be selected within any range that meets engineering experience, which may be determined empirically by those skilled in the art or experimentally determined by those skilled in the art with the benefit of optimization principles.
Further, α 1 is 1 and α 2 is 1.
When the technical scheme disclosed in this embodiment is applied, a measurement and control system may adopt an upper computer and a lower computer structure, and is developed by using a real-time operating system, wherein the upper computer may adopt a high-performance industrial computer, the lower computer may be an NI chassis, the upper computer and the lower computer interact with each other through an optical fiber bus, the upper computer is responsible for functions such as system module calling, man-machine interaction and the like, the lower computer is responsible for receiving a calibration rotation speed control instruction issued by the upper computer, and the self-tuning variable frequency driver 21 based on vector control is controlled by using a motion control board card.
The self-tuning variable frequency driver 21 based on vector control may include a speed loop, a current loop and a power amplifier circuit therein, and is configured to operate in a speed command mode, and output a servo driving command to the servo motor 22 after receiving a calibrated rotational speed control command of the measurement and control system.
The servo motor 22 drives the load 3 to rotate through the flexible coupler, the servo motor 22 feeds back a rotating speed coding signal, namely an internal encoder signal to the self-tuning variable frequency driver 21 based on vector control, the self-tuning variable frequency driver 21 based on vector control solves the servo motor state and the rotating speed signal according to the internal encoder signal to obtain a rotating speed signal of the driving device 2, and the rotating speed signal is fed back to the machine measurement and control system.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A load rotating speed real-time calibration control device is characterized by comprising:
the measurement and control system (1) receives a feedback signal and a load given rotating speed signal, obtains a calibrated rotating speed according to the feedback signal and the load given rotating speed signal received by the measurement and control system, generates a calibrated rotating speed control instruction according to the calibrated rotating speed, and outputs the calibrated rotating speed control instruction;
the driving device (2) receives the calibration rotating speed control instruction, rotates according to the received calibration rotating speed control instruction, generates a driving device rotating speed signal according to the rotating speed of the driving device, and outputs the driving device rotating speed signal;
the load (3) is connected with the driving device (2) through a flexible coupling and is driven to rotate by the driving device (2);
the load rotating speed sensing device (4) is used for detecting the rotating speed of the load (3), generating a load rotating speed signal according to the rotating speed of the load (3) and outputting the load rotating speed signal;
wherein,
the feedback signal comprises the driving device rotating speed signal and the load rotating speed signal.
2. The load rotation speed real-time calibration control device according to claim 1, wherein the driving device (2) comprises:
the servo driver (21) receives the calibrated rotating speed control instruction and the rotating speed coding signal, generates a servo driving instruction according to the received calibrated rotating speed control instruction and the received rotating speed coding signal, and outputs the servo driving instruction;
the servo motor (22) receives the servo driving command, rotates according to the received servo driving command, generates the rotating speed coding signal according to the rotating speed of the servo motor, and outputs the rotating speed coding signal;
wherein,
the servo driver (21) also generates the driving device rotating speed signal according to the rotating speed coding signal received by the servo driver, and outputs the driving device rotating speed signal.
3. The load rotating speed real-time calibration control device according to claim 2, wherein the servo driver (21) is a self-tuning variable frequency driver and is based on vector control.
4. The real-time calibration control device according to claim 1, wherein the load rotation speed sensing device (4) comprises a photoelectric rotation speed sensor.
5. The real-time calibration control device according to claim 1, wherein the measurement and control system (1) comprises:
the real-time controller (11) receives a feedback signal and a load given rotating speed signal, and obtains a rotating speed WM of the driving device (2), a rotating speed WL of the load (3) and a load given rotating speed WCM according to the received feedback signal and the load given rotating speed signal;
the real-time controller (11) obtains the calibrated rotating speed WC according to the rotating speed WM of the driving device (2), the rotating speed WL of the load (3) and the given rotating speed WCM of the load;
the real-time controller (11) generates a calibration rotating speed control instruction according to the calibration rotating speed WCM and outputs the calibration rotating speed control instruction;
the real-time controller (11) outputs a rotating speed WM of the driving device (2), a rotating speed WL of the load (3), a load given rotating speed WCM and a calibration rotating speed WC;
the measurement and control system (1) further comprises:
a storage device (12) for receiving and storing a rotational speed WM of the drive device (2), a rotational speed WL of the load (3), a load set rotational speed WCM and a calibration rotational speed WC;
and the display device (13) acquires and displays the rotating speed WM of the driving device (2), the rotating speed WL of the load (3), the load given rotating speed WCM and the calibrated rotating speed WC which are saved by the storage device (12).
6. The real-time calibration control device according to claim 5, wherein the real-time controller (11) deriving the calibration rotation speed WC from a rotation speed WM of the drive device (2), a rotation speed WL of the load (3) and the load given rotation speed WCM comprises the steps of:
step one, judging a rotating speed difference threshold value of | WL-WM | < or less;
and step two, obtaining the WC according to the judgment result of the step one.
7. The real-time calibration control device according to claim 6, wherein the WC is obtained according to the determination result of the step one in the step two, and specifically:
if the rotating speed difference threshold value of the | WL-WM | is not more than the rotating speed difference threshold value, WC is equal to WCM;
otherwise, judging WL < WM, and obtaining the WC according to the judgment result of WL < WM.
8. The real-time calibration control device according to claim 7, wherein in the second step, the WC is obtained according to the determination result of WL < WM, specifically:
if WL < WM, WCM ═ WCM + α 1| WL-WM |;
otherwise, WCM is equal to WCM- α 2| WL-WM |;
wherein,
0< α 1 < 1 ≦ first experience value > 1;
0< α 2 < 2 > is less than or equal to a second empirical value, and the second empirical value is > 1.
9. The real-time calibration control device according to claim 8, wherein α 1 is 1-1.
10. The real-time calibration control device according to claim 8, wherein α 2 is 1-1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811443959.7A CN109460079A (en) | 2018-11-29 | 2018-11-29 | A kind of load speed real-time calibration control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811443959.7A CN109460079A (en) | 2018-11-29 | 2018-11-29 | A kind of load speed real-time calibration control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109460079A true CN109460079A (en) | 2019-03-12 |
Family
ID=65611920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811443959.7A Pending CN109460079A (en) | 2018-11-29 | 2018-11-29 | A kind of load speed real-time calibration control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109460079A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101793605A (en) * | 2010-03-31 | 2010-08-04 | 哈尔滨工业大学 | Dynamic loading methods based on servo motor |
| US20110246113A1 (en) * | 2010-03-31 | 2011-10-06 | Sick Stegmann Gmbh | Feedback apparatus and feedback method for controlling a servomotor |
| CN103487182A (en) * | 2013-09-12 | 2014-01-01 | 北京航空航天大学 | High-accuracy measuring method and device for high-speed rotor flow resistance torque |
| CN206788206U (en) * | 2017-04-20 | 2017-12-22 | 吉林宇恒光电仪器有限责任公司 | A kind of caliberating device of photoelectric encoder output speed error |
| CN108681309A (en) * | 2018-05-16 | 2018-10-19 | 北京因时机器人科技有限公司 | A kind of servo-driver stroke scaling method and device |
-
2018
- 2018-11-29 CN CN201811443959.7A patent/CN109460079A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101793605A (en) * | 2010-03-31 | 2010-08-04 | 哈尔滨工业大学 | Dynamic loading methods based on servo motor |
| US20110246113A1 (en) * | 2010-03-31 | 2011-10-06 | Sick Stegmann Gmbh | Feedback apparatus and feedback method for controlling a servomotor |
| CN103487182A (en) * | 2013-09-12 | 2014-01-01 | 北京航空航天大学 | High-accuracy measuring method and device for high-speed rotor flow resistance torque |
| CN206788206U (en) * | 2017-04-20 | 2017-12-22 | 吉林宇恒光电仪器有限责任公司 | A kind of caliberating device of photoelectric encoder output speed error |
| CN108681309A (en) * | 2018-05-16 | 2018-10-19 | 北京因时机器人科技有限公司 | A kind of servo-driver stroke scaling method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107009348B (en) | A kind of multi-configuration rope driving parallel robot and its spatial pose method for solving | |
| CN104122035B (en) | A kind of directly setting type load torque and rotary inertia analog systems and control method thereof | |
| CN101806617B (en) | Traction preventing device for sliding table of long-stroke horizontal vibrating table | |
| CN105159227B (en) | A kind of positioning of double-shaft moving platform and dynamic trajectory follow-up control apparatus and method | |
| CN103822783A (en) | Precision transmission device dynamic precision measuring system, and detection method | |
| CN106872827B (en) | Dynamic testing system and method for electric transmission mechanism of electric vehicle | |
| CN101394146A (en) | Parameter recognition system and method for DC electric motor speed control object | |
| CN105373143B (en) | Large astronomical telescope high-precision control system and method for inhibiting wind load disturbance | |
| CN109093379A (en) | Low-pressure turbo unit body Intelligent assembly platform | |
| CN102507060A (en) | Torque calibration device used for passive motor-driven loading system | |
| CN107870091A (en) | A kind of electric automobile Performance Test System and method | |
| CN106646220A (en) | Spaceflight servo motor variable working condition dynamic loading system and spaceflight servo motor variable working condition dynamic loading method | |
| CN107195219A (en) | A kind of method that electric control load system, aircraft flight simulation system and loading simulation manipulate resistance | |
| CN104034461A (en) | Precise servo mechanism friction torque testing system and testing method | |
| CN108254204A (en) | A kind of electric cylinder real-timely testing performance system of dynamically changeable load | |
| CN206664791U (en) | A kind of longitudinal double-wheel self-balancing robot and control system | |
| CN206399652U (en) | Test device for testing Multiple Type RV decelerator dynamic properties | |
| CN102880181A (en) | Inverted pendulum system as well as control circuit and control method thereof | |
| US20170261529A1 (en) | Method for identifying friction parameter for linear module | |
| CN103810929B (en) | Planar freedom degree rotating inverted pendulum device | |
| CN204997688U (en) | Moving device | |
| CN202255757U (en) | Torque calibrating device for passive electric loading system | |
| CN202066642U (en) | Calibration detecting device for Hall torque sensors | |
| CN109460079A (en) | A kind of load speed real-time calibration control device | |
| CN207044177U (en) | A kind of precision machinery people control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190312 |