CN117826884A - Electric cylinder force control method and electric cylinder - Google Patents
Electric cylinder force control method and electric cylinder Download PDFInfo
- Publication number
- CN117826884A CN117826884A CN202311710224.7A CN202311710224A CN117826884A CN 117826884 A CN117826884 A CN 117826884A CN 202311710224 A CN202311710224 A CN 202311710224A CN 117826884 A CN117826884 A CN 117826884A
- Authority
- CN
- China
- Prior art keywords
- speed
- electric cylinder
- current
- target object
- target
- 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
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000001133 acceleration Effects 0.000 claims description 26
- 230000001276 controlling effect Effects 0.000 claims description 25
- 230000033001 locomotion Effects 0.000 claims description 22
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Control Of Linear Motors (AREA)
- Control Of Presses (AREA)
Abstract
The invention relates to the technical field of electric cylinder control, in particular to an electric cylinder force control method and an electric cylinder. The method comprises the following steps: obtaining a target thrust value of a target object; determining a first speed and a first speed corresponding current according to the target thrust value; the sum of the instantaneous force generated by the first speed and the thrust generated by the current corresponding to the first speed is smaller than a target thrust value; after the current control electric cylinder moves at the second speed, the current control electric cylinder moves to contact the target object at the first speed; the second speed is greater than the first speed; after the electric cylinder contacts the target object, the pressure value between the electric cylinder and the target object is detected through the force sensor, and closed-loop control is performed according to the pressure value and the target thrust value. The electric cylinder force control method and device and the electric cylinder provided by the embodiment of the invention can be used for quickly approaching an object, preventing the instant force of the electric cylinder from overshooting when the electric cylinder contacts the object, and improving the thrust stability and consistency of the electric cylinder.
Description
Technical Field
The invention relates to the technical field of electric cylinder control, in particular to an electric cylinder force control method and an electric cylinder.
Background
Existing force control applications for electric cylinders, without force control sensors, typically limit thrust by limiting current. The thrust of an object pushed each time is unstable and is influenced by the individual difference of each electric cylinder, so that the thrust consistency of the same electric cylinder for a plurality of times and the thrust consistency among different electric cylinders are different, and the current limit is required to be repeatedly tested and debugged during actual use; meanwhile, the risk that the impact force is larger than the setting force when the object is contacted can occur because the object cannot be timely sensed.
Disclosure of Invention
The invention aims to provide a device for relieving the technical problems of thrust stability, poor thrust consistency and force overshoot existing in the electric cylinder force control scheme in the prior art.
The embodiment of the invention provides a method for controlling electric cylinder force, which comprises the following steps: obtaining a target thrust value of a target object; determining a first speed and a current corresponding to the first speed according to the target thrust value; the sum of the instantaneous force generated by the first speed and the thrust generated by the current corresponding to the first speed is smaller than the target thrust value; after the current control electric cylinder moves at the second speed, the current control electric cylinder moves at the first speed until the current control electric cylinder contacts the target object; the second speed is greater than the first speed; after the electric cylinder contacts the target object, detecting a pressure value between the electric cylinder and the target object through a force sensor, and performing closed-loop control according to the pressure value and the target thrust value.
Optionally, the method further comprises: after the electric cylinder contacts the target object, acquiring a relation coefficient between the current and the output force of the electric cylinder; and calculating a thrust value generated by the real-time current according to the real-time current of the electric cylinder and the relation coefficient.
Optionally, the controlling the movement of the electric cylinder at the second speed in response to the current includes: controlling the electric cylinder to accelerate to the second speed at the first acceleration, operating at the second speed at a uniform speed, and then controlling the electric cylinder to decelerate to the first speed at the second acceleration; the first acceleration is greater than the second acceleration.
Optionally, the distance travelled by the electric cylinder at said second speed is greater than the sum of the acceleration distance at said first acceleration and the deceleration distance at said second acceleration.
Optionally, the controlling the movement of the electric cylinder at the second speed in response to the current includes: inputting the position of the electric cylinder and the distance between the electric cylinder and the target object into a hybrid control system, and outputting a variable second speed which changes with time; the variable second speed is reduced to be equal to the first speed at the last moment; and controlling the movement of the electric cylinder at the variable second speed corresponding to the current.
Optionally, the performing closed-loop control according to the pressure value and the target thrust value includes: after the electric cylinder contacts the target object, regulating the current in a first preset period of time so that the pressure value is larger than the lower limit of the pressure value and smaller than the sum of the thrust generated by the instantaneous force generated by the first speed and the current corresponding to the first speed; controlling the pressure value to gradually increase to the target thrust value within a second preset period; the second preset period is adjacent to the first preset period and is subsequent to the first preset period.
Optionally, the method further comprises: determining a conversion relation among the target thrust value, the first speed corresponding current and the second speed corresponding current; after the new target thrust value is obtained, the updated first speed corresponding current and the updated second speed corresponding current are determined according to the conversion relation.
Optionally, the method further comprises: dividing a travel between the electric cylinder and the target object into a first segment and a second segment based on an initial distance value between the electric cylinder and the target object and a possible occurrence range of the target object; the target object may only appear in the second segment; the controlling the movement of the electric cylinder at the second speed corresponding to the current comprises: controlling the movement of the electric cylinder by a current corresponding to the second speed through part or all strokes of the first section; the moving of the corresponding current control cylinder into contact with the target object at the first speed comprises: a current control cylinder is moved in the second segment at the first speed into contact with the target object.
Optionally, the instantaneous force generated by the first speed is 80% -95% of the target thrust value; after the instant force disappears, the current of the electric cylinder is regulated to ensure that the value range of the output force is 80% -95% of the sum of the instant force generated by the first speed and the thrust generated by the current corresponding to the first speed.
The embodiment of the invention provides an electric cylinder, which comprises a controller, a motor, a force sensor, a transmission mechanism and a linear motion component, wherein the motor is arranged on the motor; the controller is used for executing the method.
Embodiments of the present invention provide a computer readable storage medium storing a computer program which, when read and executed by a processor, implements the above-described method.
According to the electric cylinder force control method and the electric cylinder, sectional control is performed based on different speeds, so that the electric cylinder can be quickly close to an object, instant force does not overshoot when the electric cylinder contacts the object, closed-loop control is performed through the force sensor after the electric cylinder contacts the object, thrust after the electric cylinder contacts the object is ensured to be stable, the electric cylinder is not influenced by structural differences, the aim of quickly reaching a target thrust value and continuously closing a loop to stably maintain the target thrust can be achieved, and therefore the thrust stability and consistency of the electric cylinder are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a cylinder force control method according to an embodiment of the present invention;
FIG. 2 is a graph showing the speed and current of the force-controlled movement of the electric cylinder according to the embodiment of the present invention
FIG. 3 is a graph showing the current variation and the real-time force variation of the force control motion of the electric cylinder according to the embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention will now be described in further detail with reference to specific examples thereof in connection with the accompanying drawings.
Fig. 1 shows a schematic flow chart of a method for controlling electric cylinder force according to an embodiment of the present invention, where the method includes:
s102, acquiring a target thrust value of a target object.
The target object is an object pushed by an electric cylinder, such as various workpieces to be processed, and the like. Before the electric cylinder moves, a certain distance is reserved between the electric cylinder and the target object, the electric cylinder moves to contact the target object, and then preset target thrust is applied.
S104, determining a first speed and a current corresponding to the first speed according to the target thrust value. Wherein the sum of the instantaneous force generated by the first speed and the thrust generated by the current corresponding to the first speed is smaller than the target thrust value.
In the embodiment, multistage track planning is adopted, so that the impact when contacting an object is reduced, and the force when contacting the object is smaller than the target force; specifically, the speed of the object in contact and the speed of the position far away from the object are adjusted, the beat of the whole operation is optimized, and a balance point is found between no overshoot and fast beat.
When the electric cylinder contacts an object, the sum of the instantaneous force generated by the electric cylinder speed and the thrust force generated by the electric cylinder under the current, namely the initial resultant force, needs to be limited to be smaller than a target thrust value, so that the excessive impact on the object is avoided. It should be noted that, on the premise that the initial resultant force is smaller than the target thrust value, the initial resultant force may approach the smaller target thrust value, so as to achieve rapid approach to the target object.
And S106, after the current control electric cylinder moves at the second speed, the current control electric cylinder moves at the first speed until the current control electric cylinder contacts the target object.
Because the electric cylinder is required to approach the target object as soon as possible in the practical application environment, the position speed can be controlled in a segmented way, the speed is higher when the electric cylinder is far away from the target object, and the speed is lower when the electric cylinder is close to the target object. Specifically, the second speed is greater than the first speed.
S108, detecting a pressure value between the electric cylinder and the target object through the force sensor after the electric cylinder contacts the target object, and performing closed-loop control according to the pressure value and the target thrust value.
The electric cylinder is provided with a force sensor, the force sensor can timely feed back and contact an object, and the pressure value between the electric cylinder and a target object is detected, so that the target thrust is continuously and stably maintained in a closed loop.
After the electric cylinder contacts the target object, a relation coefficient between the current and the output force of the electric cylinder can be obtained, and the relation coefficient can be calculated in advance or determined based on parameters of the electric cylinder; then, according to the relation coefficient between the real-time current of the electric cylinder and the real-time current, the thrust value generated by the real-time current can be calculated.
According to the electric cylinder force control method provided by the embodiment of the invention, the sectional control of the position speed is added, so that the instant force is ensured not to overshoot when the object is contacted, meanwhile, the force sensor can timely feed back the object to be contacted, and finally, the object is contacted quickly without overshoot; the force sensor is added to realize the thrust closed-loop control, ensure the thrust stability after contacting an object, and is not influenced by structural difference, so that the target thrust can be reached rapidly, the target thrust is maintained continuously and stably in a closed-loop manner, and the thrust stability and the thrust consistency are improved.
Further, considering that the user may reset the new target thrust value, in order to avoid recalculating the corresponding currents of the parameters such as the first speed and the second speed, and improve the debugging and testing efficiency, the embodiment further provides the following steps: firstly, determining a conversion relation among a target thrust value, a first speed corresponding current and a second speed corresponding current; after the new target thrust value is obtained, the updated first speed corresponding current and the updated second speed corresponding current are determined according to the conversion relation.
The conversion relationship may be, for example, a mapping relationship between the target thrust value and the current, a conversion ratio of the current at different target thrust values, or the like.
As a possible implementation manner, the process of controlling the movement of the electric cylinder at the second speed corresponding to the current may include an acceleration stage, a uniform speed stage and a deceleration stage, and finally decelerating to the first speed. Based on this, the above process may include the steps of: the electric cylinder is controlled to accelerate to a second speed at a first acceleration, run at a uniform speed at the second speed, and then is controlled to decelerate to the first speed at the second acceleration; wherein the absolute value of the first acceleration is greater than the absolute value of the second acceleration. By controlling the absolute value of the first acceleration to be larger than the absolute value of the second acceleration, it is possible to quickly contact the object.
Further, the movement distance of the electric cylinder at the second speed is larger than the sum of the acceleration distance at the first acceleration and the deceleration distance at the second acceleration. The advancing distance of the electric cylinder in the uniform speed stage is larger than the sum of the advancing distances of the acceleration stage and the deceleration stage.
Fig. 2 shows a speed variation and a current variation curve of the force control movement of the electric cylinder in the embodiment of the present invention. In fig. 2, the solid line indicates the speed, and the broken line indicates the current. Before contacting an object, the device is divided into an acceleration stage, a high-speed uniform speed stage, a deceleration stage and a low-speed uniform speed stage. After contacting the object the speed is reduced to zero and the current is increased to provide the target thrust value.
As another possible embodiment, hybrid control may be adopted, and the above-mentioned process of controlling the movement of the electric cylinder at the second speed corresponding to the current includes the steps of:
inputting the position of the electric cylinder and the distance between the electric cylinder and the target object into a hybrid control system, and outputting a variable second speed which changes with time; the variable second speed is reduced to be equal to the first speed at the last moment; and controlling the movement of the electric cylinder at the variable second speed corresponding to the current.
The flow of position speed sectional control can be used as mixed control, paragraphs are not distinguished any more, the speed, position and force sensor numerical values are mixed and input into comprehensive calculation, the output current is confirmed, and the non-sectional thrust control is realized.
Fig. 3 shows the current variation and the real-time force variation curve of the force-controlled movement of the electric cylinder in the embodiment of the invention. In fig. 3, the solid line represents the resultant force of the speed and the current, the long-dashed line represents the current, and the short-dashed line represents the target thrust value.
Optionally, after the electric cylinder contacts the target object, the current is adjusted for a first preset period of time such that the pressure value is greater than the pressure value lower limit and less than the sum of the instantaneous force generated by the first speed and the thrust generated by the first speed corresponding current. The lower limit of the pressure value may be a safe processing pressure value of the target object, and when the pressure value is lower than the safe processing pressure value, the process such as processing the target object is liable to have risks such as accuracy degradation. The point a shown in fig. 3 is a cylinder contact target object, the point B is a lower limit of the pressure value, and the thrust force output by the cylinder increases with the current after the point B.
Gradually increasing the control pressure value to a target thrust value within a second preset period; the second preset time period is adjacent to the first preset time period and is after the first preset time period. As shown in fig. 3, from point a to point B, a first preset period of time, and point B is followed by a second preset period of time.
When the electric cylinder contacts an object, the thrust force is the sum of the instantaneous force generated by the first speed and the thrust force generated by the current corresponding to the first speed, and then the instantaneous force disappears and the current is controlled so that the thrust force value is smaller than the sum and larger than the lower limit of the pressure value. If the thrust output by the electric cylinder after contact is reduced too much, the thrust will be obviously smaller than the target thrust value, and the applied thrust will not meet the thrust condition required by workpiece processing, so the efficiency and accuracy of workpiece processing can be improved by controlling the thrust output by the electric cylinder above the lower limit of the pressure value.
Optionally, the instantaneous force generated by the first speed is in the range of 80% -95% of the target thrust value. After the instantaneous force is lost, the current of the electric cylinder is regulated so that the output force has a value ranging from 80% to 95% of the sum of the instantaneous force generated by the first speed and the thrust generated by the current corresponding to the first speed.
When the electric cylinder contacts an object (fed back by the force sensor), the instantaneous force is controlled to be in a preset (for example, 80-95%) interval of a target thrust value, the current is regulated, the thrust after the instantaneous force is controlled to disappear is smaller than the maximum initial resultant force, and the instantaneous force is controlled to be in a preset (for example, 80-95%) interval of the maximum initial resultant force.
Considering the situation that the target object may move, the total travel can be segmented, and the electric cylinder is controlled to move at a low speed in the segment close to the target object, so that early collision is avoided. Based on this, the above method further comprises: firstly, dividing a travel between an electric cylinder and a target object into a first segment and a second segment based on an initial distance value between the electric cylinder and the target object and a possible occurrence range of the target object; the target object may only appear in the second segment. Wherein the extent of the second segment is greater than the extent to which the workpiece may appear. Secondly, controlling the movement of the electric cylinder by a current corresponding to a second speed through part or all strokes of the first section; then, the control cylinder is moved to contact the target object at a first speed in the second segment.
The embodiment of the invention also provides an electric cylinder which comprises a controller, a motor, a force sensor, a transmission mechanism and a linear motion component; the controller is used for executing the method.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the processes of the above method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here. Wherein the computer readable storage medium is selected from Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.
Of course, it will be appreciated by those skilled in the art that implementing all or part of the above-described methods in the embodiments may be implemented by a computer level to instruct a control device, where the program may be stored in a computer readable storage medium, and the program may include the above-described methods in the embodiments when executed, where the storage medium may be a memory, a magnetic disk, an optical disk, or the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the electric cylinder disclosed in the embodiment, since the electric cylinder force control method corresponds to the electric cylinder force control method disclosed in the embodiment, the description is simpler, and the relevant parts are only referred to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A method of controlling cylinder force, the method comprising:
obtaining a target thrust value of a target object;
determining a first speed and a current corresponding to the first speed according to the target thrust value; the sum of the instantaneous force generated by the first speed and the thrust generated by the current corresponding to the first speed is smaller than the target thrust value;
after the current control electric cylinder moves at the second speed, the current control electric cylinder moves at the first speed until the current control electric cylinder contacts the target object; the second speed is greater than the first speed;
after the electric cylinder contacts the target object, detecting a pressure value between the electric cylinder and the target object through a force sensor, and performing closed-loop control according to the pressure value and the target thrust value.
2. The method according to claim 1, wherein the method further comprises:
after the electric cylinder contacts the target object, acquiring a relation coefficient between the current and the output force of the electric cylinder;
and calculating a thrust value generated by the real-time current according to the real-time current of the electric cylinder and the relation coefficient.
3. The method of claim 1, wherein controlling the movement of the electric cylinder at the second speed with the corresponding current comprises:
controlling the electric cylinder to accelerate to the second speed at the first acceleration, operating at the second speed at a uniform speed, and then controlling the electric cylinder to decelerate to the first speed at the second acceleration; the first acceleration is greater than the second acceleration.
4. A method according to claim 3, wherein the distance travelled by the cylinder at the second speed is greater than the sum of the acceleration distance at the first acceleration and the deceleration distance at the second acceleration.
5. The method of claim 1, wherein controlling the movement of the electric cylinder at the second speed with the corresponding current comprises:
inputting the position of the electric cylinder and the distance between the electric cylinder and the target object into a hybrid control system, and outputting a variable second speed which changes with time; the variable second speed is reduced to be equal to the first speed at the last moment;
and controlling the movement of the electric cylinder at the variable second speed corresponding to the current.
6. The method of claim 1, wherein the closed-loop control based on the pressure value and the target thrust value comprises:
after the electric cylinder contacts the target object, regulating the current in a first preset period of time so that the pressure value is larger than the lower limit of the pressure value and smaller than the sum of the thrust generated by the instantaneous force generated by the first speed and the current corresponding to the first speed;
controlling the pressure value to gradually increase to the target thrust value within a second preset period; the second preset period is adjacent to the first preset period and is subsequent to the first preset period.
7. The method according to claim 1, wherein the method further comprises:
determining a conversion relation among the target thrust value, the first speed corresponding current and the second speed corresponding current;
after the new target thrust value is obtained, the updated first speed corresponding current and the updated second speed corresponding current are determined according to the conversion relation.
8. The method according to claim 1, wherein the method further comprises:
dividing a travel between the electric cylinder and the target object into a first segment and a second segment based on an initial distance value between the electric cylinder and the target object and a possible occurrence range of the target object; the target object may only appear in the second segment;
the controlling the movement of the electric cylinder at the second speed corresponding to the current comprises: controlling the movement of the electric cylinder by a current corresponding to the second speed through part or all strokes of the first section;
the moving of the corresponding current control cylinder into contact with the target object at the first speed comprises: a current control cylinder is moved in the second segment at the first speed into contact with the target object.
9. The method according to any one of claims 1 to 8, wherein,
the value range of the instantaneous force generated by the first speed is 80% -95% of the target thrust value;
after the instant force disappears, the current of the electric cylinder is regulated to ensure that the value range of the output force is 80% -95% of the sum of the instant force generated by the first speed and the thrust generated by the current corresponding to the first speed.
10. The electric cylinder is characterized by comprising a controller, a motor, a force sensor, a transmission mechanism and a linear motion component; the controller is configured to perform the method of any one of claims 1-9.
11. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when read and run by a processor, implements the method of any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311710224.7A CN117826884A (en) | 2023-12-12 | 2023-12-12 | Electric cylinder force control method and electric cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311710224.7A CN117826884A (en) | 2023-12-12 | 2023-12-12 | Electric cylinder force control method and electric cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117826884A true CN117826884A (en) | 2024-04-05 |
Family
ID=90523515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311710224.7A Pending CN117826884A (en) | 2023-12-12 | 2023-12-12 | Electric cylinder force control method and electric cylinder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117826884A (en) |
-
2023
- 2023-12-12 CN CN202311710224.7A patent/CN117826884A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107850887B (en) | S-shaped curve planning method and device and numerical control machine tool | |
| US8843230B2 (en) | Machining time predicting apparatus of numerically controlled machine tool | |
| US9755566B2 (en) | Controller and control method for machine tool capable of changing motion depending on motor temperature | |
| CN108319228B (en) | Acceleration and deceleration control method in numerical control system trajectory planning | |
| CN104858545B (en) | Control the numerical control device of laser machine | |
| JP2016042347A (en) | Position controller | |
| JP2007094936A (en) | Numerical value controller | |
| CN113021340A (en) | Robot control method, device, equipment and computer readable storage medium | |
| CN108667363A (en) | The control method and device of stepper motor movement | |
| CN109901518A (en) | A kind of numerically-controlled machine tool acceleration and deceleration speed planning method under constant force constraint condition | |
| CN113231735A (en) | Cutting head obstacle avoidance method and device, computer equipment and medium | |
| Lihua et al. | Design and testing of a nanometer positioning system | |
| CN109313429B (en) | S-shaped speed planning method, device and system, robot and numerical control machine | |
| US8000828B2 (en) | System and method for movement control | |
| CN117826884A (en) | Electric cylinder force control method and electric cylinder | |
| CN106647636B (en) | Carry out the numerical control device of the speed control based on curvature and Curvature varying amount | |
| US9256213B2 (en) | Numerical control unit having function to smoothly change feed speed when override is changed | |
| JP3924974B2 (en) | Control parameter determination method and apparatus | |
| JP2000148223A (en) | Curve interpolation acceleration and deceleration control method | |
| JP2018030162A (en) | Laser control device | |
| CN111673026A (en) | Online control method and control system for pressing process of forging press | |
| JP2017117252A (en) | Numerical control apparatus performing easily adjustment of press machine | |
| CN103611767A (en) | Method for controlling position of sliding block of electro-hydraulic double-cylinder bending machine | |
| JPH05143145A (en) | Method for controlling feeding speed in numerical control | |
| Lee et al. | S-curve profile switching method using fuzzy system for position control of DC motor under uncertain load |
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 |