摘要：【中文】本发明公开了一种伺服电机的转速脉动抑制方法，其特点在于，在速度环采用PIR控制器对伺服电机的给定速度ω_rm^*和反馈速度ω_rm的偏差进行速度控制，得到q轴参考电流i_q^*；其中，PIR控制器包括一个PI控制器和至少一个n倍频谐振控制器，n等于1、2、6或12；PI控制器与至少一个n倍频谐振控制器相互并联，PIR控制器的输出值等于PI控制器与至少一个n倍频谐振控制器的输出结果之和。本发明的转速脉动抑制方法在传统的PI控制器的基础上并联了谐振控制器，从而能够抑制伺服电机转速脉动，有效提升伺服电机的稳态性能。 【EN】The invention discloses a method for inhibiting the rotational speed pulsation of a servo motor, which is characterized in that a PIR controller is adopted in a speed loop to set the speed omega of the servo motor_rm^*And the feedback speed omega_rmThe deviation of (a) is subjected to speed control to obtain a q-axis reference current i_q^*(ii) a The PIR controller comprises a PI controller and at least one n frequency multiplication resonance controller, wherein n is equal to 1, 2, 6 or 12; the PI controller and the at least one n-frequency multiplication resonant controller are connected in parallel, and the output value of the PIR controller is equal to the sum of the output results of the PI controller and the at least one n-frequency multiplication resonant controller. The rotational speed pulsation suppression method is characterized in that a resonance controller is connected in parallel on the basis of the traditional PI controller, so that the rotational speed pulsation of the servo motor can be suppressed, and the steady-state performance of the servo motor is effectively improved.

摘要：【中文】一种伺服电机的抱闸控制方法，包括以下步骤：控制器控制开关管导通，以使抱闸电磁线圈通电工作，其中，开关管设置于抱闸开启电压向抱闸电磁线圈供电的路径上；控制器自控制开关管导通之时起经过预设的时间t1后，向开关管输出PWM信号，并调整输出给开关管的PWM信号的占空比，使抱闸电磁线圈的工作电压逐渐减小直至达到预设的维持电压，预设的维持电压小于所述抱闸开启电压。本发明能够以较低的能耗实现稳定的电机抱闸。 【EN】A brake control method of a servo motor comprises the following steps: the controller controls the switch tube to be conducted so as to enable the contracting brake electromagnetic coil to be electrified and work, wherein the switch tube is arranged on a path for supplying power to the contracting brake electromagnetic coil by contracting brake starting voltage; and after a preset time t1 from the time when the control switch tube is switched on, the controller outputs a PWM signal to the switch tube and adjusts the duty ratio of the PWM signal output to the switch tube, so that the working voltage of the band-type brake electromagnetic coil is gradually reduced until a preset maintaining voltage is reached, and the preset maintaining voltage is smaller than the band-type brake opening voltage. The invention can realize stable motor brake with lower energy consumption.

摘要：【中文】本发明实施例涉及自动控制技术领域，公开了一种驱控一体伺服实现系统。本发明中的驱控一体伺服实现系统，包括：控制中心，分别与控制中心通信连接的N个伺服电机的驱动模组，控制中心集成有机器人控制CPU、伺服驱动控制CPU以及FPGA模块，各个驱动模组分别外接对应的伺服电机，N为大于1的自然数；机器人控制CPU用于分别发送各个伺服电机对应的控制指令给伺服驱动控制CPU；伺服驱动控制CPU用于根据各个伺服电机对应的控制指令生成各个伺服电机对应的控制信号，并将控制信号发送给FPGA模块；FPGA模块用于根据控制信号生成各个伺服电机对应的PWM信号，并将各个伺服电机对应的PWM信号发送给N个电机的驱动模组；N个电机的驱动模组用于根据各个伺服电机对应的PWM信号控制对应的伺服电机转动；集成度高，体积小，接节省了硬件资源。 【EN】The embodiment of the invention relates to the technical field of automatic control, and discloses a drive-control integrated servo implementation system. The driving and controlling integrated servo implementation system comprises: the system comprises a control center and N servo motor driving modules, wherein the N servo motor driving modules are respectively in communication connection with the control center, the control center is integrated with a robot control CPU, a servo drive control CPU and an FPGA module, each driving module is respectively externally connected with a corresponding servo motor, and N is a natural number greater than 1; the robot control CPU is used for respectively sending control instructions corresponding to the servo motors to the servo drive control CPU; the servo drive control CPU is used for generating control signals corresponding to the servo motors according to the control instructions corresponding to the servo motors and sending the control signals to the FPGA module; the FPGA module is used for generating PWM signals corresponding to the servo motors according to the control signals and sending the PWM signals corresponding to the servo motors to the driving modules of the N motors; the driving modules of the N motors are used for controlling the corresponding servo motors to rotate according to the PWM signals corresponding to the servo motors; the integration level is high, and is small, connects to save hardware resources.

摘要：【中文】本发明公开了一种显示面板的检测方法、电子设备及存储介质，显示面板的检测方法包括：在各显示管均导通且只导通一次后，得到N张面板图片；根据面板图片中点亮的显示管的位置，计算N张面板图片中数码管形心位置，判断N张面板图片是否均存在形心位置，且各面板图片中的形心位置是否均不同；若N张面板图片中有至少1张面板图片没有形心位置，则没有形心位置的面板图片中导通的显示管显示异常；若N张面板图片中均存在形心位置，且各形心位置均不同，则所有显示管显示正常；若N张面板图片中均存在形心位置，且至少存在两张面板图片中的形心位置相同，则具有相同形心位置的面板图片中的所有显示管显示异常。本发明能够提高显示面板的检测效率。 【EN】The invention discloses a detection method of a display panel, electronic equipment and a storage medium, wherein the detection method of the display panel comprises the following steps: after each display tube is conducted and is conducted only once, N panel pictures are obtained; calculating the centroid positions of the digital tubes in the N panel pictures according to the positions of the lighted display tubes in the panel pictures, and judging whether the centroid positions exist in the N panel pictures and whether the centroid positions in the panel pictures are different; if at least 1 panel picture in the N panel pictures has no centroid position, the display tube conducted in the panel picture without the centroid position is abnormal in display; if the centroid positions exist in the N panel pictures and all the centroid positions are different, all the display tubes are displayed normally; and if the centroid positions exist in the N panel pictures and the centroid positions in at least two panel pictures are the same, displaying the abnormal display of all the display tubes in the panel pictures with the same centroid positions. The invention can improve the detection efficiency of the display panel.

摘要：【中文】一种电机控制装置的振动抑制方法，包括：a、根据当前给定转矩及伺服电机总惯量预测电机控制装置的当前控制周期的速度增量X1；b、计算电机反馈速度与上一个控制周期的电机预测速度之间的速度差值U1：c、计算速度差值U1在当前控制周期内的分量X2：d、计算当前控制周期的电机预测速度：e、对速度差值U1进行高通滤波得到U2；f、对U2进行低通滤波得到电机反馈速度补偿值；g、将电机反馈速度减去电机反馈速度补偿值，得到电机反馈速度修正值，用电机反馈速度修正值进行电机控制。本发明还提供了一种电机控制装置。本发明可在保证电机全频率段运行、响应速度快的前提下实现电机的减振控制。 【EN】A vibration suppression method of a motor control device, comprising: a. predicting the speed increment X1 of the current control period of the motor control device according to the current given torque and the total inertia of the servo motor; b. calculating a speed difference value U1 between the motor feedback speed and the motor predicted speed of the previous control period: c. calculating the component X2 of the speed difference value U1 in the current control period: d. calculating the motor predicted speed of the current control period: e. carrying out high-pass filtering on the speed difference U1 to obtain U2; f. carrying out low-pass filtering on the U2 to obtain a motor feedback speed compensation value; g. and subtracting the motor feedback speed compensation value from the motor feedback speed to obtain a motor feedback speed correction value, and controlling the motor by using the motor feedback speed correction value. The invention also provides a motor control device. The invention can realize the vibration damping control of the motor on the premise of ensuring the full-frequency operation and high response speed of the motor.

摘要：【中文】本发明涉及包装行业，特别涉及一种自动贴标机，包括：放卷轮、复卷轮、剥离机构、第一驱动辊、第二驱动辊；其中，底纸用于从放卷轮上被放出后并依次绕过第一驱动辊、剥离机构、第二驱动辊后缠绕至复卷轮上；自动贴标机还包括：第一电机、第二电机、第一测速装置、第二测速装置、主控设备；其中，第一测速装置用于将检测到的第一驱动辊的转速实时上传至主控设备，第二测速装置用于将检测到的第二驱动辊的转速实时上传至主控设备，主控设备用于根据接收到的第一驱动辊的转速和第二驱动辊的转速分别对第一电机和第二电机进行控制，将第一电机驱动第一驱动辊的转速和第二电机驱动第二驱动辊的转速分别调整至与预设转速相同。 【EN】The invention relates to the packaging industry, in particular to an automatic labeling machine, which comprises: the device comprises an unwinding wheel, a rewinding wheel, a stripping mechanism, a first driving roller and a second driving roller; the base paper is used for being paid out from the unwinding wheel, sequentially rounds the first driving roller, the peeling mechanism and the second driving roller and then is wound on the rewinding wheel; the automatic labeling machine further comprises: the system comprises a first motor, a second motor, a first speed measuring device, a second speed measuring device and a main control device; the first speed measuring device is used for uploading the detected rotating speed of the first driving roller to the main control equipment in real time, the second speed measuring device is used for uploading the detected rotating speed of the second driving roller to the main control equipment in real time, the main control equipment is used for controlling the first motor and the second motor according to the received rotating speed of the first driving roller and the received rotating speed of the second driving roller, and the rotating speed of the first motor driving the first driving roller and the rotating speed of the second motor driving the second driving roller are adjusted to be the same as the preset rotating speed respectively.

摘要：【中文】本发明公开了一种基于通讯式编码器的速度获取方法，包括以下步骤：a、判断测速周期内的角位移的脉冲数是否小于预设的脉冲数阈值；b、若当前测速周期的上一个测速周期内的角位移的脉冲数小于预设的脉冲数阈值，则根据上一个测速周期的转速和加速度预测当前测速周期内的角位移的脉冲数N.M；c、计算一个脉冲数的周期时长T_cnt；d、在当前测速周期的起始时刻开始定时，定时时长为T_cnt×N，在定时结束时使用计数脉冲进行计数，并记录当前测速周期的下一个测速周期的起始时刻的计数值；e、计算当前测速周期所检测到的旋转物体的转速Vel。本发明能够提高测速精度。 【EN】The invention discloses a speed acquisition method based on a communication type encoder, which comprises the following steps: a. judging whether the pulse number of the angular displacement in the speed measuring period is smaller than a preset pulse number threshold value or not; b. if the pulse number of the angular displacement in the last speed measuring period of the current speed measuring period is smaller than the preset pulse number threshold, predicting the pulse number of the angular displacement in the current speed measuring period according to the rotating speed and the acceleration of the last speed measuring period N.M; c. calculating the period duration T of a pulse number_cnt(ii) a d. Starting to time at the initial moment of the current speed measuring period, wherein the timing duration is T_cntxN, counting by using a counting pulse when the timing is finished, and recording a counting value of the starting moment of the next speed measuring period of the current speed measuring period; e. and calculating the rotating speed Vel of the rotating object detected in the current speed measuring period. The invention can improve the speed measurement precision.

摘要：【中文】本发明实施例涉及老化测试领域，公开了一种伺服驱动器老化测试装置及方法。本发明中伺服驱动器老化测试装置包括：伺服驱动器老化车、电抗器老化车、电源控制柜、上位机和数据采集器；伺服驱动器老化车与电抗器老化车电性连接、以驱动电抗器老化车运行，伺服驱动器老化车分别与电源控制柜、上位机和数据采集器电性连接，数据采集器分别与电源控制柜和上位机电性连接。本发明的实施方式还提供了一种伺服驱动器老化测试方法，相对于现有技术使得伺服驱动器老化车进行老化测试时，可以模拟实际使用情况、实现带载运行，提高伺服驱动器老化测试的测试效率。 【EN】The embodiment of the invention relates to the field of aging tests, and discloses an aging test device and method for a servo driver. The servo driver aging test device comprises: the system comprises a servo driver aging vehicle, a reactor aging vehicle, a power control cabinet, an upper computer and a data acquisition unit; the servo driver aging vehicle is electrically connected with the reactor aging vehicle to drive the reactor aging vehicle to run, the servo driver aging vehicle is electrically connected with the power control cabinet, the upper computer and the data collector respectively, and the data collector is electrically connected with the power control cabinet and the upper computer respectively. Compared with the prior art, the aging test method for the servo driver can simulate the actual use condition, realize the on-load operation and improve the test efficiency of the aging test of the servo driver when the aging vehicle of the servo driver performs the aging test.

摘要：【中文】本发明实施例涉及电机控制领域，公开了一种伺服电机磁偏角的确定方法、动力线检测方法和存储介质。本发明中，交流伺服电机磁偏角的确定方法，包括：在伺服电机静止状态下，以预设频率给伺服电机的d轴交替注入第一正向电压和第二负向电压，第一正向电压和第二负向电压的幅值相同；依次给定不同的电角度，在不同的电角度下，分别采集d轴电流；根据采集到的多个d轴电流确认伺服电机的磁偏角。本申请提供一种新的磁偏角的确定方法，使得电机在静止状态即可确定磁偏角，使得在结果准确的同时，减少安全隐患。 【EN】The embodiment of the invention relates to the field of motor control, and discloses a method for determining a magnetic declination angle of a servo motor, a method for detecting a power line and a storage medium. The invention discloses a method for determining the magnetic declination angle of an alternating current servo motor, which comprises the following steps: under the static state of the servo motor, alternately injecting a first positive voltage and a second negative voltage into a d axis of the servo motor at a preset frequency, wherein the amplitudes of the first positive voltage and the second negative voltage are the same; sequentially setting different electrical angles, and respectively collecting d-axis current under different electrical angles; and confirming the magnetic declination of the servo motor according to the collected d-axis currents. The application provides a new magnetic declination determination method, so that the magnetic declination can be determined when a motor is in a static state, and potential safety hazards are reduced while the result is accurate.

摘要：【中文】本发明实施例涉及运维控制技术领域，公开了一种激光找箱方法、起重系统、控制器及存储介质。本发明中的激光找箱方法，应用于起重系统中的控制器，起重系统包括吊具和控制器，并且吊具的四周安装有八个激光设备，所述八个激光设备中的四个激光设备分布在所述吊具一对对边的四个端点上，另外四个激光设备两两分布在所述吊具的另一对对边上，八个激光设备分别与控制器通信连接；方法包括：实时获取八个激光设备测得的激光发射距离值；根据八个激光设备上报的激光发射距离值控制吊具进行移动，直至上报的激光发射距离值符合预设条件；能够以较低成本实现高精度的找箱。 【EN】The embodiment of the invention relates to the technical field of operation and maintenance control, and discloses a laser box finding method, a hoisting system, a controller and a storage medium. The laser box finding method is applied to a controller in a hoisting system, the hoisting system comprises a lifting appliance and the controller, eight laser devices are arranged on the periphery of the lifting appliance, four laser devices in the eight laser devices are distributed on four end points of a pair of opposite sides of the lifting appliance, the other four laser devices are distributed on the other pair of opposite sides of the lifting appliance in pairs, and the eight laser devices are respectively in communication connection with the controller; the method comprises the following steps: acquiring laser emission distance values measured by eight laser devices in real time; controlling the lifting appliance to move according to the laser emission distance values reported by the eight laser devices until the reported laser emission distance values meet preset conditions; the high-precision box finding can be realized at lower cost.