A control method, system and apparatus for a cable-driven parallel robot, and a storage medium, which are used for controlling eight electric motors of a cable-driven parallel robot. For any target electric motor, the control method comprises: acquiring the current position of a target electric motor in motion, wherein the target electric motor is the first electric motor to move; and controlling the target electric motor to move at a first speed, and when the distance difference between the current position and a preset target position is less than or equal to a first preset threshold value, adjusting the first speed to a second speed, wherein the second speed is less than the first speed.
Disclosed are a differential control circuit and method for robot torque control. The circuit comprises a PI controller, a current differential loop, and a controlled motor. The PI controller uses a current difference between a desired current value and an actual current value as input, and performs proportional-integral control on the current difference, and then outputs a reference current value. The current differential loop uses the reference current value as input and performs differential feedback, and then outputs a differential current value. The controlled motor uses the differential current value as input, drives a motor operation to form an actual current value, and outputs the actual current value. The present invention incorporates a current differential loop under the current loop of the PI controller, so that dynamic characteristics of the current loop can be detected via the current differential loop, preventing currents from changing too quickly or too slowly, and ensuring the accuracy of actual output currents while improving system stability. The present invention is compatible with multiple motors performing collaborative torque control, and provides a current differential loop for each motor, enabling each motor to better implement torque distribution.
G05B 11/42 - Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
A spherical robot, comprising a spherical outer casing (1) and an actuator provided within the spherical outer casing. The actuator comprises: a frame movably connected to the spherical outer casing; a weight (2) with degrees of freedom for linear motion for at least three directions within the spherical outer casing, and capable of moving to the center of the spherical outer casing, wherein the degrees of freedom for linear motion are not provided on the same plane; and a weight actuating device installed on the frame, wherein an output end of the weight actuating device actuates a linear motion of the weight (2) along said directions; and a battery and circuit control board for the weight (2), wherein the battery supplies power to the weight actuating device and circuit control board, and the circuit control board forms a signal connection to the weight actuating device. The spherical robot has a simplified control system and actuating system, maintaining a continuous non-stop motion of the robot while ensuring the stability of the motion.
B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
4.
OPTIMIZED TENSIONED CORD MODEL-BASED METHOD AND SYSTEM FOR MONITORING BRIDGE CABLE
Provided are an optimized tensioned cord model-based method and system for monitoring a bridge cable. The method comprises: selecting a steel cable having the same specification as a bridge cable to be measured to construct a residual function of the Newton-Gauss method, performing an iterative solution on the residual function of the Newton-Gauss method to obtain an optimal eigenfrequency order of the residual function of the Newton-Gauss method and an optimal flexural rigidity of the steel cable, and optimizing a tensioned cord model according to a result of the iterative solution; obtaining a theoretical eigenfrequency according to a theoretical tension value of the bridge cable and the optimized tensioned cord model; obtaining a vibration spectrum of the bridge cable according to a signal collected by an acceleration sensor node, and performing filtering on the obtained vibration spectrum to obtain a frequency matching the optimal eigenfrequency order and serving as a measured eigenfrequency; and determining, by the acceleration sensor node, and according to the size of the ratio between the theoretical eigenfrequency and the difference between the measured eigenfrequency and the theoretical eigenfrequency, whether to transmit collected data to a host computer monitoring center and to adjust a sampling frequency of the acceleration sensor. The method for monitoring a bridge cable has a low error rate, attains a balance between analysis accuracy and power consumption, and can be widely applied in the field of bridge monitoring.
G01L 5/04 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
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