83results about How to "Achieve compensation" patented technology

The invention belongs to the field of characteristic measurement of piezoelectric actuators, and relates to a modeling and compensating method for dynamic composite hysteresis of a piezoelectric actuator under a time-varying large load. A dynamic hysteresis characteristic test system of the piezoelectric actuator is built to collect load and displacement signals. Based on an improved asymmetric slope Prantl-Ishlinskii algorithm, carrying out modeling on asymmetry and zero drift characteristics of hysteresis rings, fitting static hysteresis rings of force-bit and electricity-bit, and superposing the static hysteresis rings to form a static composite hysteresis model; a dynamic composite hysteresis model is established according to the wide-frequency-domain excitation requirement of the driver, and an ASI parameter controller is designed based on an LSTM algorithm to dynamically regulate and control the slope and the threshold value of the model; a parameter controller fault-tolerant mechanism is designed to restrain model instability caused by sudden disturbance and control over-regulation, and high-precision real-time hysteresis prediction is ensured; and calculating the real-time control voltage and compensating the dynamic hysteresis by solving the inverse model of the dynamic composite hysteresis model and inputting the expected displacement.

The invention discloses a fixed-wing unmanned aerial vehicle predetermined time cooperative path following formation control method, and relates to an unmanned aerial vehicle technology. A multi-unmanned aerial vehicle cooperative path following control strategy based on preset time stability, neural network adaptive control and preset performance control is provided; according to the method, the multiple fixed-wing unmanned aerial vehicles can realize preset time convergence of path following errors and preset time preset performance convergence of control signal tracking errors under the conditions of external disturbance and actuator faults, so that a high-precision and quick-response cooperative path following formation control task is completed; and meanwhile, the control precision and robustness are improved.

The invention relates to the technical field of machining production lines, and provides a compensation control method, device and equipment for a machining production line, a medium and a product. The method comprises the steps that the current workpiece size of the machining production line in the current control period is obtained; determining a deviation value with the target workpiece size according to the current workpiece size; determining a compensation value according to the deviation value, wherein the compensation value is used for adjusting machining parameters of the machining production line in the next control period; and determining the next control period of the machining production line according to the deviation value and the compensation value. Through the mode, the size of a workpiece output by a machining production line can be measured, and a compensation value is dynamically adjusted according to a measurement result, so that online measurement and compensation of errors are realized; in addition, the compensation control period can be adjusted in a self-adaptive mode according to the compensation value, and therefore high-precision machining production line control is achieved.

The invention discloses a raster scanning correction method and system for an electromagnetic MEMS micromirror, and belongs to the technical field of raster scanning correction, and the method comprises the steps: collecting the real-time three-axis attitude information of an electromagnetic MEMS micromirror product in a three-dimensional space, and the fast and slow axis piezoresistive signals of the micromirror; carrying out PID control by taking the angle difference value as an error signal, outputting a driving voltage of a fast axis and a slow axis of the MEMS micro-mirror after the scanning view field correction, and further mapping to obtain a correction angle of micro-mirror scanning; and taking the correction angle as the input of PID control, and correcting the rotation angle of the micromirror by minimizing the tracking error between the rotation angle of the micromirror and the correction angle. Three-axis attitude information of an electromagnetic MEMS micro-mirror product is collected, and an angle difference value between the three-axis attitude information and standard three-axis attitude information is introduced into PID control to adjust a fast-slow axis driving signal, so that the rotation angle of the micro-mirror is corrected, and correction and compensation of grating distortion in grating scanning are realized. And the accuracy of the reconstruction quality of the three-dimensional point cloud is ensured.

The invention discloses a database consistency comparison and compensation method. The method comprises the following steps: acquiring a plurality of databases to be verified; sorting each piece of data in each to-be-verified database according to the primary key, and calculating a hash value of each piece of data in each sorted database to obtain a plurality of preprocessed databases; comparing the plurality of preprocessed databases by adopting a comparison algorithm based on the primary key and the hash value to determine a comparison result; the comparison result is a first result or a second result; the first result represents that the plurality of preprocessed databases have no difference; the second result represents that the plurality of preprocessed databases have differences; the second result comprises a difference conclusion and comparison information; and generating a difference file based on the comparison information, and compensating the plurality of preprocessed databases based on the difference file to obtain a plurality of compensated databases. The detection efficiency is improved, and the storage cost and the resource overhead are reduced.

The invention provides a target translation compensation and three-dimensional imaging method and system for a close-range millimeter wave MIMO radar, and the method and system achieve the high-quality real-time three-dimensional imaging. The method comprises the following steps: receiving echo data and movement speed of a tested person, and carrying out phase calibration from multi-station sampling to single-station sampling on the echo data; performing two-dimensional Fourier transform and motion compensation in x and y directions on the echo data after phase calibration based on the motion speed of the tested person; performing two-dimensional inverse Fourier transform on the echo data after two-dimensional Fourier transform and operation compensation in the wave number domain # imgabs0 # and # imgabs1 # directions; performing coherent superposition on the echo data after the two-dimensional inverse Fourier transform to obtain echo data after motion compensation of the tested person; based on a static target three-dimensional imaging algorithm principle, processing the echo data after motion compensation of the tested person to obtain two-dimensional images of each distance direction plane; and performing traversal synthesis processing on the two-dimensional image in each distance direction plane to obtain a three-dimensional image of the tested person.

The invention provides a display panel. The display panel comprises a plurality of cascaded gate driving units and a pixel driving circuit. The gate driving unit comprises an input control module used for outputting a driving signal in a display scanning period; the compensation detection control module is used for outputting a compensation detection driving signal in a scanning blank period; the output module is connected with the input control module and the compensation detection control module, and is used for responding to the driving signal in a display scanning period to output a display scanning signal and responding to the compensation detection driving signal in a scanning blank period to output a compensation detection scanning signal; the pixel driving circuit is connected with the gate driving unit and is used for receiving a display scanning signal in a display scanning period and receiving a compensation detection scanning signal in a scanning blank period.

The invention relates to the technical field of rotary table control, in particular to a high-precision rotary table intelligent control method and device based on improved ESO, and the method comprises the steps: constructing a mathematical model of a rotary table motor, and deriving a transfer function of the motor; respectively acquiring current and angle data of a turntable motor; building a turntable control system, wherein the three-axis turntable control system is composed of a current loop, a position loop and an ESO-based virtual control law; designing a virtual control law based on ESO; and superposing the designed ESO virtual control law output to the turntable current loop and position loop output, and embedding a control algorithm into a processing module of a turntable upper industrial personal computer to complete the intelligent control of the turntable. According to the method, a transfer function of a motor is established, a virtual control law based on improved ESO is designed on the basis of an extended state observation theory, cooperative control over the rotary table is achieved with PID control, and high-precision pointing of the rotary table is achieved.

The invention relates to the technical field of laser quantum interference measurement, in particular to a three-degree-of-freedom angle measurement device and method based on radial polarized light, which can realize high-precision simultaneous measurement of three-degree-of-freedom tiny angles by utilizing the characteristics of the radial polarized light and combining an advanced optical system and a signal processing technology. By adopting an auto-collimation technology principle, the tight focusing characteristic of radial polarized light and the light splitting characteristic of a Wollaston prism are combined, so that technical indexes such as angle measurement resolution and angle measurement precision can be effectively improved; the roll angle measuring system formed by using the focusing characteristic of the all-dielectric super-lens array and the CCD camera can greatly improve the roll angle measuring precision of the existing method.

The invention discloses an underactuated unmanned ship robust control method, device and system and a storage medium, and the method comprises the steps: measuring signals through a measurement sensor according to the course, motion attitude, rudder angle and the like of an unmanned ship, and employing an improved ESO and backstepping control combination method under an external effect; and the dynamic compensation-based unmanned ship water surface control of the unmanned ship in a random interference state is realized. By adopting the technical scheme of the invention, the accurate identification and estimation of the external disturbance are realized, and the robustness problem of the course control of the unmanned ship under the influence of random disturbance can be effectively solved through dynamic compensation, so that the course control precision and the adaptive capacity of the unmanned ship are improved.

The embodiment of the invention discloses a ship trajectory tracking event trigger control method and system with a performance game mechanism. The method comprises the following steps: S1, determining a position error and an attitude error corresponding to a ship; s2, designing a first performance index and a first value function; s3, designing a negative gradient estimated value, an optimal virtual control law and an online learning law of the first value function; s4, obtaining a dynamic reference signal and a dynamic control error; s5, defining a second performance index and a corresponding second value function; s6, designing a negative gradient estimated value, an optimal control input and an optimal trigger error corresponding to the second value function; s7, judging whether a triggering rule is met or not; and S8, changing the state of the ship to continuously judge whether the navigation task is completed or not, and if not, re-confirming the current state of the ship and returning to S1. The method solves the problems that in the prior art, it is difficult for an operator to obtain the best triggering effect and control precision, and the robustness of a ship trajectory tracking controller in marine environment interference is poor.

The invention discloses a decision feedback self-adaptive equalizer with a low-frequency compensation unit and a method, and belongs to the technical field of digital communication, the decision feedback self-adaptive equalizer is provided with the low-frequency compensation unit, output signals of a plurality of multipliers are superposed by using an output signal b (k) of the low-frequency compensation unit, and the output signals b (k) of the low-frequency compensation unit are obtained. Compensation of multipath interference signals is realized; further, a judgment signal d (k) of the current moment k is generated by using an output signal y (k) of the current moment k of the adder, and an error signal e (k) of the current moment k is calculated by using a formula e (k) = d (k)-y (k), so that the filter coefficient and the low-frequency signal compensation amount of the next moment are updated, and the change of a channel is adapted; finally, the problem that a traditional decision feedback adaptive equalizer in an intensity modulation direct detection communication system cannot correctly equalize multipath interference signals is solved, and the operation stability of the communication system is improved.

The invention provides a thermal infrared imager dark current compensation method and device, and the method comprises the steps: obtaining the change data of a target parameter of each pixel in a detector of a thermal infrared imager along with the change of the temperature, and generating a target corresponding relation table containing the target parameter-temperature corresponding relation of each pixel based on the change data, the target parameter-temperature corresponding relation is matched with the dark current-temperature corresponding relation; when the thermal infrared imager measures the temperature, a first target parameter generated by the dark pixel is obtained; determining the temperature corresponding to the current dark pixel in a target corresponding relation table based on the first target parameter; determining the temperature distribution of all the pixels on the detector by combining the current temperature of the dark pixel and the heat transfer characteristics of the detector and the pixels; determining a second target parameter representing the current generation of each pixel in a target corresponding relation table according to the temperature distribution; and correcting the current temperature measurement result of the pixel according to the second target parameter of each pixel.

The invention discloses an RSVP normal form electroencephalogram electrode offset self-adaptive compensation method for an autonomous motion scene, is suitable for an electroencephalogram signal decoding task in a motion state, and belongs to the crossing field of computers and biomedical engineering. For the problem of artifact interference in a motion state, positive and negative sample pairs obtained by sampling in an anchoring feature space without artifacts and a feature space to be compensated with artifacts are introduced through supervised contrast learning based on a decoupling training strategy, and the compensation capability of a feature extractor is trained by applying InfoNCE loss. Meanwhile, on the basis of small-batch sample data characteristics, a lightweight feature extractor is designed, and the EEG signals are downsampled into spatiotemporal features based on spatiotemporal convolution for subsequent comparative learning. Compared with a complex feature extractor using a self-attention mechanism, a multi-scale feature extraction module and the like, the lightweight design has the advantages that classification indexes such as BA and RECALL are obviously improved, and the calculation cost is greatly reduced.

The invention provides a method and system for improving the precision of a voltage and current acquisition module, and the method comprises the steps: carrying out the calibration of voltage and current signals outputted by a voltage and current signal acquisition module under different temperature conditions through employing a neural network; the training process of the neural network comprises the step of inputting voltage and current signals input and output by the voltage and current signal acquisition module and temperature data into the neural network, so that the error between the voltage and current signals predicted by the neural network and a theoretical value is minimum. According to the invention, a precision correction model considering temperature influence is established by using the neural network, correction and compensation of the acquired signal are realized, and the precision and stability of the voltage and current acquisition module are improved.

The invention belongs to the field of moving column head-to-head boring machine tools, and particularly discloses a method for realizing coaxial self-compensation of a moving column head-to-head boring machine tool, which comprises the following steps of: a, respectively mounting a detector and a detection rod on two moving column head-to-head boring machine tools; b, the two machine tools respectively read array variables on the drawing; c, judging whether the position of the hole is completed or not, ending after completion, and otherwise, entering the next step; d, the two machine tools read array variable information in batches, move to actual hole machining coordinates specified by the variables and synchronously rotate to a specified angle, the first machine tool measures the second machine tool and stores the coordinates, the difference value of the two machine tools is calculated, the difference value is compensated to the first machine tool with the second machine tool as the reference, and circulation is conducted in sequence, compensating positions of all processing holes and reading and detecting coaxial position compensation precision; and e, judging whether drawing requirements are met or not, ending after the requirements are met, and otherwise, entering the step b. The problem that in the prior art, the coaxiality error is large is solved.

The invention discloses a photoelectric turret visual axis stability control method based on self-adaptive disturbance prediction compensation and a computer product, and the method comprises the following steps: S1, establishing a gyro speed loop discrete model, calculating the deviation between the output of the model and the angular velocity of a visual axis measured by a gyro, and obtaining a disturbance estimation value through an inverse model and a low-pass filter; s2, constructing a mathematical model of disturbance based on a recursive least square method, and performing multi-step forward prediction on equivalent disturbance by using the model; and S3, carrying out weighted fusion on the predicted equivalent disturbance and the real-time disturbance estimation value, and finally feeding a fused compensation signal forward to the input end of the control system to counteract the influence of the actual disturbance on the system. According to the method, real-time estimation and dynamic prediction are fused, the learning-prediction capacity is added on the basis of perception-compensation of a traditional DOB, the method is suitable for a photoelectric turret control system which is remarkable in periodic disturbance or sensitive to delay, phase lag of the traditional DOB is reduced, and the stable control bandwidth and disturbance rejection capacity of a visual axis are greatly improved.

The present invention relates to the field of industrial automation technology, and discloses an encoder calibration method, system, medium and equipment adapted to multi-directional shaft movement, comprising: installing a microcontroller unit on the encoder, arranging a first photosensitive module and a second photosensitive module on the encoder's code disk with the encoder's rotating shaft center as the center, and arranging a third photosensitive module between the two photosensitive modules; the first and second photosensitive modules convert the received light signals into sinusoidal signals and send them to the microcontroller unit, and the third photosensitive module converts the received light signals into electrical signals and sends them to the microcontroller unit; the microcontroller unit analyzes the deviation of the sinusoidal signal in frequency and phase to obtain the eccentric direction and eccentricity of the encoder shaft system shaking, calculates the encoder's rotation speed according to the electrical signal, obtains the dynamic shaft system shaking error in combination with the eccentric direction, eccentricity and rotation speed, and compensates the encoder's output in real time accordingly. The present invention has low cost and high compensation accuracy.

A rotating magnet magnetic field vector interference compensation method based on adaptive spectrum tracking, comprising: establishing a reference digital model of a rotating magnetic component, obtaining a raw magnetic measurement vector signal sequence of a three-component magnetic sensor at a preset observation point, and constructing a time-domain observation vector; establishing a finite harmonic model of each axial component; establishing a spatial modulation function; combining the finite harmonic model with the spatial modulation function to obtain a modulated time-domain signal; performing fast Fourier transform on the modulated time-domain signal, adaptively updating second-order IIR notch filter parameters under candidate frequency point set constraints, and then performing inverse fast Fourier transform to obtain a noise-reduced time-domain magnetic field signal; obtaining a non-stationary magnetic field signal across rotating speeds based on the noise-reduced time-domain magnetic field signal; performing vector fusion and coordinate unification on the non-stationary magnetic field signal to output a final dynamic magnetic vector signal mapping after interference compensation. The present application can improve the filtering effect on noise frequency points and improve the interference compensation effect.

The application discloses a shrinkage-compensating concrete containing acid-free weak base expandable graphite and a preparation method thereof. The concrete comprises cement 200-500 parts, mineral admixtures 50-200 parts, fine aggregate 600-800 parts, coarse aggregate 1000-1300 parts, water 120-200 parts, additive 5-15 parts and acid-free weak base low-temperature expandable graphite 15-75 parts. The expansion trigger temperature of the graphite is 90-100 DEG C, and the pH value is 6.0-8.0. The method comprises the following steps: firstly, uniformly mixing and stirring cement, mineral admixtures, fine aggregate, coarse aggregate and acid-free weak base low-temperature expandable graphite to obtain dry mixture B; secondly, mixing water and additive and adding the mixture into the dry mixture B to uniformly stir to obtain a concrete mixture; and thirdly, forming the concrete mixture, carrying out steam curing after final setting, naturally cooling to room temperature and obtaining the shrinkage-compensating concrete. Therefore, the concrete self-shrinkage can be precisely and efficiently compensated in the steam curing process of the concrete.

A method for pre-set time synchronization control of a shipborne large inertia antenna servo system belongs to the technical field of dual motor servo system control. The method includes establishing a dynamic model of the shipborne large inertia antenna servo system, initializing the state and control parameters of the system, designing a pre-set time disturbance observer, quickly estimating and compensating for external disturbances such as sea wind and waves, designing a non-singular pre-set time sliding surface, and designing a non-singular pre-set time synchronization and tracking controller on this basis. The present invention can effectively suppress the influence of external disturbances such as sea wind and waves on the shipborne large inertia antenna servo system, ensure that the upper limit of the minimum convergence time of the observation error and the control error can be preset by adjusting an adjustable parameter, avoid controller singularity, reduce computational complexity, and realize that the synchronization error and the tracking error converge to the neighborhood near the origin within a pre-set time.

The embodiment of the invention discloses a driving method of a display panel and the display panel, and the driving method comprises the steps: in a display stage, generating compensated data voltage according to a first compensation data lookup table or a second compensation data lookup table based on a display gray scale. Wherein the first compensation data lookup table is adopted under the high gray scale, the second compensation data lookup table is adopted under the low gray scale, and the first compensation data lookup table is different from the second compensation data lookup table. According to the scheme, different detection compensation algorithms are adopted at the high gray scale and the low gray scale, the problem that the detection effect is poor due to the fact that the current difference is too large during low-gray-scale detection can be avoided, accurate detection and compensation of the threshold voltage under the low gray scale can be achieved, and the display effect is improved.

The invention discloses a workpiece attitude error compensation method and system based on a space angle and a TCSTRANS. According to the method, automatic sensing, seamless compensation and efficient machining of workpiece attitudes are achieved through the synergistic effect of three core technologies including automatic fitting of a space angle aligned by a laser plane, workpiece coordinate system correction of kernel translation and TCSTRANS characteristic coordinate system transformation supporting five-axis RTCP programming. An original machining program does not need to be modified, the operation complexity and the technical threshold are reduced, the machining precision, efficiency and process reliability are greatly improved, the method is particularly suitable for machining of a five-axis numerical control machine tool on precise workpieces, and the problems that in the prior art, manual experience is relied on, program management is disordered, and post-processing is complex are solved.

The present invention relates to a temperature compensation method for a thermal film flowmeter, wherein the thermal film flowmeter comprises a silicon plate and a heating thermistor and a temperature measuring thermistor arranged on the fluid side surface of the silicon plate, wherein solder joints are arranged on the silicon plate, wherein the heating thermistor is connected to the corresponding solder joints via leads, wherein the leads are arranged on the fluid side surface of the silicon plate. The method comprises: S1 constructing a Wheatstone bridge, S2 designing a resistor, and S3 obtaining a voltage value U3 across the third fixed resistor when measuring the flow rate of the fluid to be detected, and compensating the output voltage U′ by U′=M·U3, wherein #imgabs0# wherein T f is the temperature measured by the temperature measuring thermistor, thereby achieving temperature compensation.

The application provides a constant stability control system for a numerical control machining center, which comprises a constant stability control unit, a multi-dimensional sensor group, a data storage module and a compensation execution module, the system takes the constant stability control unit as an execution main body, and the control method of the constant stability control unit comprises the following steps: step one, the constant stability control unit collects tool wear data, load fluctuation data and material hardness data in a machining process of the numerical control machining center in real time through the preset multi-dimensional sensor group, and the collection frequency is 99 Hz. Through high-frequency collection of working condition data by the multi-dimensional sensor group, a multi-dimensional perception model is constructed in combination with a fuzzy control algorithm, comprehensive compensation under the multi-factor coupling of tool wear, load fluctuation and material hardness is realized, the limitation of existing fixed parameter compensation is broken, the compensation range is expanded from plus or minus 5% to plus or minus 20%, and the adaptability is significantly improved.

The present application discloses a camera self-calibration measurement method and device, the camera self-calibration measurement device includes a measuring camera, a calibration camera and a self-balancing component, the measuring camera is arranged relative to the marker, and the camera self-calibration measurement method includes: the calibration camera collects the component image and sends it to the measuring camera, wherein the component image is an image containing the self-balancing component; the measuring camera collects and processes the component image to obtain the baseline and target line corresponding to the self-balancing component, and calculates the angle between the target line and the baseline, wherein the angle is the change angle of the measuring camera in the pitch direction; the measuring camera collects the marker image containing the marker, and performs angle correction on the marker image according to the angle to obtain the target data. The present application utilizes the gravity of the self-balancing component to realize the real-time measurement and compensation of the camera angle change caused by the shaking of the observation platform, thereby improving the accuracy of the camera angle correction in complex environments.

The invention discloses a high-dynamic motion carrier communication signal synchronization method based on motion information measurement, and belongs to the technical field of high-dynamic signal synchronization. The invention solves the problems of poor communication Doppler frequency shift compensation precision, long signal synchronization time and small frequency compensation range between existing high-dynamic operation carriers. According to the method, an orbital dynamics equation set of a target carrier is established in a coordinate system o-xyz, and real-time motion information of the target carrier is obtained through calculation by utilizing the dynamics equation set; according to the real-time motion information of the target carrier, based on an aircraft dynamics theory, extrapolating a speed rule of the target carrier by using a guidance law; predicting the speed of the target carrier by using the speed rule of the target carrier; establishing a new Doppler change model of the guidance signal under the fast change channel, and calculating Doppler frequency shift by using the predicted speed of the target carrier: compensating the communication signal of the target carrier by using the Doppler frequency shift to realize the synchronization of the communication signal. The method is suitable for high-dynamic carrier communication synchronization.

The application discloses a CNN-LSTM-based phase calibration method for mode division multiplexing optical fiber communication and belongs to the technical field of optical fiber communication. By constructing a double-input CNN-LSTM hybrid neural network architecture, MIMO input signals and original target signals of mode division multiplexing optical fiber communication are acquired, data preprocessing is carried out, the spatial feature extraction capability of a convolutional neural network and the time series modeling capability of a long short-term memory network are combined, effective compensation of phase noise in long-distance strong coupling mode division multiplexing optical fiber communication is realized, complex MIMO signals are separated into real and imaginary parts and sliding window training samples are generated, and a double-branch network containing an image input layer, a convolutional layer, an LSTM layer, a deep connection layer and a self-defined phase calibration layer is constructed. The problems that the phase noise compensation capability of a traditional algorithm is limited and the convergence performance is poor under a strong coupling condition are effectively solved, and the equalization performance and transmission quality of a mode division multiplexing optical fiber communication system are significantly improved.

The invention provides an automatic position compensation system and method in the TGV machining process, and the system comprises an XYZ movement module, an adsorption platform, at least two mask mark points, a cutting head, a laser system, a visual camera, a plurality of temperature sensing units and a computer control system. Acquiring and storing reference coordinates of each mask mark point; in the laser machining process, machining is suspended according to a preset machining interval, the visual camera is controlled to shoot the mask mark point again, and the current coordinate of the mask mark point is obtained; comparing the current coordinate with a coordinate recorded last time, and calculating a position offset compensation value and a rotation angle compensation value for compensating a subsequent processing path; controlling the XYZ motion module to move according to the position offset compensation value and the rotation angle compensation value; the method has the beneficial effects that online, automatic and global closed-loop compensation of machining position errors is realized.

The invention relates to the technical field of electrical engineering, and provides an energy storage control method and device based on model predictive control, and the method comprises the steps: building a regional power grid frequency response model which comprises a conventional unit and an energy storage element, and the regional power grid frequency response model also comprises a local load; each state variable in the regional power grid model is input into a model prediction controller, virtual inertia control and virtual damping control are carried out on the energy storage element, the output of the virtual inertia control is in direct proportion to the frequency change rate, and the output of the virtual damping control is in direct proportion to the frequency deviation. The virtual inertia coefficient and the virtual damping coefficient of the energy storage element can be adaptively adjusted, the frequency stability of the power grid is maintained, and the recovery of the frequency of the power grid is accelerated; meanwhile, on the premise that the frequency of the power grid is not out of limit, the energy consumption of the energy storage element can be reduced, and the service life of the energy storage element is prolonged.