54results about How to "Avoid control error" patented technology

The invention discloses an arm support state control system, which comprises a detection device (1), a storage device (2), a control device (3) and an actuating device (4), wherein the detection device (1) is used for detecting the position state and vibration state of an arm support (8) of concrete pumping equipment to obtain a position state signal and a vibration signal; the storage device (2) is used for storing the vibration signal to obtain the periodical vibration signal of the arm support (8); the control device (3) is used for receiving the position state signal, the vibration signal and the periodical vibration signal and obtaining a control instruction according to a preset arm support vibration range, a preset advanced regulation time and a preset control policy; and the actuating device (4) is used for changing the state according to the control instruction and controlling the arm support (8) to act the preset arm support vibration range. The arm support state control system provided by the invention can avoid control error caused by time delay in the detection process of the detection device and the actuating process of the actuating device, absorb vibration in time and improve the operation convenience of the arm support. The invention also discloses concrete pumping equipment.

The invention provides a celestial autonomous navigation method based on star sensors, which comprises the following steps: calculating attitude information based on a geocentric inertial coordinate system, which is output by a star sensor; calculating the optical axis direction based on the geocentric inertial coordinate system; converting the optical axis direction based on the geocentric inertial coordinate system into optical axis direction based on a WGS84 coordinate system; reading the included angles alpha 0 and beta 0 between the X and Y directions of the star sensor and the horizontal direction from a laser level meter; calculating the direction in the WGS84 coordinate system when the optical axis direction is perpendicular to the horizontal level; calculating the longitude alpha and latitude beta of the underground point S of the carrier; and outputting the attitude q and the longitude alpha and latitude beta of the underground point of the carrier in the geocentric inertial coordinate system. The invention avoids measurement and control errors caused by horizontal reference platforms, enhances the measuring accuracy, and simultaneously outputs the attitude of three axes and the longitude and latitude of the carrier in the geographic coordinate system in real time, thereby completely realizing celestial autonomous navigation.

The invention discloses a unified dynamic modeling method of a generalized system of a crawler-type mobile manipulator. The core thereof comprises the following steps of: utilizing absolute coordinates to calculate kinetic energy and potential energy of the crawler-type mobile manipulator; using lagrangian dynamic method of a robot to carry out unified dynamic modeling to the crawler-type mobile manipulator; and rewriting the modeling into the unified dynamic modeling under the generalized system as the mobile manipulator is a complex system and a mobile platform has incomplete constraint. The invention avoids the error caused by that the coupling and mutual influence of the mobile platform and the manipulator which are respectively modeled and controlled when the mobile manipulator is researched originally, simultaneously has strong theoretical property, clear thinking and easy realization of programming and achieves the purpose of controlling the type of mobile manipulator precisely.

The invention discloses a mobile phone Bluetooth control switch and a mobile phone Bluetooth control method. The mobile phone Bluetooth control switch comprises a controller and a mobile phone with a Bluetooth function. The controller is provided with a Bluetooth module, a power supply module and a switch control module, the Bluetooth module is respectively connected with the power supply module and the switch control module, the output end of the controller is connected with an electrical appliance switch, and the controller is in communicating connection with the mobile phone through the Bluetooth module. On the one hand, the controller receives a control instruction sent by the mobile phone through the Bluetooth module and processes the control instruction in the Bluetooth module, and the Bluetooth module outputs high-low electrical level to control attraction and release of contacts of the switch control module to achieve the switching effect; on the other hand, the Bluetooth module sends a processing result to the mobile phone, and feedback information is displayed on a software interface to display a switching state. The Bluetooth module creatively and directly analyzes, processes and controls the control instruction and works in an invisible mode. The mobile phone Bluetooth control switch is compact in circuit design, low in cost, high in reliability and easy to popularize and use.

The invention discloses a servo valve zero position automatic adjusting technology in a hydraulic AGC control system. The technology adopts a dynamic zero position adjusting method and utilizes a PID intelligent adjuster to directly compare a target roll gap value and an actual roll gap value after range conversion and transfer the difference value into an opening value of the servo valve and adjust a balance point of the two values dynamically; once the target roll gap value and the actual roll gap value exceed the error range, then the PID intelligent adjuster automatically adjusts the opening of the servo valve to lead the two values to approach to the target value rapidly. The invention solves the error control caused by the zero position excursion of the servo valve through changing a fixing zero position control of the servo valve into a dynamic control, thereby improving the reliability and stability of the AGC control system.

The invention discloses a chilled water precision air conditioner and an energy-conservation control method thereof, wherein the chilled water precision air conditioner comprises a chilled water precision air conditioner unit, a control cabinet connected to the chilled water precision air conditioner unit, a return-air temperature sensor arranged in the chilled water precision air conditioner unit, a speed-adjustable draught fan, chilled water valves, a chilled water coil pipe, a chilled water pipeline connected to the chilled water precision air conditioner unit and a chilled water pump. When the cooling capacity demand is increased, the bigger chilled water valve is controlled to open firstly by the control cabinet, and secondly the revolving speed of the speed-adjustable draught fan is improved; when the cooling capacity demand is decreased, the revolving speed of the speed-adjustable draught fan is lowered firstly, and the small chilled water valve is closed secondly. The chilled water precision air conditioner and the energy-conservation control method thereof have the advantages that the defects that the energy conservation of the whole system entirely depends on whether the frequency of a chilled water system of a user is convertible or not and the resistance change of the water pipeline exerts influence on the whole water system energy conservation when the open of the water valves changes in a traditional method of adjusting the open of the water valves only are overcome, and error control and inaccuracy from discharge variation to differential pressure variation are avoided furthermore.

The invention is applied to the technical fields of sensing control of industrial robots, and provides a method and device for calibrating sensor postures of a robot in real time and terminal equipment. A binding position of a sensor is arranged on the robot; and the sensor is arranged on the binding position. The method for calibrating sensor postures of the robot comprises the following steps: building a robot motion coordinate system and a sensor coordinate system; controlling orientated motion of the sensor; acquiring six-dimensional posture data; calculating an initial posture relation ofthe sensor coordinate system relative to the robot motion coordinate system; calculating posture converted quantity of the binding position relative to the robot; and calculating the posture relationof the sensor relative to the robot according to the posture converted quantity of the binding position relative to the robot and the initial posture relation of the sensor coordinate system relativeto the robot motion coordinate system. According to the method and device for calibrating sensor postures of the robot in real time disclosed by the invention, the phenomenon that control errors caused by the change of the sensor postures during control of the positions and the postures of the robot is avoided.

The application provides a servo driver stroke calibration method and device; the method comprises the following steps: controlling a servo driver to move in a preset mode, obtaining real position data of the servo driver in different positions in a motion process and feedback data of a position sensor, and using said data as target data; using the target data to carry out segmented curve fittingaccording to a preset segment number and a preset fitting number, obtaining fitting curves, and determining fitting curves satisfying preset conditions as target fitting curves; calibrating the servodriver according to curve fitting data corresponding to the target fitting curves. The servo driver stroke calibration method and device can effectively solve the control errors caused by self linearity difference and installation difference of the position sensor, thus improving the control precision of the servo driver.

A motor compensation control method for a driverless vehicle comprises: acquiring, by a controller, next turning action parameters of the vehicle according to a planned route, including turning angle u and completion time t; requesting, by the controller, to a vehicle condition database for current motor state and transmission system state; requesting, by the controller, to the vehicle condition database for determining motor compensation coefficient a according to the motor state; requesting to the vehicle condition database for determining transmission system compensation coefficient b according to the transmission system state, wherein the vehicle condition database includes an inspection-maintenance database and a delivery database, motor compensation coefficient a1 and transmission system compensation coefficient b1 in the inspection-maintenance database are updated according to latest inspection-maintenance record, and correspondence between the motor compensation system A1 and transmission system compensation coefficient B1 and the driving time in the delivery database are calibrated before delivery; a steering motor control method is modified in order to compensate steering angle deviation during autopilot, so that better autopilot effect is achieved.

The invention discloses a method for controlling the radon concentration of an Rn/Tn mixed radon chamber, and in particular relates to a method for quantitatively controlling the concentration of two radioactive gases 222Rn and 220Rn in the Rn/Tn mixed radon chamber simultaneously. The technical scheme of the invention comprises the following steps of: setting expected concentration of radon and thoron and a maximum error which is allowed to be controlled by a user; calculating thorium removing rate, radon removing rate, exhaust gas flow, first radon supplementing duration, attenuation duration and second radon supplementing duration; and performing control operation such as first radon supplementing, attenuation, second radon supplementing, attenuation and the like in turn according to time parameters. By the control method, the stability of the two radioactive gases 222Rn and 220Rn in the radon chamber is ensured and the influence of radioactive statistical fluctuation is also eliminated; and automatic control is easy to realize. The method can be widely applied to the accuracy control of the radon concentration of various Rn/Tn mixed chambers.

The invention discloses a pupillary light reflex diagnosis device in the neurology department, and relates to the technical field of medical instruments. The device is integrally formed and fixed to the eye through a fixing belt, wherein the foremost end is an eye contact part in contact with the eye and completely closing the eye, the inner portion is provided with an image acquisition part and astimulating light source part from the front end to the rear end in sequence, and the eye contact part, the image acquisition part and the stimulating light source part are connected with a control part arranged on the stimulating light source part separately. The pupillary light reflex diagnosis device has the advantages that pupillary light reflex can be diagnosed and recorded accurately, the operability and convenience are better, and the device is suitable for popularization and application in medical mechanisms.

The invention discloses a compressor inlet guide blade adjustment mechanism and a control method thereof, and relates to the field of compressed air energy storage system centrifugal compressor testing. The adjustment mechanism includes a pressing sleeve, a rotating handle, a set screw, a fixing bolt and a plurality of inlet guide blades arranged uniformly on an inlet guide blade drum body along the circumferential direction, and a mounting angle of the inlet guide blades can be adjusted manually. The adjustment mechanism has the main advantages that the inlet guide blade adjustment mechanismadopts manual adjustment without a complex execution mechanism and a transmission connecting rod mechanism and the like, and the complexity of a device is effectively reduced. The inlet guide blade adjustment mechanism is provided with a dial and metal pointers and the like, a control error brought by pneumatic/electric execution mechanisms, and the accuracy of a compressor testing result is improved.

The invention relates to a vibration device and a control method thereof, electronic equipment and a storage medium. The vibration device comprises a motor, a vibration part, an acceleration detectionmodule and a control circuit, and the motor is connected to the vibration part and used for driving the vibration part to vibrate; the acceleration detection module is connected to the vibration partand is used for detecting the acceleration of the vibration part; the control circuit is connected with the acceleration detection module and the motor and used for controlling the motion state of the motor according to the acceleration detected by the acceleration detection module. The vibration detection and control precision is improved.

The invention discloses a relay protection circuit based on high-precision zero-cross detection, which comprises a rectification circuit, a signal generation circuit, a filter circuit, a shaping circuit and a processor which are electrically connected in sequence, and is characterized in that the rectification circuit is used for converting alternating current into positive waveform voltage; the signal generation circuit comprises a first diode, a first capacitor, a ninth resistor, a first transistor and an optocoupler, and the on-off of the optocoupler is realized by controlling the on-off of the first transistor; the processor is connected with at least one relay and is used for receiving the output signal and recording the action times of the relay, receiving the first output signal when the optocoupler is switched off, receiving the second output signal when the optocoupler is switched on, and judging an alternating current zero point when detecting that the second output signal is changed into the first output signal; the relay is controlled to be switched on and off at an alternating current zero point. The device can realize accurate on-off of the relay at an alternating current zero point, can simultaneously control a plurality of relays to act, and is long in service life, high in precision, small in size, low in cost, stable and reliable.

The invention discloses an air conditioner control method and device and a computer storage medium, and belongs to the technical field of intelligent household appliances. The method comprises the steps that the current return air temperature of an air conditioner and the current remote controller temperature of a remote controller matched with the air conditioner are obtained; and when the temperature difference value between the current remote controller temperature and the current return air temperature is within a first set temperature range, operation of the air conditioner is controlledaccording to the current remote controller temperature. According to the method, fault-tolerant correction can be carried out on the remote controller temperature, operation of the air conditioner iscontrolled according to the remote controller temperature only when the temperature difference value between the remote controller temperature and the return air temperature of the air conditioner iswithin the set temperature range, therefore control errors caused when the remote controller temperature is not accurate enough due to some factors are avoided, and the stability of air conditioner control and the user experience are further improved.

The invention discloses a rail transit equipment inner end door and a control method therefor. According to the rail transit equipment inner end door and the control method therefor, a larger stroke value in the door opening/closing stroke serves as a control element of the door opening/closing speed, the larger stroke value can embody mechanical abrasion, the influence of the mechanical abrasion on the door opening/closing time is avoided, and the control precision of the operation time of the inner end door is improved; and meanwhile, a limit switch is not needed, and therefore, the fault that the limit switch is damaged can be avoided. In addition, the method can be suitable for inner end doors of all specifications, the movement stroke of a door body does not need to be measured in advance, and control over operation of the inner end door can be completed through self-learning.

The invention discloses a color register control system and method for high-precision printing equipment, and relates to the technical field of printing. The system involves a first analysis unit, an extraction unit, an error analysis unit, and a color register adjusting unit, wherein the first analysis unit is used for analyzing an analog voltage signal generated by a photoelectric sensor in an automatic color register system to obtain a key parameter of the analog voltage signal; the extraction unit is used for extracting an effective voltage signal in the analog voltage signal according to the key parameter, and the effective voltage signal is a signal generated when the photoelectric sensor detects a color code; the error analysis unit is used for carrying out data analysis on the voltage signal based on the effective voltage signal and calculating to obtain an overprinting error of the automatic color register system; and the color register adjusting unit is used for adjusting the operation of the color register system according to the calculated overprinting error. The color register control system has the advantages of being high in intelligent degree and automatic in control.

The invention relates to a control method for isolating the biaxial angular motion of a gravimeter, solves the problem that the attitude angle of a biaxial stabilized platform is misaligned due to filtering delay in a large dynamic state, and provides a control method for isolating the biaxial angular motion by designing a phase angle margin based on frequency analysis. Control errors caused by filtering time delay are avoided, and the control precision of 15 ''can still be kept under the large dynamic conditions of 80kg large load and fourth-level sea conditions.