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33results about How to "Avoid failure effects" patented technology

Section power supply and status measurement and control method of parallel-connected traction networks at tail end of double track railway

The invention discloses a section power supply and status measurement and control method of parallel-connected traction networks at the tail end of a double track railway. By taking the section (10km) of the railway as a unit, a contact line sectioning and a sub-section post are additionally arranged at a section boundary. The sub-section post comprises a circuit breaker, a current transformer, a voltage transformer and a measurement and control unit. The circuit breaker and the current transformer connected with the circuit breaker in series are in bridge connection with the two ends of the contact line sectioning, and the sectioning is series-connected in the contact line. Through the arrangement of the sectioning and the sub-section post and the introduction of running status criterion, the running situation of charging trains on the traction networks can be timely and accurately mastered by operators on duty in a traction substation or dispatching room; by using the fault criterion, various faults can be timely and accurately found, distinguished and isolated, the continuous power supply and running of fault-free sections are ensured, the power outage scope is reduced to the maximum extent, and further the reliability of power supply of the traction networks is improved. The device has less investment and is easy to implement, not only is conveniently used by a new line, but also facilitates the transformation of an existing line.
Owner:SOUTHWEST JIAOTONG UNIV +1

Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method

The invention relates to the quadrotor unmanned aerial vehicle fault-tolerant control, and aims to realize attitude stability under the condition of an actuator fault of a quadrotor unmanned aerial vehicle. The technical scheme adopted by the invention is that an observer-based quadrotor unmanned aerial vehicle fault-tolerant control method includes the following steps: first defining an inertia coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, and through analysis of an action principle of the actuator on the quadrotor unmanned aerial vehicle, an unknown diagonal matrix is utilized to represent influence of an actuator fault on kinetic characteristics of the quadrotor unmanned aerial vehicle, and a nonlinear kinetic model when a fault occurs in the quadrotor unmanned aerial vehicle actuator is obtained; a unit quaternion-based attitude representation method is adopted; and an observer technology based on an immersion-invariant set method is adopted to observe the actuator. The observer-based quadrotor unmanned aerial vehicle fault-tolerant control method provided by the invention is mainly applied to quadrotor unmanned aerial vehicle design and control occasions.
Owner:TIANJIN UNIV

Fault identification and protection method of electrified railway AT traction network

Provided is a fault identification and protection method of an electrified railway AT traction network. When network voltage is lower than a specified value, labeling no-load trend symbol values of the near ends and the far ends of a touch net T and a negative feeder F in each self-coupling segment with 0, labeling influent trend symbol values with 1, labeling effluent trend symbol values with -1, if an absolute value of a sum of the trend symbol values of two ends of the touch net T in each self-coupling segment is larger than or equal to 1, or a failure absolute value of a sum of the trend symbol values of two ends of the negative feeder F is larger than or equal to 1, or a failure absolute value of a sum of the trend symbol values of two ends of a touch net T branch and a negative feeder F branch is larger than or equal to 1, respectively judging the touch net T to be in short circuit failure to the ground, or the negative feeder F to be in short circuit failure to the ground, or the touch net T to be in short circuit failure to the negative feeder F, and breaking off all breakers at two ends of each self-coupling segment. Short-circuit reactance calculated according to corresponding voltage and short-circuit current at two ends of each self-coupling segment and the corresponding length of the self-coupling segment determine failure positions.
Owner:SOUTHWEST JIAOTONG UNIV +1

Segmenting power supply distributed protection system for electrified railway traction network

The invention discloses a segmenting power supply distributed protection system for an electrified railway traction network. An overhead line in the electrified railway traction network is divided into a plurality of sections by corresponding to the intervals of a railway, sectionalizers and switching stations are additionally arranged on segmentation positions; each switching station comprises a breaker, a current transformer, a voltage transformer and a measurement and control unit; the breaker is always under a switching-on state; the secondary side of the voltage transformer and the secondary side of the current transformer of the switching station, the secondary side of the current transformer of the left adjacent switching station and the secondary side of the current transformer of the right adjacent switching station are connected with the input end of each measurement and control unit; the output end of each measurement and control unit is connected with the control end of the breaker of each switching station; each measurement and control unit is connected with a traction substation or control center via a transmission network. The invention forms a segmenting distributed protection method for the traction network. Compared with a centralized protection method, the segmenting distributed protection method has the characteristics that the instantaneity is not affected by the segmentation amount of the traction network. The relevant device disclosed by the invention has the advantages of small investment, convenience in implementation and convenience in new line adoption and old line modification.
Owner:SOUTHWEST JIAOTONG UNIV

Fault-tolerant control method for three-rotor wing unmanned aerial vehicle steering engine blockage fault

The invention relates to the technology of three-rotor wing unmanned aerial vehicle fault-tolerant control. In order to research a posture control problem when a three-rotor wing unmanned aerial vehicle has a steering engine blockage fault, a technical scheme adopted by the invention is a fault-tolerant control method for the three-rotor wing unmanned aerial vehicle steering engine blockage fault. The method comprises the following steps of defining an inertial coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, analyzing an action principle of a steering engine to the three-rotor wing unmanned aerial vehicle and considering the influence of external disturbance to dynamic characteristics, so as to obtain a non-linear dynamical model when a three-rotor wing unmanned aerial vehicle actuator has a fault, and designing a corresponding observer and a corresponding controller. The method is mainly applied to a three-rotor wing unmanned aerial vehicle control occasion.
Owner:TIANJIN UNIV

Fault detection device of electrified railway switching station, and method thereof

The invention discloses a fault detection device of an electrified railway switching station, and a method thereof, and relates to the technical field of the electrified railway traction power supply.The fault detection device is arranged at a middle switching station, an output end thereof is connected with control ends and electric control information sending ends of a left neighbor switching station, the middle switching station, and a right neighbor switching station; two sectionalizers are arranged on a contact network of an exit of each of the left neighbor switching station, the middleswitching station and the right switching station, and the sectionalizers are connected through a transition area. The fault can be accurately discovered and isolated in time, the technical problemsthat the new short-circuit is caused by short-circuit of pantograph and the contact network when the train drives into a fault section from the non-fault section and the arcing and burning loss are caused since the train with the load enters a nonelectric area, even if the accident is caused since the contact network is burnout in the prior art can be effectively solved.
Owner:SOUTHWEST JIAOTONG UNIV

Abnormal operation detection method and device for asynchronous motor

The invention discloses an abnormal operation detection method and device for an asynchronous motor. The method comprises the following steps: acquiring stator currents and stator voltages of the motor; obtaining a reference motor output torque according to the stator currents and the stator voltages; acquiring a detected motor output torque; calculating the difference between the reference motoroutput torque and the detected motor output torque, so that a motor output torque deviation value is obtained; judging whether the motor output torque deviation value is larger than a preset thresholdor not; and when the motor output torque deviation value is equal to or larger than the preset threshold, outputting a motor failure signal. The method has the advantages that low-frequency operationof the motor, during which a forward defined rotation direction of an encoder is opposite to a forward defined rotation direction of the asynchronous motor, can be detected in time, so that within abearable failure operation range of the asynchronous motor, corresponding protection measures for the asynchronous motor can be taken in time to prevent greater failure effects further caused by an uncontrollable motor speed.
Owner:SUZHOU WEICHUANG ELECTRICAL EQUIP TECH

Profiling variable sprayer based on phenotypic characteristics of crowns, and self-adaptive control method

The invention discloses a profiling variable sprayer based on phenotypic characteristics of crowns, and a self-adaptive control method. The profiling variable sprayer comprises a profiling mechanism module A, a profiling mechanism module B, a lifting and sliding module, a profiling bracket module, a liquid supply system, an electrical box and a detection module; on the basis of function and mechanism division of the profiling sprayer, modular and lightweight design is adopted; and the whole machine has the characteristics of being compact in structure, light, flexible, easy to manufacture andmaintain and the like. The self-adaptive control method of the profiling variable sprayer is as follows: ultrasonic echo signals are automatically acquired and processed, so that phenotypic characteristic information of a tree canopy is obtained; then, the air volume is calculated according to the volume of the canopy and phenotypic characteristic parameters of the canopy density; and the spray quantity is calculated according to the volume of the canopy and the phenotypic characteristic parameters of the canopy leaf area density. A profiling mechanism is driven to profile according to the profiling control amount calculated through ultrasonic ranging information; automatic profiling on the profile of a crown is realized; and the profiling variable sprayer is high in profiling precision, precise and high-efficiency to spray, pesticide-saving, environment-friendly, and simple and convenient to operate.
Owner:NANJING FORESTRY UNIV

Attitude robust adaptive fault-tolerant control method for unmanned aerial vehicle steering engine fault

The invention provides an attitude robust adaptive fault-tolerant control method for an unmanned aerial vehicle steering engine fault. The method comprises the following steps: observing a fault according to a current motor lift vector F, a current attitude angular velocity omega, a fault estimation value and a pre-designed sliding mode adaptive observer, determining and updating an attitude angular velocity estimation value, and calculating and updating an attitude angular velocity estimation error e omega according to the attitude angular velocity estimation value and the current attitude angular velocity omega; determining an attitude error quaternion eq according to the current attitude quaternion q and the target attitude quaternion qd; calculating a motor lift vector F according to apre-designed fault-tolerant controller so as to control and adjust the attitude of the unmanned aerial vehicle according to the motor lift vector; and estimating the error e omega and the attitude error quaternion eq according to the current motor lift vector F and the attitude angular velocity, and estimating and updating the fault estimation value according to the fault estimation value and theadaptive law. With application of the technical scheme, the influence of the unmanned aerial vehicle fault can be effectively overcome, the attitude stability is maintained, the calculation amount isgreatly reduced and the control efficiency is improved.
Owner:BINZHOU UNIV

Continuous traction power supply system of electrified railway and fault section identification method thereof

The invention, which belongs to the technical field of traction power supply of an electrified railway, discloses a continuous traction power supply system of an electrified railway and a fault section identification method thereof. When a fault occurs in a bilateral power supply overhead line system and an existing protection device of a traction substation trips to cut off the fault, a fault section identification device of a traction power supply system overhead line system sends data reading instructions to all section collection devices and records an instruction sending time t1; and allsection collection devices records a current time t after reading the data instructions, and a current effective value recorded within a range of from the current time to a period Tm of time before current time t as well as a phase relative to the current time t is uploaded to an overhead line system fault section identification device. After the overhead line system fault section identification device collects data from all section collection devices, a fault section is determined by using effective values and phases of two cycles after the sudden increasing occurrence time of the effective value.
Owner:SOUTHWEST JIAOTONG UNIV

Overhead line system fault identification device and method thereof for electrified railway AT power supply system

The invention discloses an overhead line system fault identification device and a method thereof for an electrified railway AT power supply system and belongs to the technical field of alternating current electrified railway traction power supply measurement and control. An input end of the fault identification device is connected to test ends of a voltage transformer, a left adjacent AT station,an intermediate AT station, and a right adjacent AT station; the voltage transformer is connected in parallel between an overhead line system in which the intermediate AT station is positioned and steel rails; an output end of the fault identification device is connected to control ends of the left adjacent AT station, the intermediate AT station, and a right adjacent AT station; control ends of the intermediate AT include a control end of a bypass short circuiting device connected in parallel in the overhead line system where the intermediate AT is located. Therefore, the overhead line systemfault identification device and the method thereof disclosed in the present invention can help timely discover, distinguish, and isolate various overhead line system faults and calibrate specific locations of the faults; that a faultless section continues to supply power can be ensured, a power outage range can be reduced to a maximum degree, expansion of impacts caused by the faults can be prevented, and reliability of traction network power supply can be further improved.
Owner:SOUTHWEST JIAOTONG UNIV

Fault detection device and method for electrified railway AT stations

The invention discloses a fault detection device and method for electrified railway AT stations, and relates to the technical field of traction power supply for electrified railways. According to thefault detection device, the input end of the fault detection device mounted in the middle AT station of the three AT stations in an electrified railway AT power supply system is connected with the test ends of the left adjacent AT station, the middle AT station and the right adjacent AT station; the output end of the fault detection device mounted in the middle AT station of the three AT stationsin the electrified railway AT power supply system is connected with the control ends and the electric tuning information sending ends of the left adjacent AT station, the middle AT station and the right adjacent AT station; two sectionalizers are arranged on a contact net of an outlet of each of the left adjacent AT station, the middle AT station and the right adjacent AT station; and the sectionalizers are connected through transition regions. The fault detection device and method can effectively solve the technical problems existing in the prior art that a fault cannot be timely and accurately found and isolated, a new short circuit is caused because a pantograph is short-circuited with the contact net when a train is driven into a fault section from a non-fault section, arc discharge and burning loss are caused and even the contact net is burnt out to cause an accident because the train with a load enters a no-power region, and the like.
Owner:SOUTHWEST JIAOTONG UNIV

Composite intelligently controlled seat

A composite intelligently controlled seat comprises a seat body, a voice recognition unit, a gesture sensing unit, a control unit and an executing unit. The voice recognition unit is used for receiving and recognizing voice information of a user and outputting a recognition result to the control unit through a transmissible signal. The gesture sensing unit is used for sensing a gesture signal of the user and transmitting the sensing information to the control unit in a transmissible signal manner. The control unit is used for generating a corresponding control instruction according to the recognizing result of the voice recognition unit and / or the sensing information of the gesture sensing unit and outputting the control instruction to the executing unit. The executing unit is used for executing an adjustment action to the seat body according to the control instruction. The composite intelligent controlled seat has advantages of high intelligent degree, high safety and high reliability.
Owner:SHENZHEN YIKONGDI INTELLIGENT HOME FURNISHING TECH CO LTD

Profiling variable spraying machine based on crown phenotypic characteristics and profiling control method

The invention discloses a profiling variable spraying machine based on crown phenotypic characteristics and a profiling control method. The profiling variable spraying machine comprises a profiling mechanism module A, a profiling mechanism module B, a lifting sliding module, a profiling support module, a liquid supply system, an electric box and a detection module. On the basis of function and mechanism division of the profiling variable spraying machine, modular and lightweight design is adopted, and the whole machine has the advantages of being compact in structure, light, flexible, easy tomanufacture and maintain and the like. The self-adaptive profiling control method of the profiling variable sprayer comprises the steps that ultrasonic echo signals are automatically collected and processed to obtain tree canopy phenotypic characteristic information, and then the spraying amount is calculated according to canopy volume and canopy leaf area density phenotypic characteristic parameters; the profiling control quantity is calculated through the ultrasonic ranging information, the profiling mechanism is driven to conduct profiling, automatic profiling of the crown outline is achieved, the profiling precision is high, spraying is accurate and efficient, pesticide is saved, the environment is protected, and operation is easy and convenient.
Owner:NANJING FORESTRY UNIV

Fault-tolerant control method for position and pose system under blockage fault of steering engine of three-rotor unmanned aerial vehicle

The invention relates to the problem of fault-tolerant control over a three-rotor unmanned aerial vehicle, and provides a fault-tolerant control method for a position and pose system under a blockagefault of a steering engine of the three-rotor unmanned aerial vehicle. The fault-tolerant control method is a novel fault-tolerant control method for the unmanned aerial vehicle and realizes completeclosed-loop stability control. According to the technical scheme, the fault-tolerant control method for the position and pose system under the blockage fault of the steering engine of the three-rotorunmanned aerial vehicle comprises the following steps that first an inertial coordinate system {I} and a vehicle body coordinate system {B} are defined, and the dynamic characteristics of the three-rotor unmanned aerial vehicle are analyzed and the influence of external disturbance and unknown air damping are simultaneously considered to obtain a nonlinear dynamic model during the blockage fault of the steering engine of the three-rotor unmanned aerial vehicle: an immersion-invariant set method is used for the design of a height channel controller; and the immersion-invariant set method is combined with a RISE algorithm to design a translation system controller to realize the fault-tolerant control over the three-rotor unmanned aerial vehicle. The fault-tolerant control method is mainly applied to design and manufacture occasions of the three-rotor unmanned aerial vehicle.
Owner:TIANJIN UNIV

Section power supply and status measurement and control method of parallel-connected traction networks at tail end of double track railway

The invention discloses a section power supply and status measurement and control method of parallel-connected traction networks at the tail end of a double track railway. By taking the section (10km) of the railway as a unit, a contact line sectioning and a sub-section post are additionally arranged at a section boundary. The sub-section post comprises a circuit breaker, a current transformer, a voltage transformer and a measurement and control unit. The circuit breaker and the current transformer connected with the circuit breaker in series are in bridge connection with the two ends of the contact line sectioning, and the sectioning is series-connected in the contact line. Through the arrangement of the sectioning and the sub-section post and the introduction of running status criterion, the running situation of charging trains on the traction networks can be timely and accurately mastered by operators on duty in a traction substation or dispatching room; by using the fault criterion, various faults can be timely and accurately found, distinguished and isolated, the continuous power supply and running of fault-free sections are ensured, the power outage scope is reduced to the maximum extent, and further the reliability of power supply of the traction networks is improved. The device has less investment and is easy to implement, not only is conveniently used by a new line, but also facilitates the transformation of an existing line.
Owner:SOUTHWEST JIAOTONG UNIV +1

Marine diesel engine exhaust gas desulfurization high-reliability dirt discharge delivery device

The invention discloses a marine diesel engine exhaust gas desulfurization high-reliability dirt discharge delivery device, and relates to the field of atmospheric pollution control and ship exhaust gas emission control. A system is composed of a washing kettle, a neutralization processor, a water chamber, an alkali liquid tank, a solid-liquid separator, a saturated liquid tank, a solid discharge chamber, and delivery, measuring and control devices for processing mixed liquid and the like. According to the invention, marine diesel engine exhaust gas enters the washing kettle, and is fully mixed and contacted with a spray desulphurization alkaline water solution; through neutralization treatment, sulfur oxide is dissolved and absorbed, such that sulfate is formed; other particles in the exhaust gas are mixed with and attached to the water solution; and separation, processing and recovery are carried out. Based on reliability theory and method, serial and parallel connection combination design of various parts of the dirt discharge delivery device in the marine diesel engine exhaust gas desulfurization system is carried out. Dirt discharge delivery device failure probability is reduced, exhaust gas desulfurization equipment operation reliability is greatly improved, and the requirements of marine diesel engine exhaust gas desulfurization can be met.
Owner:CHINA UNIV OF MINING & TECH (BEIJING) +1

A feeder automation system using can bus communication

The invention discloses a feeder automation system adopting CAN bus communication and belongs to the field of communication. According to the feeder automation system adopting CAN bus communication, branch node partition modules and pre-breaking points are set; when the influence of a fault monitored and predicted by a power distribution monitoring module is relatively serious, a heater is used for heating and fusing the pre-breakpoint of a node where the fault is located, and therefore, the fault point and the other normal operation parts of a system are completely isolated, the fault range of the fault point is timely prevented from being continuously expanded, the fault range is effectively controlled to be minimum; and in the above process, a breakpoint sheath bag can be set to gatherheat generated by the heater in the breakpoint sheath bag, so that fusing efficiency can be improved, and on the other hand, the interior and exterior of a double-layer hollow capsule shell are separated, so that the influence of heat in the double-layer hollow capsule shell on other parts on the outer side of the double-layer hollow capsule shell is effectively avoided, and safety during the fusing of the pre-breaking point is improved.
Owner:江苏伦肯智能科技有限公司

Method for raising position success rate of M2PA protocol end

This invention relates to a method for increasing the location success of M2PA protocol terminal point including: entering into the location process of a terminal point after the M2PA is started, during the process, if the processor is faulty, the terminal point makes recordings and continues the location process, when the process finishes, the next state of the point is determined based on the faulty recording to realize the M2PA protocol service function.
Owner:HUAWEI TECH CO LTD

Fault-tolerant control method for quadrotor UAV based on observer

The invention relates to the quadrotor unmanned aerial vehicle fault-tolerant control, and aims to realize attitude stability under the condition of an actuator fault of a quadrotor unmanned aerial vehicle. The technical scheme adopted by the invention is that an observer-based quadrotor unmanned aerial vehicle fault-tolerant control method includes the following steps: first defining an inertia coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, and through analysis of an action principle of the actuator on the quadrotor unmanned aerial vehicle, an unknown diagonal matrix is utilized to represent influence of an actuator fault on kinetic characteristics of the quadrotor unmanned aerial vehicle, and a nonlinear kinetic model when a fault occurs in the quadrotor unmanned aerial vehicle actuator is obtained; a unit quaternion-based attitude representation method is adopted; and an observer technology based on an immersion-invariant set method is adopted to observe the actuator. The observer-based quadrotor unmanned aerial vehicle fault-tolerant control method provided by the invention is mainly applied to quadrotor unmanned aerial vehicle design and control occasions.
Owner:TIANJIN UNIV

Fault-tolerant control method for three-rotor UAV servo jamming fault

The invention relates to the technology of three-rotor wing unmanned aerial vehicle fault-tolerant control. In order to research a posture control problem when a three-rotor wing unmanned aerial vehicle has a steering engine blockage fault, a technical scheme adopted by the invention is a fault-tolerant control method for the three-rotor wing unmanned aerial vehicle steering engine blockage fault. The method comprises the following steps of defining an inertial coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, analyzing an action principle of a steering engine to the three-rotor wing unmanned aerial vehicle and considering the influence of external disturbance to dynamic characteristics, so as to obtain a non-linear dynamical model when a three-rotor wing unmanned aerial vehicle actuator has a fault, and designing a corresponding observer and a corresponding controller. The method is mainly applied to a three-rotor wing unmanned aerial vehicle control occasion.
Owner:TIANJIN UNIV

A Distributed Protection System for Segmented Power Supply of Electrified Railway Traction Network

The invention discloses a segmented power supply distributed protection system for electrified railway traction network, which corresponds to the section of the railway, divides the catenary in the electrified railway traction network into several segments, and adds a segmenter and a switch at the segment. Closing station; switching station includes circuit breaker, current transformer, voltage transformer and measurement and control unit; the circuit breaker is usually in the closed state; the secondary side of the voltage transformer, the secondary side of the current transformer, and the left adjacent switching station of the switching station The secondary side of the current transformer and the secondary side of the current transformer of the right adjacent switching station are connected to the input terminal of the measurement and control unit, and the output terminal of the measurement and control unit is connected to the circuit breaker control terminal of the switching station; each measurement and control unit communicates with the traction substation through the transmission network Or dispatching room connected. The invention constitutes a segmented distributed protection method of the traction network. Compared with the centralized protection method, its real-time performance is not affected by the number of segments of the traction network. The related devices involved in the invention have less investment and are easy to implement, which is convenient for the adoption of new lines and the transformation of old lines.
Owner:SOUTHWEST JIAOTONG UNIV

Fault-tolerant control method of position and attitude system of three-rotor unmanned aerial vehicle under the jamming fault of steering gear

The present invention relates to the problem of fault-tolerant control of three-rotor unmanned aerial vehicles. In order to propose a new fault-tolerant control method for unmanned aerial vehicles and realize complete closed-loop stable control, the technical solution adopted by the present invention is that the position and attitude system of the three-rotor unmanned aerial vehicle is blocked when the steering gear is blocked. The fault-tolerant control method is as follows: First, define the inertial coordinate system {I} and the body coordinate system {B}. By analyzing the dynamic characteristics of the three-rotor UAV and considering the influence of external disturbance and unknown air damping, the three Nonlinear dynamics model of rotor UAV when servo jamming occurs: the height channel controller is designed using the immersed-invariant set method; the translational system controller is designed using the immersed-invariant set method combined with the RISE algorithm. Fault-tolerant control of three-rotor UAV. The invention is mainly applied to the design and manufacture occasions of the three-rotor UAV.
Owner:TIANJIN UNIV

Profile variable sprayer and adaptive control method based on plant canopy phenotype

The invention discloses a profiling variable sprayer based on plant canopy phenotype and an adaptive control method. The profiling variable sprayer includes a profiling mechanism module A, a profiling mechanism module B, a lifting and sliding module, a profiling bracket module, Liquid supply system, electrical box and detection module; on the basis of dividing the function and mechanism of the profiling sprayer, it adopts a modular and lightweight design. The whole machine has the characteristics of compact structure, lightness and flexibility, easy manufacture and easy maintenance. . The adaptive control method of the profiling variable sprayer automatically collects the ultrasonic echo signal and processes it to obtain the characteristic information of the tree canopy, and then calculates the air volume according to the canopy volume and canopy density phenotype characteristic parameters, The spray volume is calculated by the leaf area density phenotypic characteristic parameters; the profiling control amount calculated by the ultrasonic distance measurement information drives the profiling mechanism to profil, and realizes the automatic profiling of the crown contour, with high profiling accuracy, accurate and efficient spraying, Save medicine and environmental protection, easy to operate.
Owner:NANJING FORESTRY UNIV

A Fault Identification and Protection Method for AT Traction Network of Electrified Railway

Provided is a fault identification and protection method of an electrified railway AT traction network. When network voltage is lower than a specified value, labeling no-load trend symbol values of the near ends and the far ends of a touch net T and a negative feeder F in each self-coupling segment with 0, labeling influent trend symbol values with 1, labeling effluent trend symbol values with -1, if an absolute value of a sum of the trend symbol values of two ends of the touch net T in each self-coupling segment is larger than or equal to 1, or a failure absolute value of a sum of the trend symbol values of two ends of the negative feeder F is larger than or equal to 1, or a failure absolute value of a sum of the trend symbol values of two ends of a touch net T branch and a negative feeder F branch is larger than or equal to 1, respectively judging the touch net T to be in short circuit failure to the ground, or the negative feeder F to be in short circuit failure to the ground, or the touch net T to be in short circuit failure to the negative feeder F, and breaking off all breakers at two ends of each self-coupling segment. Short-circuit reactance calculated according to corresponding voltage and short-circuit current at two ends of each self-coupling segment and the corresponding length of the self-coupling segment determine failure positions.
Owner:SOUTHWEST JIAOTONG UNIV +1

Attitude robust adaptive fault-tolerant control method for UAV steering gear failure

The present invention provides an attitude robust self-adaptive fault-tolerant control method for UAV steering gear failure, including: according to the current motor lift vector F, the current attitude angular velocity Ω and the fault estimated value and according to the pre-designed sliding mode self-adaptive observation The controller observes the fault, determines and updates the estimated value of the attitude angular velocity, calculates and updates the estimated error e of the attitude angular velocity according to the estimated value of the attitude angular velocity and the current attitude angular velocity Ω Ω ;According to the current attitude quaternion q and the target attitude quaternion q d , determine the attitude error quaternion e q ; According to the pre-designed fault-tolerant controller, calculate the motor lift vector F to adjust the UAV attitude according to the motor lift vector control; according to the current motor lift vector F, attitude angular velocity estimation error e Ω and attitude error quaternion e q , update the fault estimate according to the fault estimate and the adaptive law and estimate, and through the technical solution of the present invention, the influence of the fault of the drone can be effectively overcome, the posture is kept stable, the calculation amount is greatly reduced, and the control efficiency is improved.
Owner:BINZHOU UNIV

Profile variable sprayer and profile control method based on crown phenotype characteristics

The invention discloses a profiling variable sprayer and a profiling control method based on tree crown phenotype characteristics. The profiling variable sprayer includes a profiling mechanism module A, a profiling mechanism module B, a lifting and sliding module, a profiling bracket module, a The hydraulic system, electrical box and detection module; on the basis of the function and mechanism division of the profiling variable sprayer, the modular and lightweight design is adopted. The whole machine has the characteristics of compact structure, lightness and flexibility, easy manufacture and easy maintenance. . The adaptive profiling control method of the profiling variable sprayer automatically collects the ultrasonic echo signal and processes it to obtain the phenotype characteristic information of the tree canopy, and then calculates the spray volume according to the phenotype characteristic parameters of the canopy volume and canopy leaf area density; through The profiling control amount calculated by the ultrasonic ranging information drives the profiling mechanism to profil the canopy contour automatically, with high profiling accuracy, precise and efficient spraying, less medicine and environmental protection, and easy operation.
Owner:NANJING FORESTRY UNIV

Dry treatment process and dry treatment equipment for waste gas containing viscous dust

The invention discloses a dry process for waste gas containing viscous dust. The treatment process uses anti-sticking agent, which is spirally lifted into the waste gas pipeline continuously, in the waste gas pipeline, the anti-sticking agent and the waste gas are mixed quantitatively and evenly in a swirling way, the dust particles with no viscosity are formed, and then the dust particles are removed by the filtering component. The obtained treatment process not only solves the influence of the viscous dust on the dust collector, reduces the filtration efficiency due to the viscous dust, increases the maintenance frequency, and the problem that the processing cost is increased; but also the dust removal efficiency is obviously improved, and the failure effect on the subsequent processingsteps due to the insufficient dust removal rate is effectively avoided; and the method accords with the circular economy and does not generate secondary pollution. The process equipment has the advantages of simple structure, low investment and operation cost, high waste gas treatment efficiency and wide application range, and has remarkable application and popularization value.
Owner:河北蓝纯环境科技有限公司
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