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

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.