65results about How to "Avoid saturation" patented technology

The invention discloses an acetic anhydride production waste gas neutralization treatment device and method, and relates to the technical field of waste gas neutralization treatment.The acetic anhydride production waste gas neutralization treatment device comprises a treatment tank, a gas inlet pipe is fixedly installed at the bottom of the treatment tank, gas holes are formed in the surface of the gas inlet pipe, and a gas outlet pipe is fixedly installed at the top of the treatment tank; the waste gas neutralizing device is arranged in the treatment tank, and the waste gas neutralizing device comprises a motor, a connecting pipe, a fixing frame, a water spraying pipe, a reciprocating screw rod, a threaded plate, a fixing rod, an elastic telescopic rod, an activated carbon plate, a long rod, a universal wheel and an elastic telescopic scraper plate; the reciprocating lead screw rotates to drive the elastic telescopic rod to rotate, the elastic telescopic rod rotates to drive the activated carbon plate to rotate, through rotation of the activated carbon plate, the plate face can make uniform contact with pollutants in waste gas, saturation and aging of a local area are avoided, and the adsorption efficiency of activated carbon is improved.

The invention relates to a contact main guide field enhanced flexible capacitive pressure sensor and a preparation method thereof, the contact main guide field enhanced flexible capacitive pressure sensor comprises an elastomer composite electrode and a composite dielectric layer, the elastomer composite electrode is formed by compounding an elastomer electrode and a metal electrode, the elastomer electrode is an elastomer prepared from polydimethylsiloxane and a carbon nanotube composite material, a multi-scale microstructure is formed on the outer surface, facing the composite dielectric layer, of the elastomer electrode, and the metal electrode is a metal layer evaporated on the surface of the multi-scale microstructure; the composite dielectric layer is formed by compounding an inorganic metal oxide dielectric layer and an organic dielectric layer in an upper and lower layer structure. The contact dominant field enhanced flexible capacitive pressure sensor provided by the invention has the characteristics of relatively high sensitivity, relatively high linear responsivity, relatively wide sensing range and relatively good mechanical stability, and is wide in application prospect.

The invention relates to the technical field of auxiliary driving, in particular to a front-wheel steering and rear-wheel distributed driving vehicle path tracking method. The method comprises the following steps: S1, establishing a nonlinear vehicle dynamics model of front-wheel steering and rear-wheel distributed driving; s2, establishing a path tracking task constraint; s3, designing an adaptive robust controller based on task constraints; s4, based on Lyapunov analysis, stability and constraint following error performance of the adaptive robust controller are analyzed; and S5, using the controller in the step S3 to control the vehicle to perform path tracking. According to the path tracking control algorithm provided by the invention, a model which better conforms to the actual dynamic characteristics of the vehicle is established, and the condition of relatively large initial tracking deviation is considered and processed, so that the control stability of the vehicle under the influence of uncertain factors and relatively large initial tracking deviation can be improved, and a tracking error sample is limited in a specified area.

The invention discloses a wearable device tactile perception method and system based on an improved graph convolutional neural network, and the method comprises the steps: obtaining tactile data according to a pre-constructed contact simulation platform, and carrying out the processing of the tactile data through employing a noise region-based image enhancement algorithm, and obtaining target tactile data; optimizing the convolutional neural network according to a preset probability random switching activation function to obtain a target convolutional neural network; inputting the target tactile data and annotation data corresponding to the target tactile data into the target convolutional neural network by adopting a convolutional layer filter difference regularization algorithm, and performing iterative training on the target convolutional neural network to obtain a tactile perception model; and inputting the obtained real-time tactile perception data into the tactile perception model, and outputting a tactile perception result by the tactile perception model. The accuracy and stability of the tactile sensing system can be improved, and tactile sensing with high resolution and wide dynamic range is realized.

The invention discloses an airborne equipment acceleration monitoring and outrange control method and system, which cover acceleration monitoring of the whole flight process, combine dynamic scene modeling and a hierarchical response mechanism, and can timely identify an abnormal state and start corresponding measures. Through system calibration, noise identification, dynamic filtering, mistaken touch prevention parameter setting and a collision algorithm, false alarm and missing alarm caused by vibration, impact or sensor faults are effectively avoided, double modes of automatic collision detection alarm and manual triggering alarm are supported, the flexibility and safety of the system are improved, and once it is confirmed that the system is in distress, the system is safe and reliable. Rescue signals including position, time, height and other key information can be automatically sent, and the emergency response time is remarkably shortened.

The invention provides a SiC power semiconductor ultrahigh-voltage current detection method and system. The method comprises the steps that differential sampling processing is carried out on magnetic field signals collected by an inner ring Hall sensor array and an outer ring Hall sensor array which are arranged in a preset range of a SiC power semiconductor; performing nonlinear characteristic curve modeling processing on the output signal of the inner ring sensor according to the output signal of the outer ring sensor and the ratio of the output signal of the inner ring sensor to the output signal of the outer ring sensor to obtain a sensor saturation characteristic mapping relation under different magnetic field intensities; performing dynamic weight distribution processing on the inner and outer ring sensor signal ratio according to the mapping relation; and finally, performing segmented reconstruction processing on a current detection result to obtain a complete current measurement value. According to the method, the inner and outer ring differential structure and the dynamic weight distribution strategy are utilized, the saturation problem of the magnetic sensor under the ultra-high current is effectively solved, and the accuracy of current detection is ensured.

The invention relates to the technical field of sensor signal processing, in particular to a vibrating wire sensor anti-interference circuit and device, and the circuit comprises an interference suppression circuit, a differential amplification circuit, a clamping circuit, a low-pass filter circuit, a zero cross detection circuit and a processing module. The input end of the interference suppression circuit is used for being connected with a vibrating wire sensor, the output end of the interference suppression circuit is connected to the input end of the differential amplification circuit, the output end of the differential amplification circuit is connected to the input end of the clamping circuit, the output end of the clamping circuit is connected to the input end of the low-pass filtering circuit, and the output end of the low-pass filtering circuit is connected to the input end of the vibration wire sensor. The output end of the low-pass filter circuit is connected to the input end of the zero-cross detection circuit, and the output end of the zero-cross detection circuit is connected to the processing module. According to the invention, interference signals can be removed so as to obtain accurate signals to be detected.

The present invention provides a method and system for estimating the state of charge of a power lithium battery, establishes a third-order RC equivalent circuit model of a power lithium battery, determines the equation group of the model; transforms the equation group of the third-order RC equivalent circuit model to obtain a transfer function, converts the transfer function into a differential equation, and uses a forgetting factor recursive least squares method to derive the circuit parameters of the third-order RC equivalent circuit model; and in the derivation process, uses a simulated annealing algorithm to optimize the forgetting factor; based on the obtained circuit parameters, uses an adaptive H infinite unscented Kalman filter algorithm to estimate the state of charge of the power lithium battery. The present invention can significantly improve the accuracy of online parameter identification.

The present invention belongs to the field of laser radar technology, and discloses a preamplifier circuit suitable for a laser coherent speed and distance measurement system, including a first-stage amplification module for amplifying a photocurrent signal by a transimpedance amplifier circuit, a low-pass filter module for removing the aliasing phenomenon of high-frequency signals folded into a low-frequency band during the digitization of analog signals by a low-pass filter, a channel selection module for controlling the passband of echo signals in both speed measurement and distance measurement by a channel selection circuit, a filter switching module for switching signals to pass through an all-pass filter or a high-pass filter, and a second-stage amplification module for converting the differential voltage signal output by the all-pass filter or the high-pass filter into a single-ended signal by a differential amplifier circuit. The present invention realizes the measurement of two types of information, namely, target speed and distance, under the same device, and can accurately extract and amplify the target echo signal, thereby improving the flexibility and accuracy of signal extraction and processing.

This invention relates to the fields of computer data processing and database technology, specifically to an intelligent search system for business objects based on metadata. The system includes: a context request parsing module: receiving abstract search requests and extracting environment parameters and permission features to generate a dynamic context snapshot; a logical structure construction module: combining snapshot execution rule injection operations to generate a logical abstract syntax tree containing implicit filtering conditions; a multi-dialect compilation and execution module: translating the syntax tree into physical execution statements matching the target storage engine dialect according to physical mapping rules; and an adaptive optimization feedback module: monitoring execution latency data and dynamically correcting the index strategy definition. This invention solves the maintenance bottleneck caused by the tight coupling between business logic and physical storage in heterogeneous data source environments, achieving zero-code modification and hot deployment of business logic.

The invention belongs to the technical field of electronic information, and relates to a doubly-fed asynchronous wind driven generator grid-connected robust control method and system, and the method comprises the steps: constructing a doubly-fed asynchronous wind driven generator grid-connected structure, and determining a state equation of the structure based on a value mathematics theory and the grid-connected structure; converting the state equation into a linear equation; obtaining a state-space equation and a parameter uncertainty equation under nominal parameters according to the linear equation; combining the parameter uncertainty equation with the state-space equation under the nominal parameter in a feedback form to obtain a comprehensive state-space equation; converting the comprehensive state-space equation into a transfer function form, and establishing a generalized controlled object of a mixed sensitivity mathematical theory based on a mu value; a D-K iteration method is adopted to solve the linear fractional transformation closed-loop transfer function, a transfer function of the controller is obtained, a doubly-fed asynchronous wind generator grid-connected robust controller is obtained, doubly-fed asynchronous wind generator grid-connected robust control is achieved, and the problem that in the prior art, when rotor current and stator current change, air gap magnetomotive force changes non-linearly, and power consumption is low is solved. And the stability of the control system is influenced.

The application discloses a predefined time sliding mode control method of a Mecanum wheel robot, wherein a main controller controls input size and converts the input size into required voltage size to control a motor driving circuit in the form of a pulse width modulation waveform and interacts with an upper computer through Bluetooth; a radar and a six-axis acceleration sensor collect pose information including X-axis Y-axis position information and yaw angle information; an encoder collects direct current motor angular velocity information; the motor driving circuit converts the pulse width modulation waveform signal into a voltage signal to control the direct current motor rotating speed; S10, the radar, the six-axis acceleration sensor and the encoder collect motion parameters of the Mecanum wheel robot; S20, the main controller calculates an expected pose and an actual pose error; S30, the value of a sliding mode variable is updated; and S40, a sliding mode control input is updated. The application can realize faster convergence speed with smaller control input, and the actuator saturation phenomenon is avoided while the convergence speed is improved.

The utility model proposes a laser receiving circuit and a laser radar, the laser receiving circuit comprises an avalanche photodiode, a bias voltage generation circuit, an amplification circuit and a compensation circuit, the avalanche photodiode is driven by a negative bias voltage to carry out photoelectric conversion on a received laser pulse and generate an avalanche current, and the avalanche current is transmitted to the amplification circuit. When interference of ambient light or strong reflected light emitted by the laser emission circuit is received, the compensation circuit generates compensation current opposite to avalanche current based on voltage echo signals output by the amplification circuit, input signals of the amplification circuit are reduced, saturation of the amplification circuit is avoided, the dynamic range of the amplification circuit is enlarged, and the receiving sensitivity of the amplification circuit is improved. And the ranging accuracy and the environmental adaptability of the laser radar are improved.

The utility model relates to the technical field of moisture-proof medicine bottles, in particular to a replaceable moisture-proof medicine bottle which comprises a medicine bottle assembly and a replacement assembly. The medicine bottle assembly comprises a medicine bottle body and a bottle cap. A circular opening a is formed in the bottom of the medicine bottle body, the inner wall of the circular opening a is connected with a lower damp-proof plate, and a circular through hole b is formed in the bottle cap and connected with an upper damp-proof plate. The replacement assembly is connected to the medicine bottle assembly; the replacement assembly comprises a bottom shell, a connecting thread a, a moisture-proof agent bag a, an adjusting piece a, a top shell, a connecting thread b, a moisture-proof agent bag b and an adjusting piece b; the bottom shell is connected to the outer wall of the medicine bottle body through a connecting thread a, and the bottom shell is hollow and connected with a moisture-proof agent bag a and an adjusting piece a; the top shell is connected to the outer wall of the bottle cap through connecting threads b, and the interior of the top shell is hollow and connected with a moisture-proof agent bag b and an adjusting piece b. The replaceable moisture-proof medicine bottle can be conveniently adjusted according to the use environment of the medicine bottle, the used through holes are adjusted, and the practicability of the replaceable moisture-proof medicine bottle is conveniently improved.

The invention belongs to the technical field of cloth processing equipment, and discloses a dyeing device for elastic composite fiber cloth processing and a dyeing method.The dyeing device comprises a device body, a side plate is fixedly installed at the top end of the device body, cloth is arranged in the device body, a spraying assembly is arranged above the cloth, and a water absorption assembly is arranged at the bottom end of the cloth; the device comprises a device body, a water absorption sleeve is arranged on the top end of the device body, two compression rollers are arranged at the top end of the cloth and rotationally installed in the device body, a material guide roller is arranged above one of the compression rollers, and when the elastic composite fiber cloth is dyed, the cloth is firstly placed at the bottom ends of the two compression rollers and is placed at the top ends of the material guide roller and the water absorption sleeve; during dyeing, the cloth is wound from the end close to the water absorption sleeve, and in the winding process of the cloth, redundant dye liquor on the surface of the cloth is absorbed through the water absorption sleeve, so that the dyeing quality can be ensured, and the subsequent cleaning difficulty of the cloth can be reduced.

The invention provides a multifunctional nodular cast iron straight pipe special coating production line, and belongs to the technical field of waste gas treatment. Comprising a preheating device, a spraying device, a curing device and a waste gas treatment device, the preheating device is connected with the spraying device, the spraying device is connected with the curing device, the spraying device is connected with the waste gas treatment device, and the waste gas treatment device comprises supporting legs. By arranging the gear motor, the filter cylinder and the cylinder body, when the waste gas treatment device runs, the gear motor drives the filter cylinder to rotate, so that activated carbon is turned over, waste gas turbulence is promoted, the gas-solid relative speed is increased, the mass transfer process is enhanced, pollutants are more quickly diffused to the surface of the activated carbon to be adsorbed, the adsorption rate is increased, and the waste gas retention time is shortened; the activated carbon is fully overturned to be in contact with the waste gas, local premature saturation can be avoided, the adsorption capacity of the activated carbon is fully utilized, more waste gas can be treated under the condition of the same use amount of the activated carbon, and the operation economy and the waste gas treatment effect are improved.

The invention relates to a self-checking system, method and device for portable nuclear detection equipment, and the system comprises a scintillator which is used for transmitting an optical signal when receiving nuclear radiation; the photomultiplier circuit is used for carrying out photoelectric conversion on the light emitted by the scintillator crystal; the multichannel analyzer is used for detecting a response signal of the photomultiplier circuit and carrying out quantitative analysis on the signal; the LED lamp is embedded between the scintillator and the photomultiplier tube circuit; and the LED lamp is connected with the FPGA chip. The self-checking method comprises the steps of starting a self-checking mode, adjusting the high-level time of the LED lamp to adapt to system gain, detecting and analyzing a response signal of the photomultiplier circuit, and adjusting self-checking parameters in time. The portable nuclear detection equipment is integrated with the self-checking system, and the processor and the memory are used for processing signals and storing data, so that the accurate monitoring and recording of the running state of the equipment are ensured. According to the invention, the self-checking efficiency and precision of the nuclear detection equipment are effectively improved, and the stability and reliability of the equipment in various environments are guaranteed.

The invention discloses a low-power-consumption high-dynamic-range narrow-band band-pass delta-sigma modulator, which relates to the technical field of integrated circuits, and comprises a first-stage resonator, a variable gain amplifier, a second-stage resonator, a third-stage resonator, a quantizer and a DAC (Digital-to-Analog Converter), the variable gain amplifier is electrically connected with the second-stage resonator, the variable gain amplifier is located between the first-stage resonator and the second-stage resonator, and the variable gain amplifier is used for adjusting the output amplitude of the first-stage resonator and avoiding saturation of the second-stage resonator; the output end of the second-stage resonator is electrically connected with a third resistor R3, the other end of the third resistor R3 is electrically connected with a first switch S1, and the other end of the first switch S1 is electrically connected with the third-stage resonator. The working mode of the second-stage resonator is continuous time, the power consumption of the second operational amplifier U2 can be reduced when the second-stage resonator works in the continuous time mode, the number of DACs is reduced by adopting a feedforward structure, the power consumption is further reduced, and the architecture is simplified.

The invention relates to a thrust distribution method of an underwater operation robot, electronic equipment and a medium. Comprising the following steps: establishing an underwater operation robot body coordinate system; determining a vector arrangement matrix according to the position layout parameters of the horizontal plane propeller and the vertical plane propeller, and calculating the theoretical maximum thrust and torque; the thrust and the torque are divided into a horizontal plane and a vertical plane, and the initial thrust or torque is calculated through the output control quantity of the controller; calculating an additional moment and an additional thrust according to the influence of the decoupled thrust on the opposite surface; subtracting the corresponding additional thrust or additional torque from the initial thrust or torque to obtain comprehensive thrust or comprehensive torque to be distributed; according to the comprehensive thrust or the comprehensive torque, thrust distribution results of the horizontal plane propeller and the vertical plane propeller are calculated respectively. According to the method, the calculation of thrust distribution is simplified, and the thrust coupling of the horizontal plane and the vertical plane of the ROV is considered, so that the final thrust distribution result conforms to the expected motion state of the ROV.

The invention relates to an interference elimination device suitable for a broadband receiver, and belongs to the technical field of wireless communication. The device comprises a first power divider, a second power divider, a filter, an analog-to-digital converter (ADC), a signal processing unit, a digital-to-analog converter (DAC) and a combiner. The first power divider divides a broadband radio frequency signal into a reference signal and a pre-cancellation receiving signal. A reference signal is divided into multiple paths of narrow-band radio-frequency signals, the narrow-band radio-frequency signals are converted into digital signals through an ADC and then sent to a signal processing unit, and interference signal components are detected. The signal processing unit generates a corresponding digital anti-phase offset signal, and the digital anti-phase offset signal is converted into a radio frequency offset signal through the DAC. And the radio frequency offset signal is sent to the combiner to be combined with the pre-elimination receiving signal. Interference components contained in the pre-elimination receiving signal are added and counteracted by the counteracting signal, and a counteracted useful signal is obtained. The device carries out adaptive interference cancellation on the radio frequency signal received by the broadband receiver, prevents the broadband receiver from being blocked by in-band interference, and enables the broadband receiver to obtain a larger dynamic range.

This invention discloses a method and system for processing atomic operations in a cache. The method involves, upon receiving an atomic operation request containing a target address and bus operands, temporarily storing the bus operands in the bus storage area. It then searches for the stored operands in the last-level cache based on the target address. If not found, it requests to read them from memory and transfers the bus operands from the bus storage area to an auxiliary storage area. After receiving the stored operands from memory, it reads the bus operands from the auxiliary storage area. Finally, it performs an atomic operation on the bus operands and the stored operands to obtain the operation result. This method, upon detecting that the stored operands cannot be read from the last-level cache, transfers the bus operands to the auxiliary storage area to wait, thereby releasing the storage resources of the bus storage area and preventing storage resource saturation due to memory access latency. This improves the throughput and processing efficiency of atomic operations in high-concurrency scenarios.

The invention discloses an LNA (low noise amplifier) with high gain flatness and multi-band adjustment for aerospace information acquisition. Comprising a first low-noise amplification module, a first radio frequency switch, a first filtering module, a second radio frequency switch, a first adjustable attenuation module, a second low-noise amplification module, a second adjustable attenuation module, a third low-noise amplification module, a third radio frequency switch, a second filtering module and a fourth radio frequency switch which are connected in sequence. Each of the first filtering module and the second filtering module comprises a plurality of signal paths with different frequency response characteristics; a signal path of the first filtering module comprises an equalizer and a band-pass filter, and a signal path of the second filtering module comprises a band-pass filter; and the first radio frequency switch, the second radio frequency switch, the third radio frequency switch and the fourth radio frequency switch are used for selecting signal paths, so that the technical problems that in the prior art, extremely low noise and high and flat power gain are difficult to maintain in a wide frequency band, and switching in different frequency bands cannot be flexible are solved.

This invention relates to the field of coatings, specifically to a wear-resistant, formaldehyde-removing artistic coating and its preparation method. The coating, by weight, comprises: 45-55 parts of waterborne polyurethane-modified acrylic emulsion, 15-25 parts of silane-modified filler, 4-8 parts of supported formaldehyde-removing filler, 6-12 parts of pigment, 0.2-0.6 parts of dispersant, 0.1-0.4 parts of defoamer, 0.3-0.8 parts of thickener, 1-3 parts of film-forming aid, and 15-25 parts of deionized water. This invention achieves a balance between film hardness and toughness by using waterborne polyurethane-modified acrylic emulsion as the film-forming substance and combining it with silane-modified filler. The polyurethane segments provide excellent flexibility and resilience, the acrylic segments provide high hardness, and the silane-modified filler forms a strong chemical bond with the resin matrix through a silane coupling agent, improving the overall performance of the coating and extending its service life.

The invention discloses an ambient light elimination method, a light detection sensor and a system, and belongs to the technical field of proximity light sensors. In the calibration stage of the sensor, a current compensation module dynamically adjusts compensation current according to a compensation control signal output by an error amplification module, counteracts a current signal generated by ambient light and establishes a compensation state; in the detection stage, the current compensation module keeps the established compensation state, so that the compensation current continues to offset the ambient light current, and the integrator module only carries out integration on the current corresponding to the target light signal. According to the invention, a method for later compensation depending on digital signal processing and a digital-to-analog converter in a traditional scheme is abandoned, a front-end analog direct elimination mechanism is provided, ambient light current is directly offset through an analog feedback loop in an initial stage of a signal chain, namely before analog-to-digital conversion, and delay and precision limitation caused by digital processing are avoided.

The invention relates to the technical field of vehicle-mounted optical imaging, in particular to a vehicle-mounted lens partition exposure scheduling and glare suppression imaging method, which comprises the following steps of: S1, acquiring original environment light field distribution information in front of a driving vehicle, and acquiring a glare suppression image based on the original environment light field distribution information; identifying an intense light source area in a view field range and a conventional area except the intense light source area; s2, on the basis of the identified strong light source area, generating a dynamic partition control instruction, according to the dynamic partition control instruction, performing view field segmentation on the light sensing surface of the imaging sensor, distributing a first exposure time period for the strong light source area, and distributing a second exposure time period for the conventional area, wherein the duration of the first exposure time period is smaller than that of the second exposure time period; according to the invention, through the deformable lens array, strong light spots which are originally projected to the center of the light-sensitive surface to cause overexposure are deflected or scattered, so that saturation caused by the fact that the pixel units on the light-sensitive surface receive excessive light energy is fundamentally prevented.

The application discloses a kind of double-stator permanent magnet motor multi-objective optimization design method and motor considering multiple working conditions performance, according to multiple operating modes of double-stator permanent magnet motor and corresponding torque, efficiency demand, determine the design parameters of inner and outer stator and rotor and multi-working condition optimization target;Establish initialization finite element simulation model, collect data by uniform sampling to design parameters and optimization target, carry out correlation analysis and according to the result, eliminate the parameters with low correlation;The conflict relationship between optimization targets is analyzed using the aggregation tree algorithm, representative targets are extracted, and the target dimension reduction is completed;The reduced data is used to train a proxy model, and the proxy model is applied to a multi-objective optimization algorithm to optimize the motor performance.Finally, the motor design scheme is simulated and evaluated.The application solves the problem of excessive design parameters and optimization targets caused by multiple working conditions and complex motor structure of double-stator permanent magnet motor, and improves the optimization efficiency while improving the comprehensive performance.

This invention discloses a zero-space method for pre-set time trajectory tracking and obstacle avoidance of a two-wheeled differential vehicle, belonging to the field of mobile robot navigation and cooperative control technology. It includes: 1) establishing a kinematic model of the two-wheeled differential vehicle and clarifying the mapping relationship between the vehicle's linear velocity, angular velocity, and body motion; 2) constructing a zero-space multi-task priority control framework, defining obstacle avoidance as the highest priority task and trajectory tracking as the second-priority task; 3) integrating the pre-set time control with the second-priority trajectory tracking task, introducing a practical pre-set time gain to design a pre-set time control law, enabling the vehicle to accurately track the trajectory within a preset time; 4) fusing the desired obstacle avoidance velocity with the desired trajectory tracking velocity after zero-space projection, outputting executable linear and angular velocity commands for the vehicle body; and 5) conducting ideal working condition algorithm simulation in MATLAB. This invention effectively improves the system's safety and motion smoothness.

The invention belongs to the technical field of autonomous underwater vehicle control, and particularly relates to an actuator saturation fault-oriented AUV fault-tolerant control method, a program, equipment and a storage medium. According to the method, the saturation control item is introduced into the fault compensation of the AUV, the redundancy characteristic of the hybrid actuator can be fully utilized, the force and torque redistribution under the fault is realized through the dynamic fault distribution matrix, and the saturation of the actuator is inhibited by means of the saturation error item of the Lyapunov function. On the premise that the trajectory tracking precision is not lost, the recovery time after a fault is greatly shortened, the output fluctuation of the actuator is reduced, the saturation risk is avoided, the control reliability and stability of the AUV under the fault working condition are remarkably improved, and the situation that the AUV is lost due to the fault generated by saturation of the actuator can be effectively reduced.

The utility model discloses an air drying device for a pelletizer, and relates to the technical field of pelletization of the pelletizer, the air drying device comprises a rack for bearing plastic strips to move, roll shafts for guiding the plastic strips are arranged at the two ends of the rack, and an air bellow for air drying of the plastic strips is arranged at the position, below the plastic strips, of the rack. And a fan communicated with the air bellow is arranged on the outer side of the air bellow. Roll shafts for guiding plastic strips are installed on the machine frame, when the plastic strips move, the roll shafts rotate to assist the plastic strips in moving and reduce the possibility that the plastic strips fall into the machine frame, an air bellow is arranged on the machine frame and located below the plastic strips, and a draught fan which is arranged on the outer wall of the air bellow and communicated with the air bellow is used for air drying of the plastic strips. And the possibility that the plastic strips are snapped during movement after being heated and dried by the drying device is reduced.

The invention relates to the technical field of image sensor design, in particular to a high-speed Pipe-SAR-ADC circuit and module for a CIS. According to the circuit disclosed by the invention, firstly, a CDS-PGA part is used for carrying out sampling and holding, gain amplification and fixed offset introduction on an input signal to obtain a differential signal; performing 6-bit quantization on the differential signal through a first-stage SAR-ADC part to obtain a 6-bit numerical code and a residual signal; amplifying the residual signal through an MDAC part to obtain an amplified signal; then, the amplified signal is subjected to 7-bit quantization through a second-stage SAR-ADC part, and a 7-bit numerical code is obtained; and finally, performing redundancy calibration by a redundancy calibration part according to the 6-bit numerical code and the 7-bit numerical code to obtain a final 12-bit numerical code. According to the invention, not only can a higher input signal range and a higher signal-to-noise ratio be met, but also noise is reduced, offset voltage is eliminated, and high speed, low noise and high resolution can be realized.