358results about How to "Compensation error" patented technology

A machine tool for machining and testing the non-spherical optical part features that its main body has the symmetrical gantry frame structure with X, Y, Z and C axises designed modularly, the milling head or polishing mechanism is installed to the Z-axis bench, and the floating platform equipped with the in-line measuring and error-measuring unit for plane and parallel to Y axis is arranged on main body. Its advantage is high machining precision.

The invention discloses a sensor, a monitoring station based on the sensor and a monitoring method of the monitoring station. The monitoring station comprises a cloud server device and a plurality of sensors and also comprises temperature and humidity sensors corresponding to the sensors both in number and position, wherein the cloud server device is in signal connection with atmosphere particle monitoring sensors and national-level monitoring stations. The sensor, the monitoring station and the monitoring method have the benefits that atmospheric particulates are continuously and automatically measured, the measurement cost is low, the concentration of atmospheric particulates can be measured in real time, maintenance is convenient, and defects that an ordinary light scattering method is poor in accuracy, short in service life and not suitable for outdoor measurement and the like are overcome.

The invention discloses a method for compensating a signal of a high-precision pressure sensor. The method comprises the following steps of: inputting a pressure measuring signal and a temperature measuring signal measured by a pressure sensor into a digital signal processor; converting an original pressure signal into a pressure signal which is not subjected to temperature compensation and capable of eliminating lagging errors through a lagging error compensation method; carrying out temperature correction on the pressure signal through a signal interface processing method to acquire the pressure signal subjected to the temperature correction; and processing the pressure signal and the temperature signal subjected to the temperature correction to acquire a pressure signal and a temperature signal subjected to temperature compensation and non-linear error compensation through a temperature compensating method. The invention can compensate lagging errors and non-linear errors of the pressure sensor and errors caused by the change of the environment temperature, and can improve the measurement precision of the pressure sensor.

The invention discloses a control method of brushless D.C. motor (BLDC) position signal phase error based on back EMF zero crossing point reconstruction, belonging to the technical field of the control method of BLDC non-position sensor technology. The method comprises the following steps: respectively collecting three phases of filtered terminal voltage waveforms, the coordinate systems thereof being alfa coordinate system in which vectors of three axels in the alfa coordinate system are used for representing three filtered terminal voltages, calculating the projection of the three vectors of the alfa coordinate system in the belta coordinate system. The degree beta by which the belta coordinate system lags behind the alfa coordinate system is controlled to achieve real-time compensation for the error of position signal phase caused by RC first order low pass filtering, and the zero-crossing points of the three vectors in the belta coordinate system are phase-changing points, thus realizing accurate phase-changing. The invention can avoid being affected by RC filtering under the working condition of broad rotating speed.

The invention discloses a movable drilling and milling robot system achieving automatic addressing. The movable drilling and milling robot system comprises a movable drilling and milling robot body subsystem, an integrated control subsystem and a navigating and positioning subsystem; the movable drilling and milling robot body subsystem comprises an omni-directional intelligent moving platform module, a manipulator module and a drilling and milling end executer module; the navigating and positioning subsystem comprises an omni-directional intelligent moving platform navigating and positioning module, a manipulator positioning precision improving module and a high-precision end executer positioning module; the integrated control subsystem comprises a central control module, an omni-directional intelligent moving platform control module, a manipulator control module, an end executer control module and an energy management control module. The system can rapidly adjust the layout according to changes of manufacturing tasks or production environments, is suitable for multi-variety and middle-small-batch production and overcomes the processing technological difficulties of an overlarge structure.

The invention discloses a nonlinear interference control method and a nonlinear interface control system for a permanent magnet linear synchronous motor (PMLSM). According to the control method, an online estimated compensating voltage value ud of a wavelets neural network (WNN) is added on the basis of up+uf of the conventional composite feedforward proportional differential control, and the sum of up, uf and ud is used as the control voltage U(t) of a stator of the PMLSM, namely the control voltage U(t) is equal to up+uf+ud. The WNN is a three-layer forward network, and ud is the sum of omega1psi1, omega2psi2, ..., omegajpsij, ..., and omegampsim. A learning signal of the WNN is an output value of a proportional differential controller. The control system comprises a digital signal processing controller, a power driving module connected with the stator of the PMLSM, and a rotor displacement sensor arranged on the PMLSM. The WNN is used for effectively compensating interference such as PMLSM thrust fluctuation and frictional force and errors of a fixed parameter model, and tracking accuracy can be improved by more than 2.7 times; and the control system can be implemented by universal hardware, and is convenient to popularize and use.

The invention discloses a gas transmission pipeline leakage detection system and method suitable for multiple state changes. The gas transmission pipeline leakage detection system and method suitable for the multiple state changes comprise a gas transmission pipeline leakage detection system (system for short) suitable for multiple state changes and a gas transmission pipeline leakage detection method (method for short) suitable for the multiple state changes. The system comprises an input module, a gas transmission pipeline transmission mechanism model, a neural network compensation model, a pipeline system signal collection module, a correction output processing module and an error obtaining module; the method aims at building a gas transmission pipeline mathematical model, obtaining a gas transmission pipeline state-space equation, processing flow signals of the gas transmission pipeline state-space equation, building the RBF neural network and verifying a detection model; the gas transmission pipeline flowing mathematical model and the detection method based on knowledge are combined, tail end loads, the pipeline diameter, pipeline bending, the environment temperature, the gas wave velocity, a compression coefficient, the pipeline hydraulic frictional resistance coefficient and the like are researched, and the gas transmission pipeline leakage is monitored; and a pipeline model is trained, and an accurate model suitable for the pipeline condition changes is obtained.

The invention discloses an electric transmission line icing prediction model based on a neural network and a fuzzy logic algorithm. The model comprises the following steps: reading micro meteorological parameters to form a training sample, modifying the weight of a network, introducing a threshold, acquiring the fundamental component of the icing thickness, reading position information of a pole tower, establishing an altitude subordinating degree function and a large area moisture distance subordinating degree function, establishing an error correction subordinating degree function, forming a fuzzy rule bank so as to obtain correction coefficients through defuzzification, and combining the calculation result of the neural network and the fuzzy logic compensation result. The electric transmission line icing prediction model with geographical location information is high in prediction precision when being compared with a conventional global model and a single BP (Back Propagation) neural network, and has a good effect in practical application.

The invention provides a staged early warning system for a vehicle. The staged early warning system comprises a sensing module, a processing module and an output module. The sensing module is used for sensing the distance between the vehicle and an obstacle and transmitting the sensed distance. The processing module is electrically connected with the sensing module and receives the distance transmitted by the sensing module. The processing module is used for acquiring the current speed, steering information and brake information of the vehicle from the relevant modules of the vehicle and determining the early warning stage based on the distance, the current speed, the steering information and the brake information. The output module is electrically connected with the processing module and outputs early warning information according to the early warning stage determined by the processing module. A first radar set and a second radar set are used for effectively sensing obstacles in blind areas formed by a vehicle A column and a rearview mirror, so that visual omission or errors caused by the blind areas are effectively compensated.

The invention discloses a displacement sensor type piezoceramic driver based on a flexible mechanism. The piezoceramic driver comprises a flexible mechanism, connection bodies, a matrix, a displacement sensor, a tube type piezoceramic and a piezoceramic sleeve, wherein the flexible mechanism consists of two-double parallel-four bar mechanisms which are mutually vertical; the two double-parallel four-bar mechanisms share a center rod; adjacent bars of each double parallel four bar mechanism are connected through flexible hinges; one end of the center rod is provided with an installation position of a tool rest; the other end of the center rod is connected with the matrix through the piezoceramic sleeve; the tube type piezoceramic is installed in the piezoceramic sleeve; the displacement sensor installed on the matrix is arranged on inside the piezoceramic sleeve and is used for sensing a displacement signal of the center rod; the tube type piezoceramic drives the center rod; and four side bars, parallel to the center rod, in the flexible mechanism are connected with the matrix through a connecting body respectively. The displacement sensor type piezoceramic driver based on the flexible mechanism has higher rigidity, output displacement and inherent frequency.

The invention relates to a circuit arrangement for the dynamic control of ceramic solid-state actuators, such as piezotranslators with energy recovery by means of magnetic intermediate stores and / or storage capacitors as well as by clocked switches. For achieving a predetermined linear voltage characteristic at the piezotranslator, according to the invention, a single inductive intermediate store is arranged in the secondary circuit, which is connected in series with the piezotranslator, and the secondary circuit is designed as a half-bridge. The switches provided in the respective half-bridge are controlled at a high cycle or switching frequency by an external controller, with the series connection of piezotranslator and inductive intermediate store furthermore carrying a superimposed bridge direct current in order to ensure the desired charging of the capacitance of the piezotranslator, on the one hand, and to optimize the energy recovery, on the other hand.

The invention discloses a measurement method for the coaxiality error of a multi-stage rotating body, which is characterized in that the deviation of the axis of an adapter relative to the axis of a step shaft is measured by using a visual measurement system so as to realize self-calibration for the coaxiality error of the measurement device; the measured rotating body is placed on the adapter, ahorizontal rotating platform is rotated, the moving trajectory of the top end face of the measured rotating body is measured, the deviation of the top axis of the measured rotating body relative to the axis of the step shaft is determined, and thus the deviation of the top axis of the measured rotating body relative to the axis of a connector is obtained; each rotating shaft of the measured rotating body is rotated, the deviation of the top axis of the measured rotating body relative to the axis of each rotating shaft is determined, and thus a relative deviation relation between the axes of the rotating shafts is obtained; and finally, the maximum value of the coaxiality error of the top of the multi-stage rotating body relative to a reference axis can be obtained. The measurement method can eliminate system errors of the measurement device, is low in requirement for the outer contour of the measured rotating body and solves the difficult problem of coaxiality error measurement for themulti-stage rotating body.

The combined navigation based on star sensor calibration optimizing the inertia, astronomical and satellite for all kinds of high precision fly guide. It modifies the installation error based on the star diagonal distance to get high precision information, calculating the disguise distance and disguise distance ratio relative to the inertia guide position through the astronomical data provided by GPS and the location and speed provided by the inertia guide and comparing with the disguise distance and its ratio measured by the GPS as the measuring value, through combined Kalman filter model to estimate the inertia guide system and GPS error and ratifying accordingly to these two systems based on feedbacks. It can improve combined guide navigation precision and reach a high quality combination, whose precision is better than any single guide navigation precision.

Firstly, according to the defined key points of circuit pattern, coding distinctive characteristics of circuit pattern, etching them on the silicon wafer, setting a pair a calibrating pattern, makingt he calibrating pattern position at circuit pattern place, and the calibrating pattern is formed from calibrating subpatterns. According to the key points of pattern, on the silicon wafer etching calibrating subpattern, when the alignment is made to key point of pattern, fetching calibrating subpattern coordinate and making comparison of said coordinate with recorded coordinate of calibrating subpattern. In the inveneted equipment the working table is placed on the base seat, and driven by precision servo-actuator, the silicon wafer to be worked can be fixed on the working table by means of suction cup, calibrating optical head and optical probe array are positioned over silicon wafer, a pair of calibrating optical heads is positioned in the middle of optical probe array are positioned over silicon wafer, a pair of calibrating optical heads is positioned in the middle of optical probes, the optcial probes array is arranged in the rectangular form. Said invention can save alignment time of pattern and can raise alignmant efficiency.

The invention discloses a Kelvin probe force microscope synchronously measuring multiple parameters and relates to a Kelvin probe force microscope. The invention aims to solve the problem that surface appearance, mechanical property and surface local potential of a sample cannot be synchronously represented by using a conventional Kelvin probe force microscope. In the invention, a direct current power supply is used for generating a direct current signal and loads the same between a conductive probe and the sample, a signal generator generates three-path same signals, the frequency of which is the same as a second order resonant frequency of the conductive probe, and the first-path signal is overlaid with a signal generated by an arbitrary waveform generator for controlling a #3 piezoelectric controller, so that the #3 piezoelectric controller drives a piezoelectric ceramic on a probe hand; the second-path signal as a reference signal is sent to a lock phase amplifier; the third-path signal which is shifted by 90 degrees by a phase shifter is loaded between the conductive probe and the sample; and a signal output by the lock phase amplifier is sent to an upper computer. The Kelvin probe force microscope disclosed by the invention is suitable for measuring the surface appearance, the mechanical properties and the surface local potential of the sample.

The invention discloses a method and apparatus capable of measuring phase delay of arbitrary wave plate including half-wave plate and full-wave plate, characterized in that using separately longitudinal mode direct-reading method, additive wave plate generated phase offset method and frequency splitting method aimed at the wave plate of different phase delay range to measure, therefore solving the problem of incapability of measuring the half / full wave plate using the frequency splitting based method for measuring phase delay of wave plate. In order to improve the measurement accuracy, the invention compensates separately for the system error produced by inclined installation of wave plate and anisotropy caused by laser intracavity residual stress. The invention is capable of measuring arbitrarily wave plates in a system with high measurement accuracy, simplicity and low costs, obtaining the laser wavelength by wave plate phase delay through measuring laser frequency, providing reference for other wave plate measurement methods.

The invention discloses a mechanical hand robust tracking control method based on a self-adaptive fuzzy sliding mode. The mechanical hand robust tracking control method adopts sliding mode control torealize mechanical hand trajectory tracking, regulates switching gain of a sliding mode control algorithm through a self-adaptive fuzzy logic system, and reduces sliding mode control buffet; and a robust controller is adopted to compensate for un-modeled dynamics and external disturbances. According to simulation experiment performed by a two-freedom mechanical hand, a sliding mode control input signal is smooth under action of the mechanical hand robust tracking control method based on the self-adaptive fuzzy sliding mode, so that the mechanical hand has higher trajectory tracking precision.

The invention discloses a low-orbit-satellite orbit prediction method based on atmospheric resistance model compensation, and relates to the field of aerospace. The method includes the steps that S1, orbit determination is carried out on a satellite through the pseudo-range observed quantity of a satellite-borne GNSS receiver and ultra-rapid ephemeris issued by an IGS, and kinetic parameters of the satellite are obtained, wherein the kinetic parameters include the position, the speed, the CD, the CR and the piecewise constant experience acceleration parameters of the satellite; S2, the experience acceleration is modeled, then the model and a determinacy kinetic model compose a reinforcing type kinetic model, and finally the position and the speed of the satellite at the orbit determination final epoch are used as initial values to carry out orbit predicting. According to the method, it is only required that the pseudo-range observed quantity of the satellite-borne receiver exists; in addition, achievement is easy, and the experience acceleration obtained after orbit determination is fitted and then can be applied to orbit predicting; meanwhile, the method has certain universality and operability, the errors of an atmosphere resistance model are compensated, predicating accuracy is improved, and the method is applied to in-orbit high-accuracy navigation.

A method for performing multi-parameter synchronous measurement by means of a Kelvin probe force microscope relates to measurement technology for surface topography, mechanical property and local surface potential. The method aims to settle a problem of incapability of realizing synchronous representation of the surface topography, the mechanical property and the local surface potential of a sample through a traditional Kelvin probe force microscope. Vertical reciprocation of a conductive probe is kept always; and in one motion period, when a maximal interaction force between the conductive force and the sample reaches a preset value, a corresponding time point is B, and a surface topography image is measured at the point B. When the conductive probe is separated from the surface of the sample, the corresponding time point is C, and an equivalent Young's modulus image is obtained between the point B and the point C by means of a DMT model. After the conductive probe is separated from the sample, the conductive probe continuously rises to a preset height and is kept for a certain time period, and the surface potential difference between the conductive probe and the sample is measured in the time period. The method provided by the invention is suitable for measuring the surface topography, the mechanical property and the local surface potential of the sample.

The invention discloses a device and a method for compensating a composition error of a main shaft in real time. The device comprises a radial capacitance displacement sensor, an axial capacitance displacement sensor, a control computer, a two-degree of freedom sharp knife servo controller and a two-degree of freedom sharp knife servo unit, wherein the output end of the radial capacitance displacement sensor is connected with the first input end of the control computer; the output end of the axial capacitance displacement sensor is connected with the second input end of the control computer; the two-degree of freedom sharp knife servo controller is respectively connected with the control computer and the two-degree of freedom sharp knife servo unit; the two-degree of freedom sharp knife servo unit is connected with a processing cuter; the radial capacitance displacement sensor is arranged at one side of the processing cutter, and the axial line thereof is vertically intersected with the axial line of a work-piece; the axial capacitance displacement sensor is arranged on one end face of the work-piece, and the axial line thereof is vertical to the end face of the work-piece. The device and the method for compensating the composition error of the main shaft in real time can perform on-line and real-time measurement and compensation on the composition error simply, rapidly and comprehensively, and can be widely applied to the field of precision machine tool machining.

The invention discloses a pressure sensor with double graphite resonant beams. The pressure sensor mainly comprises a substrate (1), an insulation layer (2), a square flat film sheet (3), a first graphite resonant working beam (2) and a second graphite resonant working beam (5). A secondary sensitive mode is adopted and the square flat film sheet is used as the primary sensitive element to convert pressure into stress on a film sheet; the graphite resonant working beams fixedly supported on two ends in the vacuum on the surface of the film sheet are used as secondary resonant sensitive elements; during work, the resonant frequency of the beams are changed along with the change of the pressure on the film sheet; and by detecting the resonant frequency of the beams, the measurement of the pressure can be achieved. According to the invention, the graphite resonant working beams in different positions have different physical field sensitive abilities to stress fields but have similar sensitive abilities to temperature fields, so quasi-differential measurement is achieved, effects caused by environmental factors like temperature are eliminated and precision and stability of the measurement are improved.

Provided is an optical position sensor, which relates to a measuring unit having a first ring structure (P1) with a first translucent ring area and a first opaque ring area. A boundary line has a periodic form, particularly a monotonous form and a sine form with an amount of periods between the translucent and the opaque ring areas in azimuth direction. The periodic form includes a first periodic number (n1), at least one light source for lighting the measuring unit, and a first sensor device encircling the center in a ring-shaped arrangement. The first sensor device has at least two sensor groups of the same. The sensor groups are staggered in azimuth direction with an integer period, and the deviation is smaller than 10% of the period, and preferably smaller than 5% of the period, and most preferably smaller than 1% of the period. Each sensor has at least one optical sensor element (Sij) for receiving light of the first ring structure.

The invention relates to the field of underwater navigation, and particularly relates to a diving positioning method of an AUV with a large diving depth. The method comprises the following steps: mounting an underwater communication node, a strapdown inertial navitation system and a thermohaline depth sensor on the AUV; constructing a pure distance error estimation filtering model; sending, by a water surface mother ship, NED coordinate system location information and time information to the AUV; recording, by the AUV, positioning information of the strapdown inertial navitation system and information of the thermohaline depth sensor; obtaining distance measurement information from the AUV to the mother ship through a transmission time and the information of the thermohaline depth sensor;constructing a strong tracking UKF algorithm; and fusing the horizontal positioning information of the mother ship, the distance measurement information, the positioning information of the strapdown inertial navitation system and the depth information, tracking a horizontal positioning error of the AUV under an NED coordinate system and a speed measurement error of the AUV under a carrier coordinate system in a diving process, and correcting the strapdown inertial navitation system to obtain accurate AUV diving positioning information. By adoption of the diving positioning method provided by the invention, the underwater online correction means of the strapdown inertial navitation system of the AUV can be expanded, the positioning error correction time cost and the equipment cost can be effectively reduced, and the marine environment adaptation capability of the AUV is enhanced.

The invention provides a detector for the magnification and distortion of projection lenses and a method thereof. The method comprises: preparing a measurement mask plate provided with grid transparent marks; providing a mask plate which chromium plating surface is coated with positive photoresist and has not patterns, as a transfer mask plate; using the method of object image alternative exposure, and the relative devices such as gumming development, etching and overlay measurement and the like, to measure the magnification error and distortion of a projection lens fixed on the detector. The detector and the method can be used to measure the magnification error and distortion of projection lenses can eliminate the system error caused by the traditional methods as standard grid template and the like and is especially suitable for the detector system applied for measuring the projection objective lens which nominal magnification is -1 around.

The invention belongs to the field of robot parts machining, and particularly discloses a single-degree-of-freedom high-bandwidth force-controlled grinding and polishing device and application thereof. The device comprises a connecting base, a driving module, a transmission module, a measuring module and a polishing module, wherein the connecting base is used for connecting the single-degree-of-freedom high-bandwidth force-controlled grinding and polishing device with the tail end of an industrial robot; the driving module is a vertically placed voice coil motor and comprises a stator and a rotor, the upper end of the stator is connected with the connecting base, and the lower end of the rotor is connected with the transmission module; the lower end of the transmission module is connectedwith the polishing module; and the measuring module is used for measuring displacement and contact force of the polishing module. According to the single-degree-of-freedom high-bandwidth force-controlled grinding and polishing device, the driving module adopts the voice coil motor, the displacement of the voice coil motor is adjusted in real time by controlling the input current of the voice coilmotor, so that the displacement and the contact force of the polishing module are adjusted in real time, and compared with an existing servo motor, the advantages of high response, high bandwidth andno need of conversion for linear driving are achieved, and the uniformity and consistency of the surfaces of complex curved surface parts are guaranteed.

The invention discloses a quick initial alignment method for a moving base of an SINS (strapdown inertial navigation system) based on lie group description. The method comprises the following steps: replacing traditional quaternion description with lie group description to realize calculation of SINS attitude transformation; establishing a linear initial alignment model by using a lie group differential equation; establishing an augmented initial alignment model by taking gyroscopic drift as an augmented state quantity; and then realizing synchronous estimation of an initial attitude matrix and gyroscope constant drift by adopting a matrix-form Kalman filtering algorithm. According to the quick initial alignment method, the gyroscope constant drift is taken as the augmented quantity, and compared with a traditional initial alignment model, a more accurate augmented linear alignment model is established. The alignment method disclosed by the invention can realize one-step direct alignment of the SINS, greatly shortens the alignment time, is convenient for compensating errors in a strapdown resolving process, effectively improves the alignment precision, and is more suitable for practical engineering application.

The invention discloses a sensor installation device, and relates to the field of semiconductor equipment manufacturing. The device can adjust the inclination angle of a sensor, synchronously achieves adjustment and locking and simplifies operation steps. The sensor installation device comprises an angle adjusting block, a moving adjusting block and an elastic connector. The angle adjusting block and the moving adjusting block are arranged in parallel, the sensor is fixedly connected with one end of the angle adjusting block, and accordingly the sensor is located in parallel space between the angle adjusting block and the moving adjusting block; the elastic connector is perpendicular to the angle adjusting block and the moving adjusting block, the two ends of the elastic connector are fixedly connected with the side face of the other end of the angle adjusting block and the side face of the moving adjusting block, and accordingly the angle adjusting block and the moving adjusting block are connected together; the elastic connector is bent in the direction towards or far away from the sensor to achieve adjustment of the depression angle or the elevation angle of the sensor; the moving adjusting block moves in the horizontal direction so as to adjust the position of the sensor.

The invention provides a model error compensation method for an ultra-high-velocity aircraft autonomous navigation system. The model error compensation method belongs to the field of autonomous navigation and is especially suitable for an ultra-high-speed aircraft autonomous navigation system. The method comprises building an autonomous navigation system measurement model through considering the measurement error of a geomagnetic sensor and constructing an autonomous navigation system dynamical model with power compensation and a unscented Kalman filter (EKF)-based autonomous navigation algorithm. The method simplifies the model and calculation, solves the problem that the ultra-high-velocity aircraft in high dynamic flight causes flashing of GNSS signals, no accelerometer information anddynamic model inaccuracy and guarantees stable work of the autonomous navigation system.

The invention discloses a user data management system based on cloud computing. The user data management system comprises a frequency acquisition circuit 1, a frequency acquisition circuit 2, a peak feedback circuit, a frequency selection detection circuit and an operational amplifier limiting circuit, the frequency acquisition circuit 1 acquires the modulated analog signal frequency in the cloudserver; wherein the frequency acquisition circuit 2 acquires analog signal frequency before demodulation of the control terminal, the peak feedback circuit uses an operational amplifier AR1, an operational amplifier AR2, a diode D2 and a diode D3 to form a peak detection circuit to extract a peak of an output signal of the frequency acquisition circuit 1, The frequency selection detection circuituses a resistor T11-resistor R15 and a capacitor C3-capacitor C5 to form a dual-T frequency selective amplification circuit to select and amplify signals.. Meanwhile, an operational amplifier AR3, anoperational amplifier AR4, a diode D7 and a diode D8 are used for forming a peak value circuit to extract peak value signals, and an operational amplifier limiting circuit is used for forming a limiting circuit through a diode D9 and a diode D10 to limit the amplitude of the signals and then outputting the signals to serve as correction signals of analog signals before demodulation of a control terminal.