38results about How to "Eliminate disturbance effects" patented technology

The invention discloses a sliding mode attitude control method for a quadrotor UAV based on a proportional integral observer. The method comprises steps that a dynamic model of the quadrotor UAV withinterference only is established, and expressions of a rolling angle, an elevation angle and a yaw angle of the quadrotor UAV are transformed into second-order system models; the second-order system models are utilized to construct the corresponding proportional integral observer; a sliding mode attitude controller is designed according to the proportional integral observer, and the sliding mode attitude controller in combination with the rolling angle, the elevation angle and the yaw angle is utilized for flight control of the quadrotor UAV. The method is advantaged in that the proportional integral observer is combined with the sliding mode attitude controller, the partial feedback function of the proportional integral observer is utilized to estimate the shape and position input interference state of the quadrotor UAV, steady state tracking accuracy of the proportional integral state observer is improved, through the sliding mode attitude controller, relatively strong robustness andanti-interference to uncertain factors of the quadrotor UAV are achieved, and design and calculation are simple.

The invention discloses a ball screw pair pre-tightening force measurement and control system and method with a self-sensing function. The system comprises a pre-tightening device and a measurement and control device, a giant magnetostrictive material is used as the core, the functions of an actuator and a sensor are realized by using the normal inverse effect of the material, a permanent magnet provides a bias magnetic field for a giant magnetostrictive bar, one coil is used as an exciting coil for providing a driving magnetic field for the giant magnetostrictive actuator of the measurement and control device, the magnitude of pre-tightening force output by the actuator is controlled by changing the current of the exciting coil, and the other coil is used as a pick-up coil for realizing the self-sensing function of ball screw pair pre-tightening force by acquiring a magnetic field change caused by a pre-tightening force change. The system and the method can realize self-sensing of the ball screw pair pre-tightening force and automatic and accurate control of the pre-tightening force, and improve the transmission precision of the ball screw pair, so that the running precision and the machining quality of a numerically-controlled machine tool are guaranteed.

The invention relates to a control method for self-adaption compensation of elongation of a planisher. The control method specifically comprises the steps of collecting an actual rolling force value and a tensile force value during acceleration and deceleration of a planisher set, calculating the strip steel elongation compensation factor K, calculating additional rolling force and additional tensile force by utilizing the strip steel elongation compensation factor K, applying the obtained additional values to the step of controlling the elongation of the planisher, and realizing control on the self-adaption compensation of the elongation of the planisher. The control method solves the problem of fluctuation of control on the elongation in the acceleration or deceleration stage of the planisher set currently, thereby being capable of eliminating the influence of acceleration and deceleration on the disturbance of control on the elongation, and also improving the elongation control precision.

A system for measuring small displacement in remote a coplane is prepared as firm-joining cooperation mark with entity to be measured and connecting digital camera to image collection card being connected with computer for calculating out displacement data of cooperation mark then calculating out actual displacement amount of position to be measured.

The invention belongs to the field of wind-driven generator control technology and relates to a double-fed wind power generation system side converter back-stepping variable structure control system. The invention discloses a double-fed wind power generation system side converter back-stepping variable structure control system and method and a double-fed wind power generation system based on the system, and the system comprises a mathematical model establishment unit (11), a current instruction value calculation unit (12), a back-stepping variable structure control unit (13) and a space vector pulse width modulation unit (14); the method is based on Liapunov stability theory, back-stepping variable structure control algorithm design is performed under a two-phase synchronous rotating reference frame wind-driven generator mathematical model, and active and reactive power decoupling control of the system is realized; in order to eliminate disturbance influence in system actual operation, a variable structure control step containing an uncertain degree PI prediction scheme is added, so that sub-systems can satisfy Lyapunov asymptotic stability conditions when suffering from the disturbance. The dynamic property of the double-fed wind power generation system is further improved, and the parameter robustness of the system is enhanced.

The embodiment of the invention discloses an unmanned aerial vehicle remote sensing system and an unmanned aerial vehicle remote sensing method. The unmanned aerial vehicle remote sensing system comprises a first supporting bearing, a second supporting bearing, a first motor, a second motor, a third motor, a first azimuth angle adjustment unit, a second azimuth angle adjustment unit, a third azimuth angle adjustment unit, an azimuth angle control unit, a three-axis inertial stabilization platform, a rotor unmanned aerial vehicle and a digital aerial photography camera, wherein the three-axis inertial stabilization platform is respectively connected with the rotor unmanned aerial vehicle and the digital aerial photography camera; the azimuth angle control unit is respectively connected with the first azimuth angle adjustment unit, the second azimuth angle adjustment unit and the third azimuth angle adjustment unit; the first azimuth angle adjustment unit is respectively connected with the first supporting bearing and the first motor; the second azimuth angle adjustment unit is respectively connected with the second supporting bearing and the second motor; and the third azimuth angle adjustment unit is connected with the third motor. According to the unmanned aerial vehicle remote sensing system disclosed by the invention, the aerial photographing precision and efficiency can be improved.

The invention relates to a portable deepwater layered electric water sampling device. An extension device is arranged on a shore or a ship, a reel pipe device is arranged at one end of the extension device, and the other end of the extension device is fixedly connected with a fixed pulley. A water pipe and a bearing steel wire rope are wound on the left side and the right side of the reel pipe device respectively, the bearing steel wire rope bypasses the fixed pulley to be connected with a shell of a water inlet device, one end of the water pipe bypasses the fixed pulley to be connected with a water outlet of the water inlet device, and the other end of the water pipe is connected with a water collecting device. According to the water sampling device, the specific water depth is calculated through the water pressure, so that water sampling layering is more accurate; water sampling through a submersible pump is more labor-saving and not limited by the size of a water sampler; meanwhile, the water sampling width can be controlled, and the water sampling area can be adjusted according to needs; and finally, the offshore water sampling distance can be prolonged, and the water bank disturbance effect can be reduced.

The invention discloses a restore method of a liquid-state metal battery. The restore method comprises the steps of 1) stopping working when a fault occurs in the battery; 2) increasing a working temperature of the battery, and allowing the battery to stand; 3) performing constant-voltage charging on the battery, wherein a charging voltage is a cutoff voltage when the battery normally works; 4) performing constant-current discharging on the battery; 5) performing constant-current charging on the battery until the battery is charged fully after discharging is ended; 6) forwarding to the step 4)and circulating for many times; 7) performing constant-current discharging on the battery; 8) performing constant-current charging on the battery until the battery is charged fully after dischargingis ended; and 9) forwarding to the step 7) and circulating for many times, wherein the restore of the battery is completed when the single-circle coulombic efficiency of the battery is larger than orequal to 90%. The performance of the liquid-state metal battery after being restored by the method is not obviously reduced, and the liquid-state metal battery still can continue to normally use. By the method, other restore devices are not needed, restore can be completed only by directly changing a temperature and a working parameter of the battery, the method is simple and practical, and the restore cost is low.

Provided is a method for selectively functionalizing unmodified solid surface, not oxidized and nitrified, into an aldehyde group, and a method for immobilizing an active material such as bio material or functional material on the functionalized aldehyde solid surface through strong and stable chemical bonding. Differently from a conventional method immobilizing deoxyribonucleic acid (DNA) using a cross linker, the method of the present invention does not require a cross linker reaction step to thereby shorten a process. Also, since a cross linker is absent, the monomolecular layer on the surface of a device is thin, which reduces a perturbation effect by molecular layer. This is useful in fabrication of molecular electronic devices and bio-active devices. In addition, since the bio material or functional material is selectively immobilized only on the unmodified surface, the present invention can functionalize only a specific solid surface and develop a highly sensitive sensor and an improved functional device.

The invention discloses a construction method for excavating a straight wall of a rock deep foundation pit. The construction method comprises the following steps of: adopting A KT5 type integrated open down-the-hole drill to excavate the straight wall of a rock surface of an excavating region continuously and vertically, wherein the precision is controlled high, the excavating sideline error rangeis controlled at 50mm, the vertical face vertical error is controlled within 5 degrees, the excavating depth is 1-10m, and separating zones which are 150m wide and are engaged one another are formedafter excavation, so that an excavating region and a bearing region are separated; crushing and clearing the excavating region by using a crushing excavator; reducing disturbance to a bearing foundation in the crushing and excavating process; and finally, leveling an arc and excavating the vertical face by way of plastering by a hung net to form a level waterproof construction basic layer. Therefore, the construction method has the characteristics that the integral excavated volume is reduced, the bearing capacity of the foundation is guaranteed, the construction efficiency is improved, the construction period is shortened, the construction operability is high, dust and noise pollution are reduced and the like, and the construction method can acquire relatively good economical and social benefits.

The invention discloses a well-surrounding rotation irrigation and pumping irrigation well group distribution and a well control method. The system comprises a water pumping well, a temperature sensor, a water pumping well filter, a water pumping well flow meter, a water pumping well main valve, a water pumping pump, a recharge well main valve, a heat exchanger, a recharge filter, a recharge mainpipe, a recharging water pump, a water distributor, a plurality of groups of electromagnetic valves, a plurality of groups of irrigation well flow meters, a plurality of groups of recharge well, a target water-containing layer and a central controller. According to the well-surrounding rotation irrigation and pumping irrigation well group distribution and a well control method, the recharge well is used for surrounding the water pumping well and rotating the well mode, so that the occurrence of heat penetration and the possibility of water scale of the pumping irrigation well and the rotationirrigation well group devices are reduced to the maximum extent, so that the utilization rate of geothermal energy and the service life of equipment are improved.

The invention discloses an asteroid landing end bounce movement guidance method, aiming at the bounce movement problem of an asteroid in an unascertained environment, wherein the asteroid landing end bounce movement guidance method is designed from the demands of reducing the bounce times and ensuring the bounce movement precision. The implementation method comprises the following steps: taking an attitude angle and an angular velocity at a lander collision point as control variables, and performing guidance in a manner of performing real-time trajectory planning in each bounce; in the bounce trajectory planning process, determining the bounce times according to the maximum distance and the minimum distance of single bounce; at each bounce collision point, dividing the moving process from the lander to the target point into an approaching section and a braking section, and planning a bounce track in a feedback correction mode in sequence, so that the lander can move near the target point, and the horizontal speed of the lander is eliminated; and acquiring the control quantity of the lander in the bounce through trajectory planning, eliminating the influence of parameter disturbance in the previous bounce and completing the robust guidance of the bounce moving trajectory. According to the method, the requirement for reducing the number of bounces and the influence of parameter disturbance on bounce movement are considered, and accurate bounce movement from the lander to the target point can be achieved.

The invention discloses a geological inversion method based on land and underwater direct current combined measurement, and the method comprises the following steps: S1, arranging electrodes in a target region, the target region comprises a water area, the two sides of the water area are land, and the electrodes are gradually arranged from the land on one side to the bottom of the water area until the electrodes are arranged on the land on the other side; s2, determining spatial distribution of a water body in the water area by adopting a sonar detection device, collecting water samples at different depths and different point positions of the water area for analysis, determining a resistivity spatial distribution structure of the water body, and establishing a three-dimensional model of topographic relief of the water body and the water bottom in the water area; on the basis of direct-current combined measurement, multiple technical key points are designed from the actual angle, and the method comprises the steps that a progressive measurement method from land to water is adopted, and the geological condition from the shoreside to a deep water area is effectively controlled; the influence of flowing water on electrode disturbance is eliminated; and establishing a reservoir model, and eliminating the influence of a water body on underground medium inversion.

A micromechanical gyroscope amplitude control system based on ADRC comprises a micromechanical gyroscope, the micromechanical gyroscope is controlled through a frequency control loop and an amplitude control loop, a phase-locked loop is used in the frequency control loop for providing sine driving signals for the micromechanical gyroscope, and the gyroscope is made to conduct simple harmonic vibration; active disturbance rejection control is used in the amplitude control loop to stabilize the amplitude of an output signal of the micromechanical gyroscope; and the two loops adopt closed-loop control. According to the invention, the amplitude stability and stability of the output signal of the micromechanical gyroscope are improved.