6results about How to "Eliminate nonlinear errors" patented technology

This invention discloses a hybrid inverse kinematics method for rotating biprisms that deeply integrates deterministic physics prior models with reinforcement learning. It solves the long-standing problem of balancing computational efficiency and pointing accuracy in existing rotating biprism beam pointing inverse kinematics techniques. This invention employs a reinforcement learning compensation method based on the paraxial approximation method, preserving its computational efficiency. The paraxial approximation method solves the problem through basic arithmetic operations, a single inverse trigonometric function, and simple conditional judgments; the number of operations remains constant regardless of the input parameters, resulting in a time complexity of O(n log n). Spatially, the paraxial approximation method requires only a small number of scalar variables, resulting in a space complexity of O(n log n), lower memory usage, and better numerical stability.

The invention relates to the technical field of contact pin type contour measurement sensor measurement, in particular to an automatic compensation mechanism and method for a contact pin type contour measurement sensor. The automatic compensation mechanism comprises a measuring rod, a measuring needle is arranged at the front end of the measuring rod, the tail end of the measuring rod is connected with a main shaft through an adapter block, the side, away from the adapter block, of the main shaft is connected with a first rotation center, the main shaft can rotate around the first rotation center, and the first rotation center is configured to be capable of translating in the measurement advancing direction. The mechanical compensation assembly comprises a second rotation center and a connecting rod, one end of the connecting rod is hinged to the spindle, and the other end of the connecting rod is hinged to the second rotation center. The invention aims to solve the problem that the measurement precision is reduced due to measurement errors introduced when a traditional contact pin type contour measurement sensor performs wide-range measurement.

The application discloses a motor controller sampling delay error compensation method, a motor controller and a motor driving system. The method comprises the following steps: obtaining operation parameters comprising motor physical model parameters, real-time state parameters, pulse width modulation parameters and a preset sampling delay time; calculating a threshold time based on the pulse width modulation parameters; determining a target calculation model according to the size relationship between the sampling delay time and the threshold time; dividing the sampling delay time into one or more time segments according to voltage vector switching points, and calculating the real-time current change slope of each segment; multiplying each segment by the corresponding slope and accumulating the current error amplitude, thereby correcting the current sampling value. Thus, the real current value lost due to hardware delay is accurately calculated, so as to solve the current sampling delay error problem.

This invention discloses a point cloud data correction method and related lidar, apparatus, program, and equipment. The method includes: determining the corrected field-of-view position information based on a pre-constructed temperature-distortion model, temperature data from the lidar receiving lens, and the field-of-view position information corresponding to the original measured point cloud data; and reconstructing three-dimensional point cloud data based on the corrected field-of-view position information and the point cloud data. This method enables real-time dynamic correction of the angle value of each laser ranging point during the online operation of the lidar. It eliminates nonlinear angle measurement errors introduced by temperature changes, especially the amplification of light rays at the edge of the field of view due to thermal expansion and contraction at large field-of-view angles, from the data source. It effectively suppresses the bending, twisting, or drifting of straight objects in the point cloud image at the edge of the field of view, thereby improving the point cloud output accuracy and coordinate reliability of the wide-angle blind-spot lidar under all temperature conditions.

This invention relates to the field of engineering machinery control technology and discloses a method for controlling the movement of counterweights in lifting equipment. The method includes establishing a multi-source heterogeneous data stream, simultaneously acquiring macroscopic operating status data of the lifting equipment and internal stress data of the slewing bearing, reconstructing the load field using the stress data and inverting the actual support reaction moment vector, and simultaneously constructing a virtual rigid body equilibrium model based on the macroscopic data to calculate the theoretical overturning moment vector. By calculating the vector deviation between the two, the structural stiffness factor characterizing the equipment's deformation resistance and the foundation settlement factor quantifying the ground bearing capacity are decoupled and obtained. Based on these factors, the target parameters of the counterweight are determined, and the counterweight telescopic hydraulic cylinder and the luffing winch are jointly driven to adjust the counterweight position. This invention distinguishes between structural deformation and foundation settlement risks through dual-parameter decoupling, achieving dynamic and precise adjustment of the counterweight's center of gravity in two-dimensional space, effectively improving the operational safety of cranes under complex working conditions.

The utility model belongs to detection circuit technical field relates to a kind of nonlinear temperature drift dynamic bias detection circuit of vehicle-mounted audio power amplifier, including PTAT circuit, NTC circuit, A2B bus, difference operational amplifier circuit, voltage divider network, audio signal amplification circuit and its connection relationship.The utility model carries out mixed temperature detection by integration PTAT circuit and NTC circuit, then carry out difference design to eliminate non-linear error, generate compensation voltage V comp , temperature sampling of multiple temperature nodes is triggered by A2B bus protocol synchronization signal, temperature sampling and audio data time domain alignment are realized, and compensation voltage V comp It is injected into the voltage divider network of MP7722DF power amplifier chip REF pin, and bias voltage dynamic detection is realized.