141results about How to "Good compensation" patented technology

The invention relates to the technical field of adaptive filtering, and discloses a deviation compensation constraint adaptive filtering method and system based on error nonlinearity, and the method comprises the steps: constructing an adaptive weight vector and a noise-containing input signal vector according to an adaptive weight and a noise-containing voice signal sampling value when the weight of an adaptive filter is subjected to linear constraint; after the inner product generates an output signal, an estimation error signal is generated, and an error square median is calculated; calculating an error signal variance estimated value and a self-adaptive weight vector power estimated value according to the error square median and the self-adaptive weight vector, and then calculating an input noise variance estimated value; calculating a deviation compensation item according to the adaptive weight vector and the input noise variance estimation value, and updating the adaptive weight vector with the noise-containing input signal vector and the estimation error signal; and calculating the inner product of the updated adaptive weight vector influenced by the low-efficiency input noise and the noise-containing input signal vector to obtain an output signal subjected to input noise deviation compensation.

The utility model relates to a low total length 8M foresight optical lens, which is characterized in that an optical system of the lens is composed of a first lens, a second lens, a third lens, a fourth lens, a diaphragm, a fifth lens, a sixth lens and a seventh lens which are sequentially arranged from left to right along a light incident light path. The lenses are made of plastic and glass materials, the first lens, the second lens, the fourth lens, the fifth lens and the sixth lens are glass spherical lenses, the third lens and the seventh lens are plastic aspheric lenses, and the fifth lens and the sixth lens form a balsaming lens group. By reasonably distributing the focal power and the surface type of each lens, the central thickness of each lens, the distance between the lenses on the optical axis and the like, the total length of the lens and the radial size of each lens are reduced while the requirements of a front-view wide-angle camera and a front-view narrow-angle camera are replaced by the low-total-length 8M ultra-wide-angle imaging performance of the lens; and the lens group is miniaturized.

The invention provides a current limiting method and device based on active compensation, electronic equipment and a converter, and relates to the technical field of network construction. The current limiting method based on active compensation comprises the following steps: acquiring a current actual current value and a maximum allowable current value of a grid-connected converter; determining a current difference value between the maximum allowable current value and the current actual current value; determining the compensation amount of the angular frequency according to the current difference value; the compensation amount of the angular frequency is in negative correlation with the current difference value; compensating an angular frequency reference value of the grid-connected converter according to the compensation amount of the angular frequency to obtain a compensated angular frequency reference value; and performing network construction type control on the grid-connected converter according to the compensated angular frequency reference value. The purpose of current limiting can be achieved, the current limiting response speed is high through current limiting, the grid-connected converter still keeps the characteristics of a voltage source, the maximum power capacity output of the converter can be maintained, the maximum power grid supporting capacity of the converter is guaranteed, and the stability of a power grid is improved.

The utility model relates to a foresight ultra-wide-angle binocular camera. An optical system of the camera is composed of a first lens, a second lens, a third lens, a diaphragm, a fourth lens, a fifth lens and a sixth lens which are sequentially arranged from left to right along a light incident light path. Under the condition that retroflexion caused by aspheric coefficients is not considered, the first lens is a meniscus concave negative lens, the second lens is a meniscus concave positive lens, the third lens is a meniscus convex positive lens, the fourth lens is a biconvex positive lens, the fifth lens is a meniscus concave negative lens, the sixth lens is a meniscus convex positive lens, and all the lenses are made of glass materials. Wherein the first lens and the sixth lens are glass aspheric lenses, and the fourth lens and the fifth lens form a balsaming lens group. While the wide-angle 120-degree clear imaging is realized, the wide-angle 120-degree wide-angle imaging lens has a relatively small appearance size and relatively high environmental stability.

The utility model relates to an ultra-wide-angle lens suitable for a front binocular camera module. An optical system is composed of a first lens, a second lens, a third lens, a diaphragm, a fourth lens, a fifth lens and a sixth lens which are sequentially arranged along the incident direction of light, and the fourth lens and the fifth lens are glued to form a glued lens group. The imaging angle of the camera lens to an object is larger than 120 degrees, meanwhile, the camera lens has the advantages of being high in imaging definition, large in clear aperture, low in tolerance sensitivity, good in high-temperature and low-temperature stability and the like, meanwhile, scenes in front of a vehicle can be monitored more comprehensively, and through reasonable matching of all the optical lenses, the system is compact and reasonable in structure, and the system is convenient to use. The imaging system is simple in structure, low in cost, easy to assemble, low in tolerance sensitivity and more suitable for large-scale high-yield production, the overall size is reduced, axial chromatic aberration, vertical-axis chromatic aberration and high-order chromatic aberration are corrected, and it is guaranteed that the imaging system can have high imaging quality even at a large angle.

The utility model relates to a high-brightness low-cost DMD welcome lamp lens. An optical system of the lens is composed of a first lens, a second lens, a third lens, a diaphragm, a fourth lens and a fifth lens which are sequentially arranged from left to right along a light incident light path. The lenses are made of plastic and glass materials, the first lens, the second lens, the third lens and the fourth lens are plastic aspheric lenses, and the fifth lens is a glass spherical lens. By reasonably distributing the focal power and the surface type of each lens, the central thickness of each lens, the axial distance between the lenses and the like, the imaging performance requirement of the lens is met, the total length of the lens and the radial size of each lens are reduced, and the miniaturization of the lens group is realized.

The utility model relates to a six-piece type side rear-view camera. An optical system of the camera is composed of a first lens, a second lens, a diaphragm, a third lens, a fourth lens, a fifth lens and a sixth lens which are sequentially arranged from left to right along a light incident light path. Under the condition that retroflexion caused by aspheric coefficients is not considered, the first lens is a meniscus concave negative lens, the second lens is a biconvex positive lens, the third lens is a biconvex positive lens, the fourth lens is a meniscus concave negative lens, the fifth lens is a biconvex positive lens, the sixth lens is a plano-concave negative lens, and all the lenses are made of glass materials. Wherein the first lens is a glass aspheric lens, and the third lens and the fourth lens form a balsaming lens group. While 3M clear imaging is realized, the number of sheets is relatively small and the appearance size is relatively small.

The utility model relates to a DMD welcome lamp lens with short total length, the lens is composed of a first lens, a second lens, a third lens, a fourth lens, a diaphragm, a fifth lens, a sixth lens and a seventh lens from left to right along a light incident light path, the lenses are made of glass materials, the first lens, the third lens, the fourth lens, the fifth lens, the sixth lens and the seventh lens are glass spherical lenses, the second lens is a glass aspheric lens, wherein the third lens and the fourth lens, and the fifth lens and the sixth lens form a balsaming lens group. By reasonably distributing the focal power and the surface type of each lens, the central thickness of each lens, the axial distance between the lenses and the like, the imaging performance requirement of the lens is met, the total length of the lens and the radial size of each lens are reduced, and a 33 mm lens group is formed.

The utility model relates to a large-aperture six-piece type side rear-view camera, and the optical system of the camera comprises a first lens, a second lens, a third lens, a fourth lens, a fifth lens and a sixth lens which are provided with focal power along an incident light path, and a diaphragm is arranged between the second lens and the third lens. Wherein the third lens and the fourth lens are closely connected to form a balsaming lens group; the first lens is a biconcave negative lens, the second lens is a biconvex positive lens, the third lens is a biconvex positive lens, the fourth lens is a biconcave negative lens, the fifth lens is a biconvex positive lens, and the sixth lens is a meniscus concave negative lens. The first lens, the second lens, the third lens and the fourth lens are glass spherical lenses, and the fifth lens and the sixth lens are glass aspheric lenses. The imaging angle of an object is larger than 80 degrees, and meanwhile, the camera has the advantages that the imaging definition is 3M, the F number is 1.4, the tolerance sensitivity is low, the high-low temperature stability is good and the like, and scenes behind the side of a vehicle and far away from the vehicle can be monitored more comprehensively.

The invention provides an optical proximity pre-correction method and device, a medium, a program product and a terminal, and the method comprises the steps: obtaining one or more layers of to-be-corrected layouts, extracting corresponding graphic parameters and anchor point parameters, and carrying out the pre-correction of graphic elements in each layer of periodic graphs with bridging risks, so as to generate a pre-corrected layout. According to the invention, the bridging phenomenon is effectively avoided, and the integrity of wafer patterns and the normal circuit function are ensured; meanwhile, OPC correction efficiency is improved, optical proximity effect compensation is optimized, time and resources needed by correction are remarkably reduced, and production efficiency is improved; in addition, a process window is expanded, the correction precision and stability are improved, and the defect rate is reduced; and the quality of a final product is improved while the process risk is reduced.

The present invention provides a hydraulic prestressed compensation device for a machine tool crossbeam, which is provided with a crossbeam assembly, wherein the crossbeam assembly comprises an intermediate crossbeam, a right supporting square box and a left supporting square box, wherein the intermediate crossbeam comprises a horizontal rib plate, a right rib plate and a left rib plate, wherein an upper surface of the crossbeam is provided on the upper part of the crossbeam assembly, a hydraulic cylinder placement groove is provided on one side of the crossbeam assembly at the bottom of the intermediate crossbeam, a hydraulic cylinder support point and a hydraulic cylinder stress compensation fulcrum are provided inside the hydraulic cylinder placement groove, and a hydraulic cylinder is rotatably provided between the hydraulic cylinder support point and the hydraulic cylinder stress compensation fulcrum; the present invention solves the problems of complex processing technology, inflexible adjustment and unreliability existing in the existing traditional method for overcoming crossbeam deformation and improving crossbeam rigidity, and the present invention can be widely used in hydraulic prestressed compensation of machine tool crossbeams, and is particularly suitable for hydraulic prestressed compensation of crossbeams of large machine tools.

The invention discloses an opening and closing control method and system based on a circuit breaker, relates to the technical field of circuit breakers, and adopts a Python technology to construct a quadratic polynomial function so as to accurately analyze the relationship between an expansion coefficient and temperature, and the process enables the deformation influence of temperature change on a bimetallic strip in the circuit breaker to be comprehensively grasped. The bending deformation of the bimetallic strip at different temperatures can be evaluated in real time based on the electric power data set and the temperature and deformation relation obtained through analysis. By setting a bending deformation threshold and comparing the bending deformation with the threshold, whether an opening mechanism is triggered or not can be judged, after the opening mechanism is triggered, the deformation process of the bimetallic strip is traced back, the upper limit temperature of the bimetallic strip is analyzed and determined, and the thermal response duration is calculated in combination with related material characteristic change data. The step can help to judge whether the thermal response of the bimetallic strip in the circuit breaker is stable or not, and a temperature compensation mechanism is started under the condition that the temperature is unstable, so that the thermal response process is optimized.

The utility model relates to an ultra-wide-angle high-definition surround-view camera lens, an optical system of the camera lens is composed of a first lens, a second lens, a third lens, a diaphragm, a fourth lens, a fifth lens and a sixth lens which are sequentially arranged along a light incident light path, and the fourth lens and the fifth lens form a cemented lens group; under the condition that retroflexion caused by aspheric coefficients is not considered, the first lens is a meniscus concave negative lens, the object side surface is a convex surface, and the image side surface is a concave surface; the second lens is a meniscus concave negative lens, the object side surface is a convex surface, and the image side surface is a concave surface; the third lens is a biconvex positive lens, the object side surface is a convex surface, and the image side surface is a convex surface; the fourth lens is a biconvex positive lens, the object side surface is a convex surface, and the image side surface is a convex surface; the fifth lens is a biconcave negative lens, the object side surface is a concave surface, and the image side surface is a concave surface; the sixth lens is a biconvex positive lens, the object side surface is a convex surface, and the image side surface is a convex surface. The lens is helpful for realizing small-size high-resolution imaging and ultra-wide-angle camera shooting, and the cost is reduced.

The utility model relates to a foresight ultra-wide-angle binocular shooting optical system. The optical system of a lens is composed of a first lens, a second lens, a diaphragm, a third lens, a fourth lens, a fifth lens and a sixth lens which are sequentially arranged from left to right along a light incident light path. Under the condition that retroflexion caused by aspheric coefficients is not considered, the first lens is a meniscus concave negative lens, the second lens is a meniscus convex positive lens, the third lens is a biconvex positive lens, the fourth lens is a biconvex positive lens, the fifth lens is a biconvex positive lens, the sixth lens is a meniscus concave negative lens, and all the lenses are made of glass materials. Wherein the first lens and the second lens are glass aspheric lenses, and the fifth lens and the sixth lens form a balsaming lens group. While the wide-angle 120-degree clear imaging is realized, the wide-angle 120-degree wide-angle imaging lens has a relatively small appearance size and relatively high environmental stability.

The invention discloses a method for realizing intelligent millimeter-level elevation measurement based on a laser technology, which comprises the following steps of: navigating to a measurement point by an intelligent navigation robot according to a measurement task, adjusting a horizontal platform to a horizontal state, and enabling a two-dimensional coordinate of an RTK (Real-Time Kinematic) module to be equal to a two-dimensional coordinate of the measurement point; the intelligent navigation robot drives the light source mounting rod to rotate through the horizontal turntable, so that the laser transmitter searches and aims at the axis of the laser receiving reference rod to project horizontal laser; the AIOT platform notifies the reference rod to move to receive the laser, records a moving distance value output by the incremental encoder and uploads the moving distance value to the AIOT platform; a laser distance measuring sensor is turned on to emit vertical laser to a measuring point, and the measured distance is output and uploaded to the AIOT platform; and the AIOT platform calculates the millimeter-level elevation of the measurement point where the intelligent navigation robot is located through an expression. According to the invention, millimeter-level elevation measurement and automation and digitization of measurement operation can be realized.

The utility model relates to a low total length 8M foresight main camera. An optical system of the main camera is composed of a first lens, a second lens, a third lens, a fourth lens, a diaphragm, a fifth lens, a sixth lens and a seventh lens which are sequentially arranged from left to right along a light incident light path. The lenses are made of plastic and glass materials, the first lens, the second lens, the fourth lens, the sixth lens and the seventh lens are glass spherical lenses, the third lens and the fifth lens are plastic aspheric lenses, and the sixth lens and the seventh lens form a balsaming lens group. By reasonably distributing the focal power and the surface type of each lens, the central thickness of each lens, the axial distance between the lenses and the like, the total length of the lens and the radial size of each lens are reduced while the requirements of a front-view wide-angle camera and a front-view narrow-angle camera are replaced by the low-total-length 8M ultra-wide-angle imaging performance of the lens, and the miniaturization of the lens group is realized.

The invention discloses an image brightness correction method, an image brightness correction device and a storage medium, which are used for reducing easy loss of transition details in a correction process. Performing color space conversion on the backlight acquisition image to generate an L-channel image; carrying out distribution sorting on the brightness data and screening out the brightness data with a preset screening-out proportion at the head end and the tail end; calculating a channel image brightness mean value and a fitting brightness value in the remaining L channel images; performing image segmentation on the L-channel image by taking the fitting brightness value as an initial segmentation point to generate a backlight target image and a background image; calculating a self-adaptive scale value factor, and calculating a correction brightness mean value; calculating a statistical distribution function of the backlight target image and the background image; calculating a mapping function of the backlight target object and the background object; mapping and merging the background image and the backlight target image to generate an initial brightness correction image; and performing color space inverse conversion on the initial brightness correction image to generate a target brightness correction image.

The invention discloses a nonsingular terminal sliding mode control method and system for a marine rotary crane, and the method comprises the steps: obtaining related parameters of a four-degree-of-freedom marine rotary crane, and building a first mathematical model; establishing a first equation and a second equation based on the first mathematical model; an equation is combined with the improved non-singular fast terminal sliding mode curved surface, and a non-singular terminal sliding mode controller is obtained through solving; and a nonsingular terminal sliding mode controller is used for controlling the four-degree-of-freedom marine rotary crane to move. The external disturbance of the crane system can be well inhibited by coupling measurable ship yawing and rolling disturbance and combining self-adaptive control, meanwhile, a good compensation effect is achieved for parameter uncertainty caused by reciprocating transportation in actual operation, and the stability of the system is improved. And finally, efficient trajectory tracking and swing suppression can be realized, so that a control effect is achieved.

The invention relates to the technical field of fiber-optic gyroscope output compensation, in particular to a fiber-optic gyroscope output compensation method and system based on a temperature change rate, which can improve the output stability and accuracy of a fiber-optic gyroscope in different temperature environments. According to the method, the temperature change rate of the gyroscope is monitored in real time, and the fitting relation between the temperature change rate and the gyroscope drift value is established, so that precise compensation of gyroscope output is realized, and the output stability and accuracy of the gyroscope in different temperature environments are improved; the compensated gyroscope output value is more stable, and the overall stability and reliability of the inertial navigation system are improved.

The invention discloses a three-phase imbalance compensation method and system for a power distribution station area, and relates to the technical field of three-phase imbalance compensation, and the method comprises the steps: obtaining dynamic data in the power distribution station area, and carrying out the preprocessing of the dynamic data; constructing a digital twinborn model according to the dynamic data, and simulating operation scenes of a peak load scene and a valley load scene by changing a load condition and a power grid state; automatically adjusting a compensation strategy by using an intelligent optimization algorithm based on a result of the operation scene; and issuing the optimized compensation strategy to a compensation device in real time, and automatically adjusting the operation state by the compensation device according to the compensation strategy to realize real-time compensation of the three-phase imbalance. According to the method, the digital twinborn model is constructed, so that problems possibly occurring under different working conditions can be predicted in advance, and a more effective coping strategy is formulated; and the compensation strategy is automatically adjusted by applying an intelligent optimization algorithm, so that complex and changeable power grid conditions can be quickly adapted, and the compensation accuracy and timeliness are improved.

The invention discloses an active power filter control method and system suitable for frequency fluctuation, and the method employs an FIR filter based on a Lagrange interpolation method to correct the decimal part of the sampling times, and employs a variable bandwidth adjustment internal model control (VBAI) technology to improve the bandwidth after frequency fluctuation. The problem that the control effect is seriously reduced due to the fact that traditional repeated control sampling times change caused by power grid frequency fluctuation is effectively solved, and control gain stability under frequency fluctuation is guaranteed.

The invention relates to the technical field of shooting positioning, and discloses a robot shooting positioning method, device and equipment and a medium, and the method comprises the steps: moving a robot to a preset operation position, rotating a holder to a preset initial pose, and obtaining an actual image of an auxiliary fixed point marker, determining a shooting deviation according to the reference image and the actual image of the auxiliary fixed point marker; adjusting a preset initial pose of the holder for multiple times according to the shooting deviation until the shooting deviation does not exist, and obtaining a corrected initial pose of the holder; and rotating the holder from the corrected initial pose according to the preset pose variation, setting the zoom ratio of the image acquisition equipment as a preset multiple, and shooting the target object. Through multiple times of shooting and pose correction, it is ensured that the target object is locked and shot more accurately during high-power zoom shooting, the robot cradle head can locate the target object more quickly and shoot the target object, high-quality inspection data are obtained, the inspection efficiency is improved, and the labor cost is reduced.

The invention discloses an audio signal compensation method based on AI control and a related device, and relates to the technical field of artificial intelligence, and the method comprises the steps: carrying out the feature extraction of a to-be-compensated audio signal, and obtaining the audio feature information; calculating frequency spectrum fluctuation of the audio signal to be compensated, and performing audio category identification based on the frequency spectrum fluctuation and the audio feature information to obtain a corresponding audio category; obtaining user habit information corresponding to the audio category, and determining a first compensation parameter based on the user habit information by using an equalizer compensation analysis; acquiring frequency response data, and generating a target correction coefficient by using pulse response analysis based on the frequency response data in combination with the environment frequency response parameter to obtain a second compensation parameter; and compensating the to-be-compensated audio signal based on the second compensation parameter, and transmitting the target audio signal to a loudspeaker for playing. According to the invention, the auditory feeling of a user is improved, and the audio signal compensation achieves a more ideal effect.

The invention discloses an unbalance compensation method and system for an energy storage converter, and belongs to the field of power electronics and electric energy quality treatment. The system comprises a power instruction analysis module, a current reference generation module, a negative sequence current control loop module, a zero sequence control loop module, a positive sequence control loop module, a pulse width modulation module, a first conversion module and a second conversion module, the current reference generation module is respectively connected with the negative sequence current control loop module and the positive sequence control loop module; the third end and the fourth end of the negative sequence current control loop module are connected with the pulse width modulation module through the second conversion module; the third end and the fourth end of the zero sequence control loop module and the third end and the fourth end of the positive sequence control loop module are connected with the pulse width modulation module through the first conversion module. According to the method, the energy storage and compensation functions of the PCS can be seamlessly integrated under a unified control framework, so that the control system is greatly simplified, and the performance is remarkably improved.

The invention provides an amplitude-frequency fading compensation method, device and equipment, a signal generation system and a readable storage medium, and the method comprises the steps: measuring the signal amplitude of a sweep-frequency signal under each sample frequency after the sweep-frequency signal is amplified by an operational amplifier, adjusting the gain coefficient of the operational amplifier, and obtaining a gain coefficient function when the signal amplitude reaches a preset amplitude; further determining a target sample gain coefficient based on the gain coefficient function, and then determining a target gain coefficient capable of enabling the signal amplitude to reach the target amplitude according to the target sample gain coefficient, the preset amplitude and the target amplitude; and finally, the operational amplifier is controlled to amplify the amplitude of the target signal output by the digital-to-analog converter according to the target gain coefficient, so that the target signal can be compensated, the amplitude of the target signal reaches the target amplitude, the compensation mode is simple and can be realized only through the operational amplifier, the occupied resources are few, and the cost is low. And the gain coefficient of the operational amplifier is convenient to adjust, the flexibility is high, and the compensation effect is good.

The invention discloses a brightness compensation method, device and equipment. The brightness compensation method comprises the following steps: performing initial brightness compensation on a display module by adopting a compensation algorithm for removing brightness unevenness; performing secondary brightness compensation on the display module by adopting a color uniformity debugging algorithm; and if the uniformity of the display module after the secondary brightness compensation accords with the optical specification, the compensation of the display module is completed. The embodiment of the invention has a better compensation effect on the brightness compensation of the display module.

The invention discloses a manipulator for electrophoretic coating of a magnesium alloy hub, and belongs to the technical field of manipulators. In order to solve the problems of complex process and high equipment manufacturing cost in the conventional product, the invention provides the following technical scheme: the hub electrophoretic coating device comprises a motor mounting frame, and a butt clamp driving mechanism for fixing a hub and driving the hub to rotate and a coating positioning mechanism for electrophoretic coating of the hub are mounted on the motor mounting frame; the butt-clamping driving mechanism is composed of a butt-clamping assembly, an included angle adjusting assembly and a hub driving assembly, and the included angle adjusting assembly is located at the corner of the butt-clamping assembly and used for adjusting the fixed included angle of the butt-clamping assembly in advance. By arranging the butt clamp driving mechanism and the coating positioning mechanism, the manipulator capable of specially performing electrophoretic coating on the magnesium alloy hub is realized, comprehensive spraying can be completed only by one set of equipment, the process complexity is reduced, the efficiency of electrophoretic coating is improved, and the manufacturing cost is low.

The invention discloses a communication control method and device, electronic equipment and a computer readable storage medium, and relates to the technical field of communication, and the method comprises the steps: receiving CEC communication data, and carrying out the non-standard type recognition of the CEC communication data through a type recognition model if a non-standard behavior of the CEC communication data is detected, thereby obtaining a target non-standard type, and determining a non-standard compensation strategy according to the target non-standard type, and responding to the CEC communication data according to the non-standard compensation strategy to obtain a communication result. The effective period of the non-standard behavior analysis and compensation strategy is shortened, the non-standard behavior response efficiency is improved, the recognition and compensation of the novel non-standard behaviors are improved, and the user experience is improved.

The invention relates to the technical field of AUVs (Autonomous Underwater Vehicles), and particularly discloses a multi-degree-of-freedom motion compensation system and method for AUV retraction operation, the compensation system comprises a main body, the main body comprises an XY-direction compensation mechanism and a Z-direction compensation mechanism, the XY-direction compensation mechanism comprises a plurality of propellers, the Z-direction compensation mechanism comprises a hydraulic cylinder, a composite energy accumulator and a gas cylinder, the hydraulic cylinder comprises a first piston part, and the composite energy accumulator comprises a second piston part; an inner cavity of the hydraulic cylinder is divided into a rodless cavity and a rod cavity through a first piston piece, the composite energy accumulator comprises a cavity body, a fixed partition plate and a second piston piece are arranged in the cavity body, and the second piston piece comprises a first piston and a second piston which are connected with each other. The first piston, the fixed partition plate and the second piston divide the cavity into a connecting oil cavity, a first compensation oil cavity, a second compensation oil cavity and a compensation air cavity which are arranged in sequence, and communicating channels are arranged between the connecting oil cavity and the rod cavity and between the compensation air cavity and the air cylinder. A hydraulic control assembly capable of conducting bidirectional reciprocating conveying on hydraulic oil in the first compensation oil cavity and the second compensation oil cavity so as to change the oil amount in the first compensation oil cavity and the second compensation oil cavity is arranged between the first compensation oil cavity and the second compensation oil cavity. The compensation system is simple in overall structure, high in flexibility, good in compensation effect and capable of effectively ensuring the stability and safety of AUV retracting and releasing operation under complex sea conditions.

The invention discloses a modified calcium oxide expansive grouting material, the raw materials of which include: cement, calcium oxide expansive agent, water-based polyurethane, early strength agent, defoamer, water reducer and water; the mass ratio of cement, calcium oxide expansive agent, water-based polyurethane, early strength agent, defoamer, water reducer and water is 1000:30-90:8-12:50-70:2-4:10-14:500. The raw materials also include: limestone, silica powder, fly ash, sodium alginate, graphene oxide, microbial preparation, urea, calcium lactate; the mass ratio of limestone, silica powder, fly ash, sodium alginate, graphene oxide, microbial preparation, urea, calcium lactate and cement is 20-40:1-3:5-15:1-2:1-3:1-2:1-3:1-2:1000. The invention also discloses a preparation method and application of the modified calcium oxide expansive grouting material.