271results about How to "Guaranteed certainty" patented technology

The present invention discloses a robot trace tracking control method and system. The method comprises the following steps of: the step S100: establishing a dynamical model of an N-degree-of-freedom rigid robotic system; the step S200: according to dynamic characteristics of the robotic system, performing linearization of the dynamical model of the robotic system along an expected trace; and the step S300: taking expected joint angle and joint angular speed of the robotic system as reference input of a robustness adaptive iteration learning controller, taking actual joint angle and joint angular speed of the robotic system as actual input of the controller, generating tracking errors between the actual input and the reference input, and gradually decreasing the tracking errors through iteration calculation of the controller. The robot trace tracking control method and system can perform tracking control of a robot of uncertainty modeling and random disturbance, can improve the rate ofconvergence and the control precision of tracking control and can meet the requirement of the work speed and the precision of the robot.

The invention discloses a time-sensitive heterogeneous network system of an industrial control system, and a management method thereof, and relates to the technical field of network communication. Anindustrial network architecture is established and comprises a bottom layer device layer, a middle layer TSN (time-sensitive network) switch network and a topmost layer control layer. Heterogeneous data are converted into TSN streams, the data are upwards transmitted to a central controller through the TSN switch network, and after the central controller stores, analyzes and calculates the data, agenerated control instruction is downwards transmitted to field equipment through the TSN switch network to regulate the equipment. A control transmission cooperation strategy is introduced, and dynamic parameter updating is carried out according to detection and reconfiguration of CUC (centralized user configuration) and CNC (centralized network configuration) units. According to the invention,the problem that heterogeneous data under different protocols in a traditional network architecture are difficult to be compatible is solved, the determinacy and reliability of industrial data transmission and forwarding are ensured, and the performance optimization of a control system and the resource utilization rate maximization of a network transmission system are realized.

The invention relates to an industrial wireless WIA-PA network and time sensitive network conversion method and apparatus, and belongs to the technical field of industrial networks. The apparatus consists of a TSN switch, a WIA-PA/TSN converter, a WIA-PA router and a WIA-PA field device. In the method, the WIA-PA/TSN converter is designed, two manners of MAC address addressing and IPv6 address addressing are supported, the mapping between a WIA-PA data stream and a TSN data stream is completed, the support of a data transmission priority is maintained, and the protocol conversion and interconnection between WIA-PA and TSN are effectively achieved; and furthermore, the invention further provides a transmission delay guarantee method between the WIA-PA and the TSN, the data can arrive withina specified deadline by allocating communication resources such as transmission time slots and the like, so that the instantaneity and certainty of the transmission of the data between the WIA-PA/TSNis ensured.

The invention provides an industrial Ethernet exchanger based on an EPA protocol, comprising an EPA message processing and forwarding module and an EPA message deterministic scheduling module, wherein the EPA message processing and forwarding module directly forwards the EPA network data messages of communication between EPA site equipment in the same subfield; the EPA message deterministic scheduling module divides the EPA network data messages of the communication between the EPA site equipment in different subfields into periodic EPA network data messages and nonperiodic EPA network data messages; and in one macro period, the periodic EPA network data messages and the nonperiodic EPA network data messages are respectively scheduled and forwarded, wherein the periodic EPA network data messages are transmitted in a fixed time slice, and the nonperiodic EPA network data messages are sequentially transmitted according to the priority in a nonperiodic time section. The invention also provides a message forwarding method of an industrial Ethernet based on an EPA protocol.

The present invention discloses a hypersonic aerocraft neural network composite learning control method based on robustness design. The objective of the invention is to solve the technical problem that a current hypersonic aerocraft control method is bad in practicality. The technical scheme comprises: performing transformation of an attitude subsystem strict feedback form, obtaining an output feedback form, employing a high-gain observer to perform estimation of newly defined variables, and providing basis for subsequent design of a controller; allowing the controller to consider the lump nondeterminacy of the system, and only requiring one neural network to perform approximation, wherein the controller is simple in design and is convenient for engineering realization; and considering control of unknown cases of a gain function, introducing the upper and lower bound information, and designing a robustness item to ensure stability of the system. Because the strict feedback form is transformed to an output feedback form to effectively avoid approximation of virtual control amount required for future through adoption of the neural network; aiming at the system nondeterminacy, the robustness item is designed to ensure the stability of the system; and modeling errors are constructed to design a neural network composite learning updating rule so as to improve the neural network learning speed.

The invention provides a method for improving a seismic data resolution ratio for well control. The method for improving the seismic data resolution ratio for well control comprises the steps of calculating reflection coefficients at all well positions; calculating deconvolution operators at all well positions according to reflection coefficients at all well positions; conducting reverse distance weighted three-dimensional spatial interpolation on all deconvolution operators to obtain deconvolution operators of all seismic traces in a three-dimensional space; and conducting convolution processing on original seismic trace data according to deconvolution operators of all seismic traces, and obtaining three-dimensional data volumes through phase correction and trace equalization. The method for improving the seismic data resolution ratio for well control solves the problems that seismic data in the prior art are low in resolution ratio and high in limitation of application range, and the method has the advantages that a plurality of weakened horizon information is strengthened, information of structures such as faults is clear and the superimposing relationship of horizons is clear and accurate.

The invention discloses an implementation method for the time-triggered communication bus of an aeroengine distributed control system and belongs to the field of aeroengine control technique. The method comprises the steps of A, implementing the physical layer of a TTCAN bus controller; B, implementing the data link layer of the TTCAN bus controller; C, implementing the time-triggered system of the TTCAN bus controller; and D, implementing the experimental platform of an aeroengine distributed control system. According to the technical scheme of the above method, a two-level TTCAN bus-contained controller is adopted, so that the rates of local timers at all bus nodes of an aeroengine in high-temperature and high-vibration environments are ensured to be synchronized. The real-time performance and the security are ensured, and the bus utilization rate is improved.

The invention discloses a hard real-time fault diagnosis method and a hard real-time fault diagnosis system and relates to the field of real-time engineering system fault diagnosis. The calculation efficiency for diagnosing the rule is improved by fully using information of a test process. The method disclosed by the invention mainly comprises the steps of performing static optimization on a fault rule in a knowledge base file to generate an optimized knowledge base file; resolving the optimized knowledge base file to generate a dynamic knowledge base; searching the dynamic knowledge base according to acquired fault diagnosis sign data; judging whether the fault diagnosis time is larger than a soft time threshold value during testing and training, if the fault diagnosis time is larger than the soft time threshold value, generating a new rule base file through a fault diagnosis result serving as a second component and a first fault diagnosis component, and storing the new rule base file into the knowledge base file; during arrangement and use, judging whether the fault diagnosis time is larger than a hard time threshold value, if the fault diagnosis time is larger than the hard time threshold value, ending the current fault diagnosis. The embodiment of the invention is mainly used in a hard real-time fault diagnosis process.

The invention provides a neural network adaptive control method applied to a servo system in order to improve the control accuracy of the servo system, which realizes nonlinear compensation and interference suppression of the servo system and improves the tracking accuracy and the robustness of the servo system. In addition, a speed closed loop is not needed, so the entire system can be quite conveniently designed, is easy to implement in engineering and reduces the cost.

The invention provides a system on a chip adopting an ARINC 659 rear panel data bus interface chip with high reliability and credibility and low cost in a novel communication mechanism. The system on the chip comprises a PCI (Peripheral Component Interconnect) bus interface module, a two-port RAM, a bus command list mapping storage, a command list self-loading functional module and an ARINC 659 bus protocol processing module. The invention ensures complete certainty of the communication.

The invention discloses a service flow shaping method and a service flow shaping device for a cascaded port of an avionics full duplex switched Ethernet (AFDX) switch. The main problems of relatively stronger switching delay jitter of packets and incapability of transmitting high-priority packets on time in the prior art are solved, and a system can be conveniently cascaded. The method comprises the following steps of: (1) extracting packet scheduling information; (2) extracting the information of a time registry; (3) receiving and scheduling the packets; (4) selecting and sequencing the packets; (5) updating time tags; (6) transmitting and scheduling the packets; and (7) updating a time registry. The device comprises an input caching module, a receiving scheduling module, a time registry module, a packet information storage area module, a time tag module, an output queue module, a transmission scheduling module and an output caching module. The method and the device have the advantages that: the determinacy of the delay jitter of the packets can be ensured; the forwarding delay jitter of the packets can be effectively reduced; the high-priority packets can be transmitted on time; and the method and the device are applied to the traffic shaping of the AFDX switch.

The invention discloses a design method of DCS controlled TTP/C bus controller catering to aeroengine. Considering the performance demands of the DCS system of aeroengines, the design method of TTP/C bus controller comprises the steps of general design of the TTP/C bus controller, data link layer design of the TTP/C bus controller, protocol service layer design of the TTP/C bus controller, communication network interface design of the TTP/C bus controller, and the state machine of the TTP/C bus controller. The controller designed by the method on the basis of field bus programmable gate array has the advantage of being light in weight, being low in cost, being simple in maintenance. At the same time the transmission bandwidth is high, the error tolerance is strong, and the bus use rate is high, thus satisfying the demands of the DCS system of aeroengine.

The invention discloses a power transmission system of a multi-heat source loop pipe network, a system configuration method and an operation mode. One or more sets of fixed speed circulation pumps which are same in rated flow and different in rated lift are respectively arranged at various types of heat sources. When more sets of fixed speed circulation pumps are arranged, a plurality of sets of circulation water pumps which are same in rated flow and different in rated lift are installed in parallel; corresponding sets of circulation water pumps are operated under various types of working conditions; the set number corresponds with the number of operation working conditions of the heat sources; and a flow control valve capable of quantitatively controlling flow is arranged at each user place. By means of the heat sources operating under various types of operation working conditions, the circulation water pumps corresponding to the operation working conditions are started respectively; the conveying capacity of the pipe network and the operation effect of the pipe network under various types of normal operation working conditions are ensured; and the electric energy consumption ofthe power transmission system is reduced.

The invention discloses a manufacturing method for a full optical fiber high-pressure gas chamber based on a hollow-core photon crystal fiber. The steps of the invention are as follows: a) two ends of a hollow-core photon crystal fiber (1) are respectively communicated with an airtight A chamber (2) and an airtight B chamber (3), and one end of gas distribution equipment (4) is communicated with the airtight B chamber (3), and the other end of the gas distribution equipment (4) is respectively connected with a vacuum pump (5) and a gas source (6) to be inflated; b) the airtight B chamber (3) is connected with the vacuum pump (5) through the gas distribution equipment (4) first, after the required vacuum degree is achieved, the airtight B chamber (3) is connected with the gas source (6) to be inflated again through the gas distribution equipment (4) until air pressure of the airtight A chamber (2) is more than or equal to one atmospheric pressure; c)the two ends of the hollow-core photon crystal fiber (1) are successively welded with a standard single film fiber (10) within a range of less than or equal to 1.5 min; d) a distillation function p(x) of air pressure of a fiber core in the hollow-core photon crystal fiber (1) is derived from a formula p(x)=p(1)(-c+a2-bx); e) a final air pressure value of the full optical fiber high-pressure gas chamber is calculated by more than one p(x). The p(x) can accurately determine the air pressure value of the full optical fiber high-pressure gas chamber.

The invention discloses an upper computer with a real-time transmission function in the Ethernet and an Ethernet system, and the upper computer comprises: a global timing system module which determines a main clock of global equipment, and achieves the clock synchronization based on a clock synchronization mechanism; an application layer module whichgenerates a scheduling table and analyzes the scheduling table, downloads the message to the kernel driving module at the moment when the application layer module downloads the time triggering message, and receives the time triggering message fromthe kernel driving module; the kernel driving module which receives a time triggering message from the application layer module, downloads the message to the first hardware FPGA module, receives the time triggering message from the first hardware FPGA module and uploads the message to the application layer module; and a first hardware FPGA module which downloads the scheduling table, receives thetime trigger message from the kernel driving module according to the scheduling table, sends the message to the target switch at the sending moment, receives the time trigger message from the switch according to the scheduling table, and uploads the message to the kernel driving module at the uplink moment.

The invention provides a neural network self-adaptive control method applied to a servo system, aiming to improve the control accuracy of the servo system. The neural network self-adaptive control method realizes nonlinear compensation and interference suppression to the servo system and improves the tracking accuracy of the servo system. The servo system mainly comprises a reference model, a self-adaptive controller and a neural network controller. In addition, based on a speed ring accurate reference model, a position ring controller is very simple in design so that the whole system is rather convenient in design, thereby being easy to carry out in engineering.

The invention provides a data frame scheduling method based on virtual links. The data frame scheduling method includes the following steps: 1, after a virtual link module receives data, a bandwidth allocation gap value allocated by a system to the corresponding virtual links is set; 2, waiting is carried out in FIFO, operation is carried out in a scheduling module, a jitter upper limit value distributed by the system is obtained, and the data are transmitted to an MAC within the range of the time value; each virtual link has an effective transmission identification, and a scheduler determines whether flow shaping is carried out on the virtual links or not according to the states of BAG timers corresponding to the effective transmission identifications to serve as a signal for controlling flow shaping and synchronous scheduling of the virtual links. By means of the data frame scheduling method based on the virtual links, it is guaranteed that during large-data-volume communication, a virtual path has the balanced flow and the rated bandwidth, and therefore the certainty and the effectiveness of information transmission time in the virtual path can be guaranteed.

Disclosed is a time deterministic data switching method and device based on time pressure. The method comprises: in the network environment constructed by switching nodes, real time measuring the total switching delay and the switching node number generated by transmitting each data frame through each switching node, recording the delay and the node number onto the data frame and transmitting the same; calculating the switching time pressure of the data frame by each switching node according to the actual transmission delay requirement, and the total switching delay and the switching node number recorded in the data frame; adjusting and controlling the switch priority based on the time pressure to satisfy the transmission delay requirement needed by the data frame. The switching device includes a switching module, a time module, a storage unit and a PHY module. The invention can achieve dynamic coordination of the switch delay among the multiple switching devices, ensure the determinacy and the consistency of data end-end transmission relay, and improve the transmission efficiency and stability.

The invention discloses a system for sharing books. The system comprises a book purchasing system for a user, a book printing system, a bookcase, a user mobile phone side and a server. The method comprises the following steps that: a user puts forward a book purchasing request for a platform; while the book is published, or for books which are published but are not sold, a two-dimensional code is printed on a book spine position, wherein the two-dimensional code contains the following information: the own information of a book, book purchasing user information and platform information; and the user puts, borrows and lends books. By use of the method and the system, the problem that books are difficult in sharing is solved, the user purchases books, the ''identity authentication'' of the user is added into a book purchasing link, necessary conditions are provided for the valuable circulation of books in a later stage, the ''property right'' of the book is transferred to the book purchasing user, and the user decides whether the book is "shared" to obtain earnings or not. Therefore, on one hand, platform input is lowered, and on the other hand, the development of "sharing" is accelerated.

The invention relates to a control method of a photovoltaic LCL type grid-connected inverter. The control method is characterized by comprising the steps of: considering that a photovoltaic LCL type grid-connected inverter system has input uncertainty faults and actuator faults, establishing a fault mathematical model, and setting a fixed control distributive law; establishing a system state high-order sliding-mode observer and state estimation errors thereof according to the fault mathematical model, and adopting the high-order sliding-mode observer for realizing accurate estimation of system fault information; and constructing a continuous integral sliding-mode fault-tolerant controller mathematical model according to the fault mathematical model, the fixed control distributive law, the high-order sliding-mode observer and the state estimation errors thereof, wherein the continuous integral sliding-mode fault-tolerant controller mathematical model is used for processing the actuator faults directly. The control method is reasonable in design, can realize stable control under parameter uncertainty faults and actuator faults, and exhibits good tracking performance and fault tolerance. The control method provides a new idea for the design of a large-scale photovoltaic LCL type grid-connected inverter control system, and has a good engineering application prospect.