112results about How to "Guaranteed tracking effect" patented technology

The invention discloses a robust tracking control method of a network control system based on the switching control theory. A mixed node driving mechanism of active variable sampling time and an event is established, and it is guaranteed that network-induced delay is always shorter than a sampling period; based on the mixed node driving mechanism of the active variable sampling time and the event, a tracking control model of the uncertain network control system is established; based on a rasterization processing method, the tracking control model of the network control system is converted into a switching system model with a limited switching rule, an H8robust tracking controller of a discrete network control system achieving the given disturbance inhibition level is designed, and finally communication limitation and tracking control of the network control system under the uncertain system condition are achieved. The method has a good inhibition effect on induced delay, packet loss and system uncertain factors of an uncertain network.

The invention discloses a local flexible virtual stem turning control system suitable appropriate for independent automatic tracking. The system comprises a laser distance meter, a GPS (global position system) navigation device, a three-axis gyro, a coded disc, a camera, a first motion state detection unit, a second motion state detection unit and a local flexible virtual stem autonomous trackingsystem. The system is characterized in that firstly, a target robot is detected by a laser radar so as to obtain the distance, pose and position of the target robot relative to an autonomous following robot; then, the position coordinate of the target robot in a world coordinate system is obtained by using the self-positioning information of the autonomous following robot; and finally, according to the current and historical points of the target robot, the motion curve of the target robot can be obtained just through a local flexible virtual-stem model, and then the inflection point of a rigid section and a flexible section is learned. By using the system disclosed by the invention, the motion locus of the target robot can be reiterated more accurately by using the autonomous following robot.

The invention provides a tracking control method of plane paths of a self-managing airship. The method comprises the following steps of: (1) giving an expected track value; giving an expected plane path; giving an expected pitch angle Theta c and an expected rolling angle Phi c; and giving an expected speed; (2) calculating navigation: calculating and removing an expected yaw angle Psi c needed by an error between an expected position and an actual position; (3) controlling and calculating a posture kinesiology: calculating and removing an expected angle speed Omega c needed by the error between an expected posture and an actual posture; (4) horizontally and longitudinally disintegrating a kinesiology: horizontally and longitudinally disintegrating a kinetic equation and an expected speedvalue; (5) longitudinally controlling and calculating the kinesiology: calculating and removing a control quantity mu 1on needed by the error between an expected longitudinal speed and an actual longitudinal speed; and (6) horizontally controlling and calculating the kinesiology: calculating and removing the control quantity mu 1at needed by the error between an expected horizontal speed and an actual horizontal speed. By the method of the invention, any parameter plane paths can be tracked for ensuring the stable property of a closed-ring system and simplifying the control calculation.

The invention discloses an anti-backlash and synchronization control method for a dual-motor servo system, relating to a tracking, synchronizing and anti-backlash comprehensive control method for a dual-motor servo system and belonging to the technical field of motor control. The implementation method of the invention comprises the following steps: analyzing a dual-motor servo system with backlash; building a state-space equation of the system by using a dead zone model of the backlash; designing a tracking controller by using a robust backstepping control method; respectively designing a synchronization controller and an anti-backlash controller by using the robust backstepping control method based on the tracking controller; and introducing a transfer function for the anti-backlash controller and the synchronization controller, applying the anti-backlash controller to make up for backlash when the backlash is about to appear and carrying out synchronization control when no backlash appears, thus ensuring the tracking, synchronizing and anti-backlash control of the dual-motor servo system. The technical problem to be solved in the invention is to eliminate the influence of backlash nonlinearity and ensure the synchronization of motors under the premise of realizing load tracking.

The invention relates to a real-time online multi-target tracking method adopting a temporal dynamic appearance model. The method comprises the following steps: taking appearance information of each target in a multi-target tracking process as an appearance sequence of temporal orderliness; expressing the temporal dynamic variation characteristics of the appearance sequence by establishing an appearance model with strong discriminating ability by considering the rule of change of the target appearance information in the tracking process following the change of time; supplying accurate appearance matching information related to the data between target and detection results through structural diversity of the modeling of hidden state observation models in a characteristic space; relating the detection results with the target frame by frame, thereby finishing the real-time online multi-target tracking task and accurately real-time tracking a plurality of interesting targets in a tracking video. The tracking property is ensured while calculation efficiency is ultra-high. The real-time online multi-target tracking method can be practically applied to various real-time systems.

The invention discloses an image tracking method comprising: calculating histograms of all regions, which use a predetermined corner of a whole tracking region as a starting point, in the whole tracking region by an integral operation, to obtain a region integral histogram; calculating histograms of every search windows, where a target may be appeared, in the whole tracking region, matching the calculated histograms of the search windows with a standard histogram of the target, obtaining a matching result, and determining a tracking position of the target according to the matching result. In addition, the invention also discloses an image tracking system. The image tracking method and system provided in the invention can ensure tracking effect and increase tracking speed.

The invention relates to a balloon catheter provided with side holes. The balloon catheter comprises a balloon, a catheter body and a guide wire, wherein in the catheter body, an inner tube passes through from the interior of an outer tube, and two ends of the inner tube are provided with openings, so that a guide wire cavity is formed; an annular gap formed between the inner tube and the outer tube is a pressurizing cavity; furthermore, on the section, close to the proximal end of the balloon, of the catheter, the pressurizing cavity of the section is divided into a closing portion and a communicating portion in a peripheral direction; by virtue of the closing portion, the outer tube of the portion is firmly connected to the inner tube, and through holes are formed in the closing portion; by virtue of the through holes, blood can circulate by virtue of the inner tube when the balloon gets dilated; and by virtue of the communicating portion, the balloon communicates with an external pressurizing system through the catheter body. The balloon catheter provided by the invention is just on the basis of slight improvement of existing balloon catheters on the market and the structures of the existing balloon catheters are not changed, and the problem of increasing the outer diameter of the catheter is avoided; the tracing property, passing property and passing ability of the finished product (the balloon catheter) are guaranteed; blood circulation is guaranteed while balloon dilation is achieved; and a dilation duration is prolonged and a treatment effect is enhanced.

The invention discloses a balancing vehicle system and a control method thereof. According to a difference equation model and a drift error model of attitude signals of the balancing vehicle system, astate equation of an extended Kalman filter and a mathematical model of a permanent magnet linear motor are established. A second-order dynamic Terminal sliding film is used to drive permanent magnetsynchronous motor. Particle Swarm Optimization (PSO) is used to optimize the parameters of tracking controller, synchronization controller, clearance elimination controller and switching function ina two-motor system. The invention realizes that the signal collected by the sensor of the balancing vehicle has large noise and zero drift error, and solves the problem of poor robustness and the problem that the Brush motor structure is complex, fault, maintenance workload, short life, commutation spark easy to produce electromagnetic interference, as well as in the balance of the car in the process of running jitter, deviation is too large, and low security.

The invention discloses a steering control method based on vehicle kinematics model under dynamic constraints. The method comprises the following steps: firstly, kinematics modeling of a vehicle modelis performed, and then a kinematic differential equation of the vehicle is linearly discretized, because a model predictive control algorithm is generally a sampling control algorithm, and when a solution is optimized, a computer is also discrete; finally, an objective function and constraints are designed, and the objective function is transformed into a standard quadratic form to be solved. According to the method, dynamic constraint parameters are converted into a control quantity expression derived by using a kinematic model; compared with the existing method by using the kinematic modelas a prediction model, a controller design method considering the dynamic constraints proposed by the invention, can avoid the problem of high possibility of sideslip and rollover when the vehicle isrunning at a high speed, so that the tracking accuracy and the stability of the kinematic model can be ensured at the high speed.

The invention relates to a segment neural network friction model based dual-motor servo system control method and belongs to the technical field of electromechanical control. The method includes: firstly, analyzing a dual-motor drive servo system with friction, and establishing a mathematical model of the dual-motor drive servo system with friction according to a mechanism modelling method as well as the structures of motors and the physical law; secondly, analyzing a friction term fi in the mode, and utilizing a segment neural network to establish a friction model of the nonlinear friction fi so as to obtain a segment neural network friction model; thirdly, utilizing a terminal sliding mode control algorithm to acquire a synchronous motor speed control law, and performing synchronous tracking control on the dual-motor servo system according to the control law. By the method, influence on the dual-motor system due to friction can be eliminated, the dual-motor system has better transient performance, tracking response speed of the dual-motor servo system is increased effectively, and fast synchronization of the dual-motor system can be guaranteed.

The invention discloses a dual-motor torque synchronization model predictive control method based on a quadratic value function. The method comprising steps of establishing a unified prediction modelby taking a dual-motor system that drives the same heavy load through two motors as an object, by taking the synchronization performance between motor output torques as a main control target, and bytaking the current values of respective motors and the torque synchronization error between the motors as state variables; using the unified prediction model to obtain state variable predicted values,and enabling multiple control variables to be included in the same error vector by using the quadratic value function in order that only one weight coefficient matrix to be solved is in the value function; and calculating the optimal weight coefficient matrix by using a weight coefficient matrix offline solution algorithm, and using the optimal weight coefficient matrix in a finite set model predictive control process of a dual-motor torque synchronization system. The method ensures the convergence of the error vector and the asymptotic stability of the system, not only improves the torque synchronization performance of the dual-motor system, but also improves the dynamic and steady tracking performance of the two motors.

The invention discloses a multivariable cooperative control method for a double-hearth circulating fluidized bed unit, belongs to a multivariable system for constructing a circulating fluidized bedboiler and a turbo-set, and adopts a multivariable constraint DMC algorithm based on tracking error gradient. The adopted algorithm makes improvement on the traditional DMC algorithm, specifically, the tracking error gradient is introduced in an objective function, so that the tracking effect for the set value is improved, and constraint is attached to input and output, so that the controlled variable of a solution is within the physical scope. According to the invention, as the bed temperature and the bed pressure of hearths on left and right sides are considered simultaneously, during variable working condition regulation, the load tracking capacity is guaranteed, and the bed temperature and bed pressure of the two hearths are balanced and stable, and balanced combustion is realized.

For the problems that in a conventional vector tracking method, loop update frequency depends on navigation message rate, so that a loop cannot be designed flexibly and cannot be directly used for receiving Beidou B1I signals, the invention provides a Beidou navigation signal vector tracking method based on an incoherent discriminator. By introducing the incoherent discriminator, flexible design of the vector tracking loop update frequency is realized. The method, by optimizing incoherent accumulation time of the incoherent discriminator, not only can eliminate the influence of navigation messages on vector tracking loop update rate, but also can improve the performance of the vector tracking loop.

The invention discloses a self-adaptive feedback protection dynamic surface controller structure and a design method. The structure comprises n stages of sub controllers, wherein an output end alpha2 of a first-stage sub controller is connected with an input end of a second-stage sub controller, and the like, an output end alpha i of the (i-1)th-stage sub controller is connected with an input end of the i-th-stage sub controller, until an output end alpha n of the (n-1)-th sub controller is connected with an input end of the n-th-stage sub controller; the i-th-stage sub controller comprises a filter unit, a comparator unit, a linear control unit, an approximating machine unit, a feedback protection unit and a summer unit. The feedback protection unit is added on the basis of the dynamic surface control, so that on one hand, the input transient performance of the controller can be remarkably improved, and the design method is more helpful for practical engineering application, and on the other hand, the limitation that frequency band of control input signal cannot be regulated by regulating time of the filter in the dynamic surface control design method is overcome.

The invention discloses an image tracking method comprising partitioning a target image and obtaining a block histogram for each block of the target image by calculation. In the method, every search windows are partitioned according to a partitioning manner corresponding to the target image, respectively, to obtain sub-windows of each search window; a histogram of each sub-window is calculated, and the obtained histogram of each sub-window is matched with the partitioning histogram of a corresponding block of the target image so as to obtain a matching degree of each sub-window; a matching result of each search window is obtained according to the matching degree of each sub-window in each search window, and tracking position of the target image is determined by the matching results. In addition, the invention discloses an image tracking system. The method and system disclosed in the invention avoid a circumstance of failed tracking induced by losting space position information of respective pixels during a statistical process, and ensures tracking effect.

The invention discloses a wireless sensor network cooperation method based on a dynamic link. A specific embodiment of the method comprises the following steps: establishing a tracking link on the surrounding of a target to track the target, wherein with the movement of the target, the tracking link gradually increases or deletes nodes therein; receiving sensing data sent by an upstream node by each node of the tracking link, performing fusion processing on the data and the data observed by itself, generating new data, and sending the new data to a downstream node until to a chain head node, fusing all received sensing data with the data observed by the chain head node, and sending the fused data to an aggregation node; and serving as the chain head node by each node on the tracking link in turn. By adoption of the method, on one hand, the problem that when the position of the target changes in the existing structure based on dynamic cluster or tree, the cluster or tree needs to reestablished to generate a large cost, and on the other hand, the sensing data of the tracking node can be locally fused, thereby improving the data transmission efficiency of the network.

The invention discloses a parameter perturbation inhibited instruction tracking control method of a high-supersonic-speed aircraft. The method comprises the steps that nondeterminacy modeling is carried out on the high-supersonic-speed aircraft to obtain a parameter nondeterminacy model; on the basis of a principle influential element analysis method, the established parameter nondeterminacy modelis simplified; a parameter nondeterminacy inhibited robust adaptive instruction tracking controller is designed; and the stability of the designed controlled is proved. Under the condition that greatparameter perturbation occurs in the high-supersonic-speed aircraft, the rapid instruction tracking capability and the stability of the aircraft can be also ensured, the problem that the instructiontracking performance of the high-supersonic-speed aircraft cannot be ensured in the preset control technology is solved, the operand of the controller is reduced, and the control method is convenientto realize.

The invention discloses a coherent laser radar for improving detection range by adopting an optical phase-lock technology. The coherent laser radar comprises a main laser device (space coupling), a tunable local oscillator laser, a receiving optical system, a 3dB coupler, a balanced detector, a frequency and phase discrimination module (PFD), a charge pump and a loop filter. A beat frequency signal is obtained after the laser emitted by the main laser device is interfered by an echo signal reflected by a target and local oscillator light, phase difference of two signals can be obtained after the beat frequency signal and a set reference signal are subjected to the frequency and phase discrimination module, the frequency of the local oscillator laser device is regulated and controlled through the corresponding control voltage produced by the loop filter, so that the beat frequency signal can be locked to the set reference signal phase, the beat frequency signal meets a condition of timedomain coherent accumulation, the extraction of the weak signal is more facilitated, and the detection range of the coherent laser radar is finally improved.

The invention discloses a finite time convergence vehicle formation control method based on a disturbance observer. The method comprises the following steps that step 1, vehicles in a formation are numbered from 0 to N from front to back, wherein the zeroth vehicle is a pilot vehicle running at a constant speed, and step 2, each vehicle obtains estimated values of unmatched speed disturbance and matched acceleration disturbance through a disturbance observer; step 3, in the driving process, the pilot vehicle and each following vehicle i use onboard communication to send own number, position, speed, acceleration, and disturbance estimate information to other vehicles; step 4, a position tracking error is defined to be e(p,j) and a speed tracking error is defined as e (v,i); step 5, each following vehicle i uses the own position, speed, acceleration and disturbance estimation information and received position, speed, acceleration and disturbance estimation information of other vehicles to calculate own expected acceleration; step 6, the expected acceleration is determined to be higher or lower than the actual acceleration when the opening degree of the throttle valve is zero; step 7,a driving system or a braking system acts to obtain a driving torque Tiw or a braking torque Tib, and the driving torque Tiw or the braking torque Tib is applied to the vehicle body; and step 8, eachfollowing vehicle continuously repeats the steps 2-7 to realize vehicle formation driving. According to the finite time convergence vehicle formation control method based on the disturbance observer,the vehicle formation development error can be converged within the finite time, so that the vehicle formation tracking performance and safety are ensured.

The invention provides an auto disturbance rejection parameter setting method for a pH neutralization process. The method comprises the following steps that: an initial auto disturbance rejection controller structure is established, a closed loop transfer function expression corresponding to the initial auto disturbance rejection controller structure is obtained, format conversion is carried out on the closed loop transfer function expression based on rapid convergence conditions of a closed loop system, and to-be-set parameters are determined; the to-be-set parameters are set one by one and acalculation mode of each to-be-set parameter is determined; and on the basis of the charge and carbide ion balance principle, a pH neutralization model is established to realize auto disturbance rejection control of the pH neutralization process, auto disturbance rejection controller parameters of the pH neutralization process are adjusted by combining the determined calculation mode of each to-be-set parameter in the auto disturbance rejection controller. Since the pH neutralization process is controlled by using an improved auto disturbance rejection controller, the high robustness and anti-interference ability are realized while the tracking performance of the system is ensured. Compared with other auto disturbance rejection controllers, the auto disturbance rejection controller enables the number of to-be-set parameters to be reduced and the setting efficiency to be improved.

The invention relates to a cigarette automatic detection method based on deep learning in a monitoring scene, and the method comprises the steps: firstly carrying out the overturning, zooming and smoothing of a cigarette data set photographed and downloaded from a network, obtaining a bigger data set, training the data set based on a YOLOv3 deep learning network, and forming a template library; performing corresponding image enhancement processing on the to-be-detected image or video frame by using an image enhancement method; carrying out image segmentation on the large-size image, cigarettesor people with cigarettes in the image are separated out, and the time needed by detection is shortened; then pre-generating prediction boxes on the image to be detected, and comparing each prediction box with a pre-trained template library; and finally, selecting a prediction box higher than a preset threshold value from the detection confidence coefficients of all the prediction boxes, and determining the prediction box as a target object. After the whole image of the current frame is scanned, all detected targets are marked and displayed on the image, and cigarette detection is completed.The method can effectively improve the detection accuracy and shorten the detection time.

The invention relates to an orthopaedic array support frame, an orthopaedic array device and an orthopaedic robot. The orthopaedic array support frame is used for mounting an array frame of the orthopaedic array device, and comprises a base assembly. a supporting assembly and an adjusting assembly, wherein the base assembly is used for being installed in a femur; one end of the supporting assembly is arranged in the base assembly; and the adjusting assembly is installed at the other end, away from the base assembly, of the supporting assembly, the peripheral side of the adjusting assembly is further connected with the array frame, and the adjusting assembly can rotate relative to the supporting assembly so as to adjust the direction of the array frame. When rotating relative to the supporting assembly, the adjusting assembly can drive the array frame to move so as to adjust the positions of reflective balls in the array frame. Thus, optical tracking equipment can capture the positions of the reflective balls to realize tracking and positioning. The tracking effect is guaranteed, assembly and use are convenient, the surgery effect is improved, and the accuracy of joint replacement surgery is guaranteed.

The invention provides a method for suppressing the pulse modulation continuous wave interference of a notch filter assisted by a variable gain amplifier. The method comprises the following steps of:filtering input mixed signals by the notch filter; performing carrier wave stripping on filtered mixed signals, and respectively mixing the mixed signals with sinusoidal carrier wave replica signals and cosine carrier wave replica signals to obtain mixing results I(t) and Q(t); performing amplitude detection on the filtered mixed signals, and outputting a corresponding compensation coefficient Gain by the variable gain amplifier according to an amplitude detection result; compensating the mixing result I(t) to obtain a compensated mixing result I<Pamp>(t); and evaluating and outputting the actual value A(t) of a filtered and compensated signal amplitude according to Q(t) and I<Pamp>(t). According to the method for suppressing the pulse modulation continuous wave interference ofthe notch filter assisted by the variable gain amplifier, a traditional notch filter is assisted by the variable gain amplifier to achieve effective suppression for pulse modulation continuous wave interference, and can compensate for lost useful signals, which provides a basis for subsequent high-precision tracking and positioning.

The invention provides a double-mechanical-arm system finite time parameter identification and position synchronous control method based on mean value coupling. The double-mechanical-arm system finitetime parameter identification and position synchronous control method comprises the following steps that 1, a double-mechanical-arm system model is established; 2, a double-mechanical-arm tracking error, a synchronous error and a mean value coupling error are defined; and 3, a self-adaption finite time parameter estimation rule and a controller are designed. The designed parameter identificationand synchronous control scheme has the good identification and control effect on a double-mechanical-arm system, so that the double-mechanical-arm system can achieve high-precision parameter identification and has the good tracking property and the good synchronous property.

The invention relates to a tracking control system for an electromagnetic type fast steering mirror and a bandwidth improving and phase lag compensation method. The control system includes an input module, a closed loop control system, a zero phase difference feedforward compensator and an output module connected with the closed loop control system in series. The closed loop control system is composed of an incompletion differential PID controller, a fast steering mirror and an SGS strain sensor. According to the control system, an inertial element is introduced into a differentiation elementin a traditional PID controller, so that unsteady influence of low order resonance of an electromagnetic type fast steering mirror mechanism is eliminated through an incomplete differential PID control algorithm and an aim of making a control bandwidth surpass resonance frequency thereof is achieved. At the same time, based on zero pole offset at the front end of the closed loop control system, the zero phase difference feedforward compensator is introduced, so that phase lag of the tracking control system is reduced. The control method provided by the invention is simple and easy to execute,high in adaptability, can improve control bandwidth of the electromagnetic type fast steering mirror effectively and achieves a good lag compensation effect, so that the tracking performance of the fast steering mirror is improved.

The invention discloses an audio signal processing method and device, equipment and a storage medium, and belongs to the field of voice processing. The method comprises the following steps: acquiringat least two audio signals acquired by different microphones in a microphone array; filtering the at least two audio signals through a first filter to obtain a first target beam; filtering the at least two audio signals through a second filter to obtain a first interference beam; obtaining a second interference beam of the first interference beam through a third filter; determining the differencebetween the first target beam and the second interference beam as a first audio processing output; and adaptively updating at least one of the second filter and the third filter, and updating the first filter according to the second filter and the third filter after updating is completed. The method can reduce interference leakage under the condition of interference movement.

The invention discloses a self-adaptive dynamic surface controller structure and a design method thereof. An error feedback unit is added on the basis of self-adaptive dynamic surface control, a virtual given signal can be adjusted according to feedback tracking error information, and especially, the virtual given signal can be adjusted quickly to reduce tracking errors when the tracking errors are large, so that the problem of poor transient performance of a control system due to the tracking errors is solved. By introduction of the error feedback unit, saturation of an executor can be avoided effectively, and mechanical damages caused by dithering of control input signals to the executor can be reduced; a neural network is enabled to quickly and smoothly approach uncertainty in a controlled system, and tracking performance of the system is guaranteed without influences on robustness of a controller; the error feedback unit only plays a role in a transient process. By the design method of the controller, system stability can be guaranteed while transient performance of the control system is improved.

The invention discloses a link management method applied to a terminal device. The method comprises: receiving transmission configuration indication (TCI) information, the TCI information being used for indicating M TCI states of a wake-up signal (WUS), M being a positive integer; in the case of a sleep period of discontinuous reception (DRX) in a connected state, performing a link management operation based on the M TCI states, the link management operation including at least one of a beam failure monitoring operation and a radio link failure monitoring operation. According to the embodimentof the invention, the problem that the terminal device cannot perform beam failure or wireless link failure monitoring in the sleep period of the connected DXR in the existing scheme can be solved, and the power consumption of the terminal device can be reduced.

The invention provides an intelligent vehicle transverse and longitudinal comprehensive trajectory tracking method and control system. The method comprises the following steps: building vehicle dynamic models in a longitudinal direction, a transverse direction and a yawing direction, and obtaining a prediction trajectory according to the vehicle dynamic models; determining an objective function and a constraint condition according to the difference between the reference trajectory and the prediction trajectory, solving to obtain an optimal front wheel rotation angle and an optimal wheel slip rate, and establishing a wheel dynamic right inverse model of through a neural network; allowing the wheel dynamic right inverse model to output a wheel torque according to a wheel center longitudinalspeed, a wheel rotating speed and a wheel optimal slip rate which detected by a sensor; and inputting the optimal front wheel rotation angle and the wheel torque into the controlled vehicle, and obtaining a new prediction track through the feedback of the state quantity of the controlled vehicle to achieve closed-loop control. According to the invention, transverse control and longitudinal controlare combined through a tire rotation angle and the slip rate, and the problem of tracking deviation caused by respective control through a decoupling method is solved.