35results about How to "Improve adaptive adjustment ability" patented technology

The invention discloses a welding robot welding path planning method based on discrete particle swarm optimization. The method comprises the steps of: (1) building a mathematical model of a path of a welding robot; (2) building a model of particle swarm optimization; (3) analyzing behavior parameters solved by the particle swarm optimization; (4) planning the path of the welding robot by the particle swarm optimization; and (5) outputting optimal path. The method adopts the particle swarm optimization; and through setting of different inertia weight formulas, the self-adaption adjusting capacity of the particle swarm optimization is improved, so that the purpose of balancing local search capacity and global search capacity of the particle swarm optimization is achieved, and the optimal solution is searched quickly by the particle swarm optimization.

The invention discloses an adaptive synchronous rectification control system and a control method of an active clamp flyback converter. The control system includes sampling and signal processing circuits, control circuits based on microcontroller and gate driver. The control method can realize the on-state of the secondary synchronous rectifier of the active clamp flyback converter, turn off too early, turn off too late, and directly detect the off-state, and can control the accurate on-state of the synchronous rectifier and the on-time of the synchronous rectifier in the next cycle accordingto the detection result. After several cycles of adaptive control, the synchronous rectifier enters the just-off state, avoids the output waveform oscillation of the active clamp flyback converter, reduces the loss and improves the efficiency. According to different state detection time periods, the comparator inside the microcontroller is multiplexed by time-sharing, which saves hardware resources, reduces circuit cost and debugging difficulty.

The invention discloses an upper limb exoskeleton rehabilitation robot control system and method, belongs to the technical field of rehabilitation, can select different training modes according to training intensity requirements of patients, and solves the problems that an existing upper limb exoskeleton rehabilitation robot is poor in man-machine interaction and low in self-adaptive adjustment capacity. According to the technical scheme, the system comprises a sensing and information collecting module used for detecting mechanical arm posture information at joints of the upper limb exoskeleton rehabilitation robot and information representing motion intentions; a bottom layer controller used for receiving the information of the sensing and information acquisition module and transmitting the information to the upper computer; and an upper computer used for selecting a training mode, transmitting an instruction to the bottom layer controller, processing the information obtained by the sensing and information acquisition module to obtain a control torque, forming a control instruction, transmitting the control instruction to the bottom layer controller, and controlling the upper limb exoskeleton rehabilitation robot to move.

The invention discloses a double-fuzzy control system and method of tailstock drone longitudinal posture, and relates to the technical field of drone posture control system and method. The system comprises two fuzzy controllers, the fuzzy controller I adopts variable universe fractal thought design, an error e and an error change de serve as inputs of the fuzzy controllers, parameters delta Kp, delta Ki and delta Kd of a PID controller are as outputs, the error change d e and a uniformization error accelerated speed parameter rv are as fractal factors, dynamic response performance of a systemcan be improved, and the problem of pitch attitude loop response slow speed is solved; the fuzzy controller II takes flight speed and system error as input, takes a domain of discourse C as output, uses the output to adjust the output domain of discourse range of the domain of discourse fractal fuzzy controller I in time, so that the parameters of the PID controller not only change with the changeof the system error, but also solve the problem of vibration due to the fact that the pitch attitude loop is affected by the flight speed.

The invention discloses an internal model control and genetic algorithm-based unmanned ship path tracking control method. The method comprises the following steps of S1, establishing an unmanned shipmotion mathematical model; S2, an improved LOS guidance law is designed, and the forward-looking distance is adjusted in a self-adaptive mode by establishing a nonlinear relation between the steeringradius and the transverse deviation of the unmanned ship; S3, designing an internal model controller according to the mathematical model of the unmanned ship; and S4, performing global optimization onthe controller parameters by adopting a genetic algorithm. According to the method, the self-adaptive adjustment capability of the unmanned ship in the moving process can be enhanced, model errors can be eliminated to a certain extent, so the path tracking controller is more stable, and parameters of the controller are flexibly adjusted, so the unmanned ship obtains better dynamic performance inactual motion.

The invention discloses an intelligent new energy semi-submersible offshore floating helicopter platform, and belongs to the technical field of ocean platforms. Through the arrangement of buoyancy adjustable points with adjustable buoyancy and buoyancy fixed or adjustable semi-submersible buoyancy nodes and the array arrangement and corresponding connection of the corresponding buoyancy nodes in aplane or a space, the buoyancy main body and the semi-submersible buoyancy body can be rapidly obtained; and then the semi-submersible offshore floating type helicopter platform can be rapidly arranged through combined arrangement of the diving stand column, the lifting stand column and the deck assembly above the semi-submersible buoyancy body. The platform is simple in structure and easy and convenient to arrange, rapid arrangement of the helicopter platform can be achieved, the construction efficiency of the helicopter platform is improved, the arrangement cost of the helicopter platform is reduced, the influence of sea waves on a buoyancy structure is reduced, the arrangement stability and wind and wave resistance of the helicopter platform are guaranteed, and the continuous development of the deep sea culture industry is promoted.

The invention discloses electric vehicle charging equipment based on a load virtual synchronous machine technology and a control method. A charging circuit of the electric vehicle charging equipment is a two-stage converter circuit; the two-stage converter circuit comprises an active digital Vienna rectifier and a digital full-bridge LLC resonant converter. Controlling the active digital Vienna rectifier in the electric vehicle charging equipment comprises the following steps: obtaining a given value of active power through PI control based on a direct current side voltage and a reference value of the direct current side voltage; controlling the given value of the active power by an active control loop, a reactive control loop and a voltage and current double-closed loop to obtain a reference instruction value of a current inner loop; comparing the reference instruction value of the current inner loop with the feedback current value of an inductor, and then generating a voltage modulation wave signal through a proportional link; and modulating the voltage modulation wave signal to generate a PWM signal to drive the on-off of a switching tube. According to the invention, the electric vehicle charging equipment follows the fluctuation of the direct-current side voltage.

The invention provides a self-adaptive adjusting method, which comprises the following steps of: acquiring information data, extracting at least one control variable reflecting an information auto-correlation according to the information data; sorting at least one control variable reflecting the information auto-correlation according to index demand; adjusting value of a controllable parameter corresponding to at least one control variable reflecting the information auto-correlation in a protocol stack according to the sorting result. The present invention also provides a sensor node and a sensor network having the sensor node. Moreover, the extracted control variable and the variable reflecting network communication condition received in the protocol stack can be combined and optimized according to the index command to realize the bilateral control, thus increasing the performance of network system.

The invention discloses a modular offshore floating type self-adaptive solar seawater desalination storage platform, and belongs to the technical field of ocean platforms. A buoyancy main body with adjustable buoyancy can be obtained quickly through the corresponding arrangement of buoyancy adjustable points and by utilizing array arrangement and corresponding connection of the buoyancy adjustablepoints in space; through combined arrangement of the deck assembly, the seawater desalination and storage assembly, the solar power generation and storage assembly and other components, rapid arrangement of the seawater desalination and storage platform can be achieved. The platform provided by the invention is simple in structure and easy and convenient to arrange, rapid arrangement of the seawater desalination storage platform can be achieved, the construction efficiency of the seawater desalination storage platform is improved, the arrangement cost of the seawater desalination storage platform is reduced, the stability and the stormy wave resistance of the seawater desalination storage platform are ensured, and the continuous development of the deep sea aquaculture industry is promoted.

The invention discloses offshore floating type entertainment equipment. The equipment is characterized by comprising a semi-submersible offshore floating type platform and a semi-submersible offshorefloating type swimming pool arranged around the semi-submersible offshore floating type platform, and the semi-submersible offshore floating type platform and the semi-submersible offshore floating type swimming pool are each of a modular space truss structure; the semi-submersible offshore floating platform comprises a deck platform, a semi-submersible buoyancy body and a buoyancy body which aresequentially arranged in the vertical direction from top to bottom. The deck platform comprises a platform upper layer main deck and a step-by-step sinking deck, and steps for communicating the platform upper layer main deck with an annular deck of the semi-submersible offshore floating type swimming pool are arranged on the sinking deck; the semi-submersible offshore floating type swimming pool is of an annular groove structure and comprises an annular deck, a diving annular rod piece truss structure, an annular main buoyancy module truss structure and a bottom surface buoyancy truss structure which are sequentially arranged on the periphery of the swimming pool from top to bottom in the vertical direction. According to the invention, offshore or open sea leisure and recreation, vacationand other services can be provided for tourists..

The invention relates to the technical field of vehicle automatic driving, in particular to a vehicle control method and device, equipment and a storage medium. The method comprises the following steps of: updating acceleration compensation information when acceleration deviation statistical information between acceleration prediction information and actual acceleration information in a currently given first sampling duration is greater than a first acceleration deviation threshold value; and when acceleration deviation statistical information between the acceleration prediction information and the actual acceleration information within the second sampling duration is larger than a second acceleration deviation threshold value, determining the target acceleration compensation information, and controlling the vehicle to drive in combination with the current acceleration prediction information. According to the method, the acceleration prediction information can be compensated, the self-adaptive adjustment capability of vehicle longitudinal control is improved, and the vehicle longitudinal control precision is improved.

The embodiment of the invention discloses a buffer adaptive adjustment method, device and equipment and a storage medium. The technical scheme provided by the embodiment of the invention comprises the following steps: determining whether jitter of a buffer during data reading and writing is in a stable state or not according to a read-write period of the buffer; when the jitter of the buffer is in the stable state, according to the size of a storage space of the buffer and the size of remaining data of the buffer after read-write operations, determining whether to adjust the size of the storage space of the buffer; and when the size of the storage space is determined to be adjusted, adjusting the size of the storage space of the buffer according to the size of the remaining data and the size of the storage space. Therefore, the size of the storage space of the buffer of current equipment is adaptively adjusted, and the adaptive adjustment capability of the buffer is improved.

The invention discloses an automatic temperature control system for urea melting spraying granulation production, which comprises a melting tank and an electric control unit, a temperature sensor is arranged in the melting tank, the electric control unit comprises a controller for adjusting the heating temperature of the melting tank, and the electric control unit further comprises a temperature acquisition signal amplifying circuit, a feedback stability adjusting circuit and a filtering noise reduction circuit, the feedback stability regulation circuit is adopted to perform sampling feedback regulation on an output signal of the following amplification assembly, so that temperature drift imbalance in the signal amplification processing process is effectively avoided, error voltage is eliminated, and the self-adaptive regulation capability of the system is improved; the infrared temperature measurement sensor is adopted to collect the heating temperature in the melting tank, temperature collection signals are sent to the electric control unit to be conditioned, the defects that in the prior art, the time lag of a temperature sensor is high, and temperature control feedback is not timely are effectively overcome, temperature collection signal processing is accurate and effective, the precision of a temperature control system is high, and the system is suitable for popularization and application. And the production quality of urea melting spraying granulation is effectively improved.

The invention discloses a full-floating offshore floating platform with a modular space truss structure, and belongs to the technical field of ocean platforms. Through the corresponding arrangement ofbuoyancy adjustable points, the dense array arrangement of the buoyancy adjustable points in space, and the flexible connection and the rigid connection of each buoyancy adjustable point in the horizontal direction and the vertical direction, the buoyancy module with adjustable buoyancy can be rapidly obtained, and then rapid arrangement of a buoyancy main body and even an ocean platform can be achieved through flexible assembly expansion of the buoyancy module in the horizontal direction and rigid connection expansion of the buoyancy module in the vertical direction. The platform is simple in structure and easy and convenient to arrange, rapid arrangement of an ocean platform can be achieved, the construction efficiency of the ocean platform is improved, the arrangement cost of the oceanplatform is reduced, the arrangement stability and the stormy wave resistance of the ocean platform are guaranteed, and continuous development of the deep and far sea aquaculture industry is promoted.

The invention provides a current statistical model improvement method based on a neural network. The method comprises the steps: establishing an improved current statistical model based on a neural network, wherein the neural network serves as a feedback network to be connected with a traditional statistical model, so as to obtain the maximum acceleration value conforming to the target maneuvering condition; selecting a training set and a label set, and preprocessing the training set and the label set according to a set normalization standardization rule; setting training parameters, and training the neural network by using the training parameters to enable the neural network to finally achieve convergence; inputting a to-be-processed target estimation state and measurement into the improved model to obtain a state estimation value of the target at the current moment. According to the method, by means of the nonlinear expression ability of the neural network, the adaptive adjustment ability of a traditional current statistical model is enhanced, the back-propagation neural network serves as a feedback network to adaptively adjust the maximum acceleration, mapping among the target state, measurement and the maximum acceleration is established, and the tracking error during maneuvering of the target is greatly reduced.

The invention discloses a domain angle encoder and a signal logic extension fine division method thereof. According to the encoder, a workable space with a narrow domain angle is fully utilized; the layout of the symmetrical structure design of single-antipode magnetic steel and the multi-antipode magnetic steel is adopted; single-antipode magnetic field signals and multi-antipode magnetic field signals are collected by adopting a patch Hall; the method aims at the characteristic of angle signal distortion of a domain angle magnetoelectric encoder; the angle value signal of the domain angle magnetoelectric encoder is supplemented completely by adopting a virtual domain angle filling method; the angle value of the magnetoelectric encoder is finely divided by adopting an active adaptive multi-window filtering angle fine division method; the problem of incorrect interval judgment caused by angle value noise of the magnetoelectric encoder is eliminated; the resolution of the domain angle magnetoelectric encoder is effectively improved; through the method, the encoder can effectively eliminate the influence of angle value bounce, the motor speed control is more stable, the current sinecharacteristic is better, the resolution can reach 13 bits, and the precision reaches +/-0.25 degree.