1334results about How to "Improve control accuracy" patented technology

The invention relates to the technical field of micro-structural surface preparation and laser micro-processing, and in particular provides a method for preparing a micro-nano composite texturing cutting tool by using femtosecond laser. In the method, micro-nano texturing and micro / nano composite texturing preparation is performed on the cutting tool surface by utilizing the unique interaction property between femtosecond laser and materials, the operation is simple, and the accuracy can be controlled. The preparation of micro / nano composite texture can be performed on a coated cutting tool by adopting a coated surface direct texturing method or a two-step composite texturing method. The method overcomes the defect of singleness of texturing only in micron scale in the conventional cutting tool texturing technology, and can further improve the abrasion resistance of the cutting tool, and prolong the service life of the cutting tool.

A two-phase critical interleave PFC boost converter, includes a master-side control circuit configured to critically control a first switching element based on a master signal; and a slave-side control circuit configured to critically control a second switching element based on a slave-signal with a phase difference of 180° from the master signal. In the PFC boost converter, an off period generator of the master-side control circuit feeds an M_ON signal which is the same in waveform as the master signal to an on phase controller of the slave-side control circuit, and the slave-side control circuit determines the rising timing of the slave signal from the rising time of the master signal.

The invention relates to a reentry stage aircraft attitude control method based on an exponential time-varying second order sliding mode, belonging to the technical field of aircraft control. According to the reentry stage aircraft attitude control method, a plane symmetric unpowered aircraft model is taken as an object, feedback linearization is carried out on an affine nonlinear system of an aircraft, and the attitude control problem of the aircraft when reentering into the atmospheric layer is studied. The aircraft provides operating force and operating torque only through a pneumatic control surface. A control surface deflection angle signal [delta e delta a delta r]T is given through the designed control law, so that an attitude instruction omega c=[alpha c beta c mu c]T given by a guidance loop can be effectively tracked, the attitude angle tracking error can be guaranteed to be asymptotically converged, and strong robustness is generated for tremendous environment change, uncertain pneumatic parameters and external disturbance and the like in the reentry process. Meanwhile, the control law in the method only has integral of a switching function, so that the reaching stage of a sliding mode surface is eliminated, the control quantity is enabled to be a continuous signal, the buffeting phenomenon is effectively reduced, and good control accuracy is achieved.

The invention discloses a torque control method for a hybrid power vehicle. A hybrid power vehicle controller is coupled with an engine controller, a speed changer controller, a motor controller, a battery controller, a brake antilock controller and a vehicle body controller through a vehicle local area network bus in a communication way so as to realize the torque control method. The torque control method comprises the following steps: judging current hybrid power mode of the hybrid power vehicle; determining a vehicle required torque and current torques related with an engine and a motor; determining target torques of the engine and the motor according to the current hybrid power mode, the vehicle required torque and the current torques related with the engine and the motor; and after the engine controller and the motor controller receive the target torques of the engine and the motor distributed by the hybrid power vehicle controller, controlling the engine and the motor to gradually achieve the respective target torques. The method has the advantages of low cost, better control accuracy, better fuel economy and easier matching with the vehicle.

The invention discloses a condensation prevention control method and device for an air conditioner. The condensation prevention control method includes: detecting the indoor relative humidity of the environment where the air conditioner is located; judging the humidity range where the indoor relative humidity is located; detecting the operation time of the air conditioner; determining the air sweeping time of the air conditioner according to the humidity range and the operation time; controlling the air conditioner to perform air sweeping according to the air sweeping time. By the method, the problems that air sweeping is mechanically controlled on the basis of air conditioner operation time in current air conditioner condensation prevention control and condensation prevention control is poor is accuracy are solved, and accuracy of condensation prevention control for the air conditioner is increased.

The invention discloses a control method of an unmanned aircraft, which comprises the following steps that a system of the unmanned aircraft is electrified to start a remote control mode, so that the unmanned aircraft flies in accordance with a received control instruction; after flight stabilization, the control mode of the unmanned aircraft is switched into an independent control mode, and adaptive robust control and fuzzy PID (Proportion-Integral-Derivative) control are respectively adopted to control an inner loop and an outer loop of the unmanned aircraft; in the independent control mode, a communication system of the unmanned aircraft is continuously detected, and if problems of the communication system occur, the unmanned aircraft is controlled to return in accordance with an original route; and in the independent control mode, own position information of the unmanned aircraft is continuously detected, and if the unmanned aircraft flies to a destination, the unmanned aircraft is controlled to return in accordance with the original route. The control method of the unmanned aircraft can be applied to fixed-wing unmanned aircraft and unmanned helicopters, and the control method has good versatility. In addition, the control method has good noninterference, fault tolerance and control precision.

The invention discloses an iterative learning trajectory tracking control and robust optimization method for a two-dimensional motion mobile robot. The method includes the steps that firstly, a kinetic equation of a two-dimensional motion mobile robot discrete non-linear motion system model is established; a discrete non-linear state space expression is established; a P type open-closed loop iterative learning controller based on the iterative learning control technology is established; then the robust convergence of the established discrete non-linear control system is theoretically analyzed; then parameter item splitting is conducted on control gains of the P type controller, meanwhile, a quadratic performance index function based on controller parameters is designed, and the purpose is to optimize the control parameters; finally, monotone convergence characteristics of output errors and parameter selection conditions generated when a control algorithm acts on a controlled system are analyzed and optimized, and the two-dimensional motion mobile robot can rapidly track an expected motion trajectory at high precision. The method has the advantages that the robust optimization iterative learning controller is suitable for tracking control in an ideal state and suitable for trajectory tracking tasks under the condition that interference exists outside. A designed iterative algorithm is simple and efficient, introduction of a large number of additional parameter variables is not needed, and engineering realization is easy.

The invention relates to an assembly channel steel punching beam column joint connecting device capable of achieving function recovery and belongs to the field of structural engineering. The assembly channel steel punching beam column joint connecting device capable of achieving function recovery is composed of a square steel pipe column with a cantilever beam section, a channel steel punching beam section and a connecting device of the cantilever beam section and the channel punch beam section. All welding parts of the joint connection device are all finished in a factory, so that precision and quality of welds are easier to control. Construction speed is greatly increased and construction quality is greatly improved, and a spatial structure of the channel punch beam section of the channel is conducive to pipeline penetration; the channel steel punching beam and a floor can be assembled and molded in the factory to form modular assembly units. Then all the modular assembly unit and the square steel pipe column with the cantilever beam section achieve assembly connection through the channel steel punching beam. Joints of the connection device can be used for both of beam end reinforcing and cover plate connection weakening. A multi-energy dissipation mechanism can be realized, a plastic hinge is transferred to a cover plate and a connecting plate. The function of structures can be recovered only by replacing the connecting plate after an earthquake.

The invention provides a hook motion control mechanism for a tower crane. The tower crane comprises a boom, a hook suspended on the boom and used for hosting a heavy object, a slewing mechanism, a hoisting mechanism and an amplitude changing mechanism, wherein the slewing mechanism, the hoisting mechanism and the amplitude changing mechanism are respectively used for driving the boom to rotate, drive the hook to lift and drive the hook to change the amplitude; the hook motion control mechanism comprises an information acquisition device, a processor and a controller, wherein the information acquisition device is used for acquiring the motion state information of the hook of the tower crane in real time when an information acquisition instruction of an operator is received; the processor is used for generating a preset motion locus of the hook according to the motion state information; and the controller is used for controlling the hook to move along the preset motion locus when a starting instruction of the operator is received. Through the system, the control accuracy of the hook can be effectively improved, the operating efficiency is improved, and the labor intensity of the operator is reduced.

The present invention relates to an intelligent driving control system and method, and a vehicle. The intelligent driving control system comprises a driver model module used for collecting driver operation information and desired route information and predicting the running state parameters of the vehicle at future moments in combination with motion information of the vehicle, a preview control model module used for calculating the lateral correction angle and judging the correct running mode of the vehicle at the next moment, a path tracking control module used for converting the parameters into control quantities that can be executed by a vehicle system module, and the vehicle system module used for making responses to the control quantities obtained from the tracking control module to control the vehicle to move and feeding back motion parameters of the vehicle. The intelligent driving control system and method can not only predict a series of running states of the vehicle in a certain future period of time, but also can adaptively adjust the steering control quantities based on the vehicle running effect according to the actual driving environment, to improve the running safety and accuracy of the vehicle.

The present invention refers to a bicycle gearshift with improved precision control, which comprises a kinematic mechanism in the form of a four-bar linkage with a base body and a mobile body connected together through a pair of connecting rods articulated to the base body and to the mobile body at four pin elements, each pair of opposite pin elements of the four pin elements defining a diagonal of the four-bar linkage-kinematic mechanism, the base body comprising a first attachment group to a bicycle frame and the mobile body being connected to a chain guide at a second attachment group, the four-bar linkage-kinematic mechanism being associated with gearshift actuation means suitable for deforming the four-bar linkage-kinematic mechanism so as to determine a displacement of the mobile body with respect to said base body and consequently a primary displacement of the chain guide in the axial direction with respect to the axis (A) of a cogset, at least one from the first attachment group and the second attachment group comprising a chain tensioning spring, the chain tensioning spring determining a set-up of the chain guide when engaged with a chain of a bicycle transmission, and it is characterised in that it comprises a kinematic mechanism for adjusting the preload of the chain tensioning spring as a function of the primary displacement of the chain guide so as to determine a variation in the set-up of the chain guide.

The invention discloses a broadside subsection integrated construction method, and belongs to the technical field of ship construction. The broadside subsection integrated construction method comprises the following steps that 1, a planking bulwark middle assembly is constructed by taking a planking as a base face; 2, a hatch coaming middle assembly is constructed by taking a midship longitudinalwall as a base face; 3, a deck small assembly is constructed by taking the upper surface of a deck as a base face; 4, taking a longitudinal wall splicing plate as a base face, a rib plate part is mounted on an inner longitudinal wall splicing plate to form an inner longitudinal wall small assembly; 5, the deck small assembly is overturned by 90 degrees to be folded with the inner longitudinal wallsmall assembly so as to form a deck middle assembly; 6, the planking is overturned by 180 degrees and then hoisted to the top of the deck middle assembly to be folded, and the hatch coaming middle assembly is transversally moved and folded to the side face of the deck middle assembly, so that a broadside subsection is formed; and 7, the broadside subsection is overturned by 180 degrees, and welding is completed. A planking bulwark and a hatch coaming are integrally constructed, the integrity of the ship section intermediate product is expanded, the precision of ship construction is improved,and the efficiency of ship construction is improved.

The invention discloses a permanent-magnet-synchronous-motor sensorless control system. In permanent-magnet-synchronous-motor vector control, according to a Luenberger observer principle, a PMSM rotor speed and position estimation method based on a Luenberger observer is provided so that some disadvantages of a permanent magnet synchronous motor because of installation of a mechanical sensor are effectively overcome. A Matlab / Simulink tool is used to construct a control system simulation model and carry out simulation verification. A simulation result shows that the control system possesses good control performance. Finally, algorithm realization is performed on a hardware system taking STM32F103ZET6 as a control core. An experiment result shows that the permanent-magnet-synchronous-motor control system based on the Luenberger observer possesses high control precision and stability is good.

The invention relates to the technical field of hard and brittle material ultra-precision machining. In order to achieve ductility domain grinding of the largest cutting depth, high surface quality of the hard and brittle material, and efficient and high-precision production machining, according to the technical scheme, a method and device for determining the grinding brittleness-ductility transformation critical cutting depth of the hard and brittle material comprises the following steps of (1) according to a grinding wheel used in ultra-precision grinding, determining the number, shape and distance of grains of a homemade multi-grain tool, (2) according to the grain shape, distance and front-angle parameters selected in the step (1), machining three or more grains on a grain base body, (3) controlling the multi-grain tool and a workpiece to generate relative motion, beginning to conduct scratching on the surface of the workpiece, meanwhile, controlling the multi-grain tool to conduct continuous feeding, enabling the depth of the scratch to continuously change, and observing and measuring the workpiece after scratching by utilizing a surface contourgraph and a confocal microscopy. The method is mainly applied to ultra-precision machining.

The invention relates to a remote monitoring and control system based on augmented reality. The remote monitoring and control system comprises an interactive simulation control mode and a monitoring mode; in the interactive simulation mode, a server receives depth images shot by an RGBD camera on a moving robot, and the depth images shot in the different angles are synthesized into a scene three-dimensional point cloud module; a mechanical hand simulation module is operated according to the scene three-dimensional point cloud module, a path is planned, the mechanical hand simulation module isdriven to move through the path, finally, the dynamic mechanical hand simulation module is overlapped in color images shot by the RGBD camera, and analog display and path planning with the virtualityand reality being combined are achieved; and in the monitoring mode, monitoring data are collected through a remote data collecting system, monitored images of a monitored object are obtained throughmoving robot routing inspection, through the monitoring data obtained through the server, monitoring data overlapping display is achieved, and the display interface is more intuitive.

The invention provides a quadrotor posture control method based on an MIMO nonlinear uncertain backstepping approach, which helps to improve flight safety and control performance of a quadrotor aircraft. The quadrotor posture control method comprises the steps of: establishing a quadrotor aircraft mathematical model based on aerodynamics and rotor aircraft motion principles and according to requirements for control performance; establishing a quadrotor aircraft model according to the quadrotor aircraft mathematical model and precision requirements; and analyzing and decoupling the quadrotor aircraft model according to uncertainty, external disturbance, underactuation and strong coupling characteristics of the quadrotor aircraft mathematical model and the quadrotor aircraft model, so as to determine a backstepping robust compensation controller based on inner and outer loop control. The quadrotor posture control method is suitable for the technical field of automation and control.

The invention discloses a photovoltaic generating energy storage system and an energy scheduling method thereof. The system consists of a photovoltaic generating module, a photovoltaic controller, a bidirectional inverter, a rechargeable battery module, a switching device, a battery management system, a central controller, a display and a direct-current converter. The photovoltaic generating module is connected with an alternating-current load by the photovoltaic controller and the bidirectional inverter successively; a connecting end between the photovoltaic controller and the bidirectional inverter is connected with the rechargeable battery module by the direct-current converter; and the battery management system is connected with the rechargeable battery module. The central controller is respectively connected with the photovoltaic controller, the bidirectional inverter, the battery management system, the direct-current converter and the display by communication buses and is connected with a power supply grid by the switching device. According to the invention, charging and discharging control can be carried out according to the load situation and concrete parameters of the rechargeable battery module, thereby realizing the optimum energy utilization rate. Moreover, the control efficiency is high; the response speed is fast; and the control accuracy is high. The system and the method can be widely applied to the photovoltaic generation industry.

The invention relates to a sliding mode variable structure control method for a low-speed friction servo system which is based on a gray predictor. The method comprises two stages: the first stage, the sliding mode variable structure control method of the exponential approach rate is adopted to control the servo system, simultaneously, the gray control theory is utilized to estimate the uncertain part of the servo system and the outside unknown interference model parameter; the second stage, after former steps, based on the control law at the first stage, the gray predicting compensation control quantity can be calculated according to the estimate parameter, and can take part in controlling the servo system along with the control quantity of the fist stage. The control method can guarantee the low-speed friction servo system to also obtain better robust even though the effects of the uncertain part and the outside unknown interference model parameter are considered, so as to reach high precision tracing effect. The control method has the simple and pellucid program, provides a new control strategy for systems which have nonlinear and uncertain control objects as well as outside unknown interference, thereby having certain practical engineering value.

The invention provides a spherical camera control method and a device thereof, and is used for settling a problem that a spherical camera are not easily controlled for realizing keeping a tracked object to the central position of a video image in prior art. According to the spherical camera control method, a declination angle value of a currently photographed angle of the spherical camera can be objectively reflected, and furthermore an angle value of the object at the position in the video image can be objectively reflected as a basis for controlling the photographing angle of the spherical camera. Therefore relative to a prior art in which a predicated parameter value is adopted as a control basis for the spherical camera, the spherical camera control method according to the solution has higher control accuracy for the spherical camera and can realize a fact that the tracked object is kept in the central position of the video image.

A pressure regulator is associated with a solenoid-operated valve that is operated by a pulse waveform at a fundamental frequency substantially greater than the frequency response of the valve mechanism. This substantially attenuates solenoid pulsations and applies a predetermined pressure differential across the valve mechanism to accomplish improved flow control accuracy. The invention is especially advantageous for purging fuel vapor to an intake manifold of an internal combustion engine of an automotive vehicle.

The invention discloses a dispersed-learning optimal control method of a reconfigurable robot in contact with an uncertain environment, and belongs to the field of robot control algorithms. The methodaims at solving the problems of poor buffeting effect and stability and low control accuracy of robot joints in traditional reconfigurable robot control methods, and includes the steps of firstly, creating a reconfigurable robot system dynamics model, and constructing a cost function and an HJB equation according to the analysis of coupling moment crosslinking items among reconfigurable robot joint subsystems; by means of a learning algorithm based on strategy iteration, figuring out the solution to the HJB equation; adopting a neural network to conduct approximation on the cost function, andfinally verifying the validity of the presented control method through simulation; the method can make the robot system achieve great stability and control accuracy under the condition of uncertain environment-oriented contact, improve the control accuracy of the reconfigurable robot, and meanwhile reduce energy consumption of a system actuator and complexity of the robot system dynamics model.

The invention discloses an off-grid photovoltaic power generation energy storage system and an energy dispatching method of the off-grid photovoltaic power generation energy storage system. The system comprises a photovoltaic power generation module, a photovoltaic controller, a rectifier, an inversion module, a rechargeable battery module, a battery management system, a central control unit, a displayer and a direct current converter. The photovoltaic power generation module is connected with an alternating current load through the photovoltaic controller and the inversion module, the end, connected with the inversion module, of the photovoltaic controller is connected with the rechargeable battery module through the direct current converter and is also connected with a power supply power grid through the rectifier, the inversion module is connected with the power supply power grid, the battery management system is connected with the rechargeable battery module, and the central control unit is connected with the photovoltaic controller, the rectifier, the inversion module, the battery management system, the direct current converter and the displayer. Charging and discharging control can be conducted according to load conditions and specific parameters of the rechargeable battery module, the optimal energy utilization rate is achieved, and the system is high in response speed, control efficiency and accuracy and can be widely applied to the photovoltaic power generation industry.

The invention discloses a tension roll control device for a plate and strip processing line and a tension control method, belonging to the field of tension control of tension rolls on the plate and strip processing line in the metallurgical industry. The tension roll control device comprises a tension roll group, an auxiliary roll frequency converter and a main roll frequency converter, and further comprises an auxiliary roll speed encoder, a main roll speed encoder, a load distributor, a tension regulator, a feedforward compensation unit and a tensiometer, wherein two ends of the load distributor are respectively connected with the auxiliary roll frequency converter and the main roll frequency converter; the auxiliary roll frequency converter comprises an auxiliary roll rotation speed control unit and an auxiliary roll torque control unit; and the main roll frequency converter comprises a main roll rotation speed control unit and a main roll torque control unit. The tension roll control device has the advantages of high control response speed and high control precision. A control method of the tension roll control device comprises the steps of: (1) main / slave load distribution for the tension rolls; (2) complex tension control of the tension rolls; and (C) dynamic compensation. The method has the advantages of small steady state error of a torque loop, short anti-disturbance recover time, constant rotation speed and good anti-disturbance performance.

In an inductive element which is intermittently excited by a boosting opening and closing element and charges a high-voltage capacitor to a high voltage, an inductive element current proportional to a voltage across both ends of a current detection resistor and a boosted detection voltage which is a divided voltage of the high-voltage capacitor are input to a boosting control circuit portion via a high-speed A / D converter provided in an arithmetic and control circuit unit. The boosting control circuit portion adjusts the inductive element current so as to be suitable for the time from the present rapid excitation to the next rapid excitation, and controls opening and closing of the boosting opening and closing element so as to obtain a targeted boosted high voltage which is variably set by a microprocessor of an arithmetic and control circuit unit.

The invention discloses an intelligent anti-swinging crane control system based on fuzzy PID control. The intelligent anti-swinging crane control system based on fuzzy PID control comprises a fuzzy PID controller, an industrial personal computer, an industrial camera, a lifting encoder, a human-computer interface, a trolley encoder and a gantry encoder. The human-computer interface is connected with the fuzzy PID controller. The industrial camera is installed on the lower side of a lifting operation mechanism. The lifting encoder is installed at one end of a lifting winding drum. The trolley encoder and the gantry encoder are installed on a trolley and a gantry correspondingly. The crane comprises the lifting operation mechanism, a trolley operation mechanism and a gantry operation mechanism. The lifting operation mechanism is connected with a lifting motor and a lifting frequency converter. The trolley operation mechanism is connected with a trolley motor and a trolley frequency converter. The gantry operation mechanism is connected with a gantry motor and a gantry frequency converter. The lifting frequency converter, the trolley frequency converter and the gantry frequency converter are connected with the fuzzy PID controller. The invention further discloses an intelligent anti-swinging crane control method based on fuzzy PID control. By the adoption of the intelligent anti-swinging crane control system and method based on fuzzy PID control, accurate control over the movement displacements of the gantry and the trolley of the crane and effective control over the swinging angle of a load can be achieved.

The invention relates to a teleoperation robot adaptive control method based on a master-slave reference model. The system of the invention is composed of a master side circuit, a slave side circuit and a communication delay link, wherein the master side circuit is composed of an operator, a main robot and a master side environmental model; the slave side circuit is composed of an environment, a slave robot, a slave side environment model, a model parameter correcting module and a delay-simulating module; the side environment model provides reference force signals, the reference force signals and the force signals fed back by the environment are input the model parameter correcting module for comparison; by utilizing the error, an adjustable gain pc(t) is output from the model parameter correcting module, passes through the communication delay link and adjusts the master side master side environmental model; the master side environmental model provides feedback force signals for the operator; and the adjustable gain pc(t) passes through the delay-simulating module, adjusts the slave side environmental model and performs continuous circulation; and the master side environmental model and the slave side environmental model continuously approximate the real environmental model and form the teleoperation which can overcome the influence of delay and ensure the system to obtain the stable control.

Disclosed is a method and a system for controlling charging of a hybrid vehicle which controls engine idle by using a starting / generating motor when a battery is charged. The method includes: determining a target charging to be charged in the battery by the starting / generating motor and a target torque of the starting / generating motor for generating the target charging amount based on a state of charge (SOC) of the battery and power consumption of a load of an electric device when the engine is idle; driving the engine by applying a command of torque corresponding to the target torque to the engine; detecting torque actually output from the starting / generating motor; calculating an error between the actual torque and the target torque; calculating an engine torque compensation value based on the calculated error; and feedback controlling an idle speed of the engine by adding the engine torque compensation value to the command of torque of the engine.

The invention relates to a fertilizer distributing amount error compensation control system for an aperture rotate speed bivariate seeding fertilizer distributor in the technical field of agricultural production, comprising a fertilizer distributing real time control module, a fertilizer distributing compensation control system, and an off-line control parameter generation module, wherein an optimum control parameter index table generated by the off-line control parameter generation module is connected with a compensation control module in a GPRS communication manner, and is downloaded to the fertilizer distributing compensation control system through a GPRS communication module; and fertilizer distributing control parameters generated by the fertilizer distributing compensation control system are downloaded to the fertilizer distributing real time control module through serial ports for controlling fertilizer distribution in real time. The invention can achieve precise error compensation control of the aperture rotate speed double adjustment variate seedling fertilizer distributor base on the optimum control parameter index table.

The invention relates to a nonlinear control method for a small unmanned helicopter, especially to an attitude control method for the small unmanned helicopter based on a second-order self-adaptive terminal sliding mode controller, and realizes rapid attitude error convergence and maintains relatively accurate attitude tracking control effect and relatively high system robustness under the condition that external interference of the small unmanned helicopter exists. According to the technical scheme of the invention, a second-order self-adaptive terminal sliding-mode method is applied to attitude system control of the small unmanned helicopter under the condition that the small unmanned helicopter has external interference. The method comprises the following steps that 1) an attitude dynamics model of the small unmanned helicopter is determined; 2) an attitude angle tracking error is defined, and a dynamics error model is arranged; 3) a control law is designed; and 4) self-adaptive control gain is designed. The method of the invention is mainly used for nonlinear control of the helicopter.

The invention relates to a measuring system of a high-intensity focusing ultrasonic sound field. The measuring system comprises an intelligent data processing module, a multi-degree of freedom progressive scanning control module, a data acquisition module and a hydrophone, wherein the intelligent data processing module sends a command to the multi-degree of freedom progressive scanning control module to perform intelligent sound field scanning, and acquires corresponding sound field distribution and sound field parameters according to acquired data; the data acquisition module acquires voltage signals sensed by the hydrophone; the multi-degree of freedom progressive scanning control module consists of a three-dimensional step motor controller, a three-dimensional motion device and a hydrophone fixing device; and a sound-absorbing rubber is adhered to the bottom surface of the hydrophone fixing device. The three-dimensional motion device performs the motion modes of inching, increment or synchronous increment and the like according to the command of the three-dimensional step motor controller; and the three-dimensional step motor controller controls multi-shaft simultaneous motion, single-shaft uniform motion or single-shaft variable motion according to the command of the intelligent data processing module. The measuring system can realize quick, accurate, intelligent and graphical ultrasonic sound field measurement.