115results about How to "Improve quick response ability" patented technology

The invention discloses an FPGA (Field Programmable Gate Array)-based EtherCAT (Ethernet Control Automation Technology) main station device. The device comprises an EtherCAT bus interface RJ45, a network isolation transformer, a PHY (Physical Layer) chip, an FPGA module and a PCI / ARM (Peripheral Component Interconnection / Random Access Memory) extension interface, wherein the FPGA module is used for receiving data transmitted to an FPGA module by a CPU (Central Processing Unit) through an extension interface module; instruction data of the CPU is packaged and scheduled by an EtherCAT protocol drive module in the FPGA module to form a data frame to be transmitted to the PHY chip; the data frame is converted into a differential signal by the PHY chip and is transmitted to the EtherCAT network; after an EtherCAT data frame is received by each slave station, corresponding processing is performed and then the data frame is returned to a main station; after the data frame passes through the network transformer and the PHY chip, the data frame in the network is received by a data frame receiving module; the data frame is analyzed in the EtherCAT protocol drive module to extract effective data for the CPU to read a state and feed back data. According to the device, the communication with the CPU with the PCI interface or the ARM interface can be realized; the device has the advantages of good platform compatibility, high stability, high efficiency, high real-time property and the like, and has important application prospect to industrial automatic control.

The invention discloses a residual error posterior-based abnormal value online detection and confidence degree assessment method. The method comprises the steps of collecting data, establishing time series data, performing linear fitting on the time series data to obtain a linear combination formula of data at a current moment and p pieces of previous data, and predicting a data value of subsequent time; comparing the predicted data value with an actually detected data value to obtain a predicted residual error series; determining a probability density function of the predicted residual error series by adopting a KDE (Kernel Density Estimation) method; performing posterior ratio check on the predicted residual error series, and judging whether the data at the current moment is an abnormal point or not; and by taking the time series data as an input, building an SOM state model, obtaining state series and state transition probability matrixes, defining an abnormal scoring function, and outputting an abnormal score. By comparing the probability that the data is the abnormal point with the probability that the data is a normal point, the abnormal value in the pollutant discharge concentration time series data is identified online, so that the accuracy and reliability of abnormal value judgment are improved.

The invention discloses a motor position servo system control method taking an input time lag into consideration, and belongs to the field of electro-servo control. The method comprises the following steps: establishing a motor position servo system mathematic model taking the input time lag into consideration; designing an expansion state observer for observing a system state and interference in the mathematic model; designing a non-linear output feedback robustness controller for compensating the input time lag; and carrying out stability analysis on a motor position servo system taking the input time lag into consideration by use of a Liapunov stability theory, and proving that the system obtains half-global consistent and bounded stability. By use of an output feedback control method based on expansion state observer, non-linearity including external interference and the like is estimated through the expansion state observer and is compensated in controller design, such that the actual robustness of the motor position servo system for the external interference is improved, the influence exerted by speed measuring noise on system performance is overcome, and application in actual engineering is facilitated.

The invention relates to a spacecraft and aims at providing a satellite data acquisition and transmission method which is adaptive to various monitoring requirements, has various formats and is flexible and convenient to change. The method specifically comprises data acquisition software implementation, data local framing and overall framing and data multimodal transmission and format reconfiguration technique. The method solves the problems of telemetering acquisition and transmission of the small satellite based on a distributed data processing system, can change the data acquisition cycle and data transmission content according to the ground control and greatly improves the adaptability of the satellite to the ground maintenance and user monitoring change in requirement; in addition, due to the reconfigurable function of the telemetering transmission format, the telemetering channel resources can be optimized for distribution and use, the utilization rate of limited telemetering channel resources is improved, and the system practicability is improved.

The invention discloses an alternating-current servo flux-weakening speed-regulating method. The method includes the steps that flux linkages corresponding to all motor temperature are measured; direct-axis inductance and quadrature-axis inductance which correspond to different torque are measured at base speed; a voltage limit equation and a torque equation are solved according to a Newton iteration method to obtain given values of a stator direct-axis current and a stator quadrature-axis current, and a torque-rotating speed table in which different temperature, different torque and different rotating speed correspond is formulated; according to the motor temperature, the corresponding temperature section of the torque-rotating speed table is selected, and then the given values of the direct-axis current and the quadrature-axis current are determined according to torque reference values and actual feedback rotating speed. Reference values of the direct-axis current and the quadrature-axis current are obtained at the same time according to requirements of actual working conditions, and the rapid response performance of a system is improved. Meanwhile, due to the fact that changes of the quadrature-axis inductance along with the torque and changes of the flux linkages along with the temperature in a motor are considered for formulating different torque-rotating speed tables, influence of parameter drifts caused by changes of the operation state of the motor is avoided, and the control accuracy of the system is improved.

The invention discloses a method of achieving third party logic distribution information sharing. It provides a service operator schema so that all logic service data are stored in center database; users can generate and press object's mark or inquire the posting or receiving information of processing condition on the control of software system; logic firm website can collect object's mark information quickly and storage them into center database, it also can do object's distributing plan and service operation of logic information inquiring and statistic and so on; center database can ascertain all data form unified regulation so that different firms and different websites of one firm can share the logic information at the base of internet.

The present invention provides an information interaction system of digital control processing workshop, wherein the information interaction system comprises an information interaction server, manufacturing executing software which is disposed on the information interaction server, and an information alternation terminal provided with a touch display screen. The manufacturing executing software realizes the information alternation. The manufacturing executing software comprises a data collection and information interaction module, a work order management module, a technical data management module, a pattern browsing and program transmission control module and a data statistics analysis module. The system can automatically display the work order and technical data on the information interaction terminal of each station in the production field dynamically according to the device number and employee number of operator. The operator can browse the technical data, download the digital control processing program and quickly collect the production data through the information interaction terminal. The invention realizes the dynamic transmission of field production information and quick collection of production data in the digital control processing workshop. The real-time implementation of workshop production control is increased. The quick response capability and production efficiency of production process of digital control workshop can be greatly increased.

The invention relates to an energy storage battery system power giving method for stabilizing wind power grid connection power fluctuation. The method comprises the following steps of: (1) determining a sampling control period, and initializing a filtering time constant and a wind power grid connection target power offset value; (2) reading current battery charge percent; (3) calculating a smoothened wind power grid connection power target value; and (4) calculating the output target value of an energy storage battery system. According to the method provided by the invention, the change rate of wind power output power fluctuation can be reduced, power smoothening standby of the energy storage battery system is considered simultaneously, and the wind power smoothening capability of an energy storage battery is brought into full play.

The invention relates to an anti-vulnerability-exploitation method and system, belongs to the technical field of network security and aims to solve the problems of high maintenance cost and incapability of detecting new overflow vulnerabilities in time in the conventional vulnerability scanning scheme. The method comprises the following steps: injecting a vulnerability protection module into a process to be protected; detecting vulnerabilities by using the vulnerability protection module; intercepting vulnerabilities when running of the vulnerabilities is detected. By adopting the method and the system disclosed by the invention, the vulnerabilities can be detected in time during running of the vulnerabilities, and the vulnerabilities are prevented from running continually.

The invention relates to an LCL type three-phase grid-connected inverter control method. The method includes first obtaining a preliminary PWM modulation signal by a traditional active damping controlmethod, then estimating the current after the resonance peak is suppressed according to the feature that an L-type filter and an LCL filter are consistent in characteristic at the low and medium frequency, obtaining the difference between the current and the actual current to be corrected by a current observer at the low and medium frequency, meanwhile feeding the higher harmonic part of the error current back to a control loop and introducing a network voltage feed forward item to obtain a final modulation signal and further control the access current of a grid-connected inverter. The accesscurrent is controlled in a two-phase rotating coordinate system, and the shortcoming that PI control cannot track an AC signal without static difference is overcome. On the basis of taking into account the advantages of active damping, the access harmonic components are further attenuated, and the grid-connected current quality and the system rapid response capability are improved. The method hasthe advantages of high control precision, high reaction speed and high reliability and is suitable for new energy integration grid-connected power generation systems.

The invention provides an overall control method of a large-angle maneuvering high-resolution microwave remote sensing satellite, comprising the following steps: S1, systematically identifying the difference between a large-angle maneuvering high-resolution microwave remote sensing satellite and other existing satellites at the technical level, and determining key problems to be solved; S2, determining a scheme of maneuvering around the rolling shaft of the satellite according to the specific requirements of large-angle maneuvering; and S3, in view of the fact that the detection range of sensors fixedly connected to the satellite changes with maneuvering of the satellite due to large-angle maneuvering, inventing a sensor field analysis method based on a space digital ball method to determine the layout of the sensors on the satellite. The high-resolution microwave remote sensing satellite has the ability to revisit a to-earth observation target. The technical difficulty in large-angle quick maneuvering of the attitude of the satellite is solved. The problem on multi-system integrated control is solved. The use efficiency of the satellite is improved. The problem of electromagnetic compatibility and the problem of wireless high-power transmission during whole-satellite vacuum thermal test are solved.

The invention is applicable to the technical field of rocket control, and provides an omni-directional launch control method and device for a carrier rocket as well as computer equipment and a storagemedium. The method comprises the following steps that an initial attitude angle is acquired, moreover, an initial quaternion is calculated, wherein the initial attitude angle comprises an initial rolling angle; a real-time angle increment of the current control period is acquired, and the real-time quaternion is calculated; a standard quaternion is calculated according to the initial rolling angle; an attitude angle deviation is calculated on the basis of the real-time quaternion and the standard quaternion, and a target attitude control signal is obtained according to the attitude angle deviation and is output to an execution mechanism. The initial quaternion is calculated through the initial attitude angle to obtain the standard quaternion and the real-time quaternion, the attitude angle deviation is obtained through calculation and is resolved to obtain the target attitude control signal for controlling the rocket, omni-directional launch control of the rocket is realized without rotating an indexing mechanism, the indexing mechanism is omitted, so that the cost is saved, the time for rotating the rocket for alignment is shortened, and the rapid response capability and the automatic level of the rocket are improved.

The invention discloses a failure prediction and health management system of a vehicle-mounted train set. The failure prediction and health management system comprises a reserved number of vehicle level PHM sub systems and a train set level PHM sub system. Each vehicle level PHM sub system is provided with a vehicle intelligent mirror image model, and the train set level PHM sub system is providedwith a train set intelligent mirror image model. The system adopts a distribution type structure, and can perceive relevant information from a part level to a sub system level to the vehicle, the portability of the system is high, transparent management and analysis on the train state are achieved based on the vehicle-mounted intelligent mirror image model, the cost spent on vehicle-mounted trainset failure prediction and health management system analysis and application is lowered, the rapid response capability of enterprises is improved, the state maintenance capability is achieved, and the proportion of service income of the enterprises is increased.

The invention relates to a flexible spacecraft attitude control method for flywheel saturation and friction characteristics and aims to solve a problem of influence of flywheel saturation and friction characteristics on spacecraft control precision. According to the method, a spacecraft coupling kinetic equation containing flywheel saturation and friction characteristics is firstly constructed; secondly, a friction interference estimator according to flywheel friction characteristics is established; thirdly, a flexible vibration observer is designed according to interference caused by flexible accessory vibration; fourthly, an anti-saturation controller is designed for inhibition according to friction interference estimation errors and flexible vibration interference observation errors; and lastly, through solving control gain of the anti-saturation controller, the friction interference estimator and the flexible vibration observer, a composite layered anti-interference controller is designed, and spacecraft anti-interference attitude control under the action of multi-source interference influence is accomplished. The method is advantaged in that attitude control precision of spacecrafts employing a flywheel execution mechanism can be remarkably improved, and the method can be applied to high precision attitude control on spacecrafts such as high precision earth observation satellites in the aerospace field and space telescopes.

The invention discloses a multi-quadrotor master-slave type guaranteed-performance neural adaptive cooperative formation control method, and relates to the field of multi-quadrotor formation automaticcontrol. The method has the characteristics of the low online calculation complexity and capability of quickly and smoothly achieving interference identification and compensation. Specifically, a preset performance function, an error conversion technology and a consistency technology are introduced into a four-rotor trajectory loop, an originally constrained formation error control problem is converted into an error stabilization problem of an unconstrained system, and it is ensured that a formation synchronization error meets a preset transient performance and the steady-state precision; a predicted minimum parameter learning neural network approximator which is low in online learning dimension and high in calculation real-time performance is constructed for the trajectory and attitude loop, so that smooth and rapid online learning and compensation of unknown non-linear interference are achieved, the coupling influence of a control loop and a neural learning loop is eliminated, and the real-time performance and the rapid response capacity of formation control of the multi-quadrotor system can be remarkably improved.

The invention relates to an armed rotor wing drone attitude control method aiming at centroid shift and base floating. The method comprises the following steps of aiming at the influence of centroid shift and base floating on the tail end control precision of a mechanical arm, firstly, constructing a flying mechanical arm kinetic equation containing centroid shift and base disturbance; secondly, indirectly controlling the drone by configuring different joints of the multi-degree-of-freedom mechanical arm according to the dynamic influence of centroid shift on the drone of the rotor wing with the arm; aiming at disturbance caused by base floating, designing a base floating disturbance observer to estimate the amplitude of the base floating disturbance observer; designing an anti-saturationcontroller for inhibiting aiming at the floating interference observation error of the base; and designing an anti-interference controller, and completing anti-interference attitude control over the flying mechanical arm under the multi-source interference condition. According to the method, the attitude control precision of the armed rotor drone can be remarkably improved, the method can be applied to the fields of security and protection, industry, military affairs and the like, and the high-precision attitude control requirement of the armed rotor drone in the special operation processes ofobject grabbing, transportation, dangerous object removal and the like is met.

The invention discloses a communication method for a multi-connected air conditioner. The communication method comprises the following steps of regular communication, interrupted communication, and interrupted communication and regular communication combining. According to the communication method for the multi-connected air-conditioner, regular communication and interrupted communication are combined for communication between an outdoor main unit and outdoor slave units and communication between the outdoor main unit and indoor units, so that the requirement for orderly communication data exchange between the outdoor main unit and the outdoor slave units and between the outdoor main unit and the indoor units can be met, important information (the on-off state, the set mode, the set wind speed, the set temperature, accidental shutdowns of the indoor units, accidental shutdowns of the outdoor units, centralized control over the outdoor units and the like) of the indoor units or the outdoor units can be rapidly sent to a specified target, the quick reaction capability of a control system is improved, and accordingly the air conditioner can well meet the requirements of users, and the use comfort of the users is improved.

The invention discloses a design method of an automatic pilot for a strapdown seeker. In control structure, a traditional mature three-loop overload tracking mode with pseudo attitude angle is adopted; three dominant poles of the automatic pilot are superposed on a real axis, and the superposed position is far from an imaginary axis on the basis of guaranteeing system stabilization margin and super small reverse overshoot so as to improve rapid response capability. On the basis of existing control system, the rapid response capability of the automatic pilot is lifted as much as possible, and any positive overshoot is avoided at the same time so as to realize overload instruction smooth tracking, reduce unfavorable influence to the strapdown seeker object identification algorithm by the automatic pilot substantially, and lift final hit precision greatly; in addition, the method also has the advantages of simple algorithm and easy engineering realization.

A temperature control device of a flue gas desulfurizing and acid-making hot blast stove comprises a programmable controller, wherein a coke oven gas pressure regulating valve, a coke oven gas pressure sensor, a coke oven gas flow sensor and a coke oven gas flow regulating valve are mounted on a coke oven gas inlet pipeline; a combustion air flow sensor and a combustion air flow regulating valve are mounted on a combustion air inlet pipeline; a temperature sensor and a pressure sensor are mounted on the flue gas desulfurizing and acid-making hot blast stove; and the programmable controller exchanges signals with the coke oven gas pressure regulating valve, the coke oven gas pressure sensor, the coke oven gas flow sensor and the coke oven gas flow regulating valve on the coke oven gas inlet pipeline, exchanges signals with the combustion air flow sensor and the combustion air flow regulating valve on the combustion air inlet pipeline, and exchanges signals with the hot blast stove temperature sensor and the hot blast stove pressure sensor on the flue gas desulfurizing and acid-making hot blast stove. The temperature control device of the flue gas desulfurizing and acid-making hot blast stove can quickly and accurately control the temperature and the pressure of the hot blast stove, so that the hot blast stove can meet flue gas desulfurizing and acid-making requirements of a sintering machine.

The invention provides a frame-type bidding and tendering management platform for industrial shaped products. The frame-type bidding and tendering management platform comprises a server, and a biddingmodule and a bidding evaluation module which are respectively in communication connection with the server, wherein the bidding module comprises a frame type bid inviting variety detail list; the quotation sub-module is used for filling and reporting bidding prices by suppliers on the basis of the frame-type bidding variety detail list; the bid evaluation module comprises a single product price evaluation sub-module which calculates a single product quotation score for each supplier for the single product quotation of each supplier; the supplier comprehensive price review sub-module is used for calculating a comprehensive quotation score of each supplier based on the single product quotation score of each single product of each supplier; the weight coefficient sub-module is used for calculating the price weight of a single product; and the weighted price review sub-module is used for calculating the weighted price score of the supplier based on the comprehensive quotation score of thesupplier and the price weight of the single product.

The invention discloses an automatic leveling system of an aerial platform of a hybrid cantilever crane, the aerial platform and a leveling method. The automatic leveling system comprises a primary leveling mechanism, a secondary leveling mechanism, a hydraulic driving system and a controller, wherein the secondary leveling mechanism comprises a fly jib amplitude cylinder (2), a second swing rod (3), a second connecting rod (4) and a fly jib (5), the primary leveling mechanism comprises a workbench leveling cylinder (6), a first swing rod (8), a first connecting rod (9), a connecting frame (10), an oscillating cylinder (11) and a bracket (12), and the hydraulic driving system comprises a primary hydraulic driving system and a secondary hydraulic driving system. According to the leveling system, the aerial platform and the leveling method, the problem that an output oscillating angle of a leveling oil cylinder in a twin-stage extensible hybrid arm aerial working platform with a fly jib is limited is solved, the leveling function of a workbench in a large spatial range is realized with an 260-degree amplitude angle of a working arm, and the quick response and the control precision of the leveling system are improved in an electrical-hydraulic leveling manner.

The invention belongs to the technical field of optical instruments, and provides a zooming transmission system with a self-locking performance for a zoom lens in order to solve the problem that the conventional zooming transmission mechanism has an insufficient output torque or an insufficient output rotational speed when the elevation angle of the zoon lens is increased gradually. The zooming transmission system comprises a high-precision rotary potentiometer, a direct current motor, an elastic shaft coupling joint, an output gear, a support box body, a main lens barrel, an output shaft, a worm wheel, a worm rod, a box body and a motor seat; the direct current motor is fixed on the motor seat; the motor seat is fixed on the box body; the direct current motor is connected with the shaft where the worm rod is through the elastic shaft coupling joint; the worm rod is precisely meshed with the worm wheel; the worm rod is used for driving the worm wheel to perform transmission; the worm wheel is fastened on the output shaft through a taper pin; the output gear is fixed on the output shaft through a taper pin likewise; the output shaft is in rigid connection with the rotary potentiometer through a pin bolt; and the output gear is precisely meshed with the gear of a cylindrical cam. According to the zooming transmission system provided by the invention, the problems are solved, so that the response speed and reliability of the zoom lens are improved.

The invention relates to the technical field of data marts and data warehouses, in particular to a data modeling method for data marts and data warehouses, which comprises the following steps: a stepof building a bus architecture: extracting main data of a service system for automatic integration, obtaining a public consistency dimension, and building a standard bus interface; a data processing step: classifying the business data tables, and automatically screening a data extraction mode to extract the business data tables according to a classification result; and a model integration step: combining the business data tables through the inverse three normal forms, splitting the business data tables to form a fact table and a plurality of dimension tables, and constructing a dimension modelwhich takes the fact table as a main part according to the fact table and the plurality of dimension tables. By the adoption of the scheme, the technical problems that in the prior art, due to the fact that all independent data markets are independently constructed by all users or departments, data architectures of the independent data markets are independent of one another and cannot be reused,data islands are easily caused, and meanwhile standardization, consistency and accuracy of enterprise data cannot be guaranteed can be solved.

The invention provides a rotary transformer and a rotating body equipped with same, and belongs to the technical field of detection. The rotary transformer comprises a stator and a rotor, wherein the stator comprises a stator yoke and stator detection teeth, and the stator detection teeth are arranged on the stator yoke; the spanning angle of the stator yoke is smaller than 360 degrees; the rotor comprises a rotor iron core; rotor salient poles are arranged on the surface of the rotor iron core; the number of the stator detection teeth is 4*K, wherein K is a positive integer; the number of the rotor salient poles is N, wherein N is a positive integer; each stator detection tooth is at most wound with a coil; the rotary transformer comprises at least one set of detection coil system; each detection coil system comprises a plurality of coils wound around the stator detection teeth; inductance of the coils is changed along with changes of the rotating angles of the rotor; and the rotating body comprises a rotating body main body and the rotary transformer, wherein the rotary angle of the rotating body main body and the rotary transformer are in a regular relationship. The miniaturization and light weight of the rotary transformer are promoted; and in addition, winding and line connection are simpler and more effective.

The invention discloses a medium-speed coal mill outlet air temperature adjusting method. The medium-speed coal mill outlet air temperature adjusting method mainly involves a data acquisition module,a calculation module, a big data analysis module and an output module, wherein the data acquisition module is used for acquiring a furnace coal quality parameter and a boiler real-time operation parameter, the calculation module determines the inlet air temperature of the coal mill through heat balance, the big data analysis module is used for determining the inlet cold and hot air door opening degree of the coal mill corresponding to the inlet air temperature of the coal mill, and the output module is used for outputting the real-time coal mill cold and hot air door opening instructions. Compared with the prior art, the medium-speed coal mill outlet air temperature adjusting method has the advantages that the rapid response capability of the outlet air temperature of the coal mill and thesafety and economic operation levels of the boiler are improved.

The invention belongs to the field of servo systems, and relates to a permanent magnet alternating current servo intelligent control system based on deterministic learning and mode control. The systemcomprises a signal detection module, a knowledge acquisition and storage module and a mode-based control module, the input end of the signal detection module is connected with a servo motor and usedfor detecting information of the servo motor, and the information is output to the knowledge acquisition and storage module and the mode-based control module; the other input end of the knowledge acquisition and storage module is from the mode-based control module to determine whether a determination learning module is accessed or not and identify the non-linear dynamics, and the result is outputto the mode-based control module; and the other output end of the mode-based control module, is transmitted to a servo motor to drive the servo motor to work. The local accurate identification on theclosed-loop dynamic state of the permanent magnet alternating current servo system under the uncertain nonlinear dynamic influence can be achieved; and moreover, the controller can be quickly switched, and the response performance of the servo system is improved.

The invention discloses a templated computing method, device and system, and relates to the technical field of computers. A specific embodiment of the method comprises the steps of obtaining service strategy information input in a front-end template, converting the service strategy information into strategy data in a fixed format, and analyzing the strategy data to obtain a pre-established data structure which can be identified by strategy execution logic; and combining the data structure with the strategy execution logic to obtain a calculation program. According to the embodiment, the specific service strategy information can be separated from the strategy execution logic; therefore, a developer can conveniently input the service strategy information in the friendly front-end template, the calculation program responding to malicious access can be rapidly generated by combining the service strategy information with the pre-established strategy execution logic, and the response capability and the attack response capability of the risk control system are improved.

The invention relates to a network cooperative defense system and method based on a community structure, wherein the system divides the whole network into a plurality of autonomous communities, and each autonomous community comprises a user host, a cooperative control center and a community internal security system; wherein the community internal security system comprises an intrusion detection module which is used for intrusion detection and notifying a cooperative control center if abnormal information exists; an information honeypot and honeynet module which is used for responding to a command sent by the cooperative control center and storing and continuously monitoring abnormal information so as to obtain virus characteristics; a firewall module which is used for access control and identity authentication in the user host and the router; an intrusion protection module which is used for assisting the intrusion detection module to clear data packets containing viruses; a collaborative defense strategy library module which is used for storing node defense strategies or security defense strategies; a cooperative control center which is used for generating an optimal defense strategy according to a detection analysis result. The systems and methods provided by the present disclosure inhibit latent virus propagation.

The invention discloses a breathing machine. The breathing machine comprises an air breathing pipe, an expiring pipe and an expectoration pipe, wherein the air breathing pipe is provided with a turbofan, an air-breathing-and-expectoration two-position and four-way switching valve and a buffering tank; the expiring pipe is provided with an expiring valve, and the expiring valve is controlled in the mode that a two-position and three-way valve receives compressed gas from the buffering tank; the expectoration pipe is provided with a shutter valve, the air-breathing-and-expectoration two-position and four-way switching valve and the turbofan, wherein the expiring pipe and the expectoration pipe share the air-breathing-and-expectoration two-position and four-way switching valve and the turbofan. The breathing machine also comprises a central processing unit, and cooperatively controls all the parts of the breathing machine according to data detected by a sensor in the breathing machine. The breathing machine allows an expiring machine to be capable of serving as a module to be embedded into the breathing machine, and the breathing machine has the higher accuracy, responsiveness and safety. As the breathing machine is controlled by the same central processing unit, breathing work and expectoration work of the breathing machine reach true synchronization. The air breathing pipe and the expectoration pipe locally share a pneumatic circuit, and the structure of the breathing machine is simpler and more compact.

The invention relates to a compact high-precision constant-force actuator and an application method thereof. The compact high-precision constant-force actuator comprises a motive force assembly, a transmission assembly, a control system, a motive force control assembly and a sensor assembly; and the motive force assembly outputs motive force through the transmission assembly, the sensor assembly acquires information of output force and a posture of the transmission assembly, and sends the information of the output force and the posture of the transmission assembly to the control system, and the control system adjusts the output force of the motive force assembly according to the information of the output force through the motive force control assembly. The compact high-precision constant-force executor is provided, through extension and retraction of the device (compact high-precision constant-force executor), position errors of a robot are compensated, and contact force is precisely adjusted according to a set value so that the product quality of machined parts can be effectively improved, and the production cost is reduced.