31results about How to "Improve tracking performance" patented technology

The application discloses a self-disturbance rejection control method and system based on an error compensation type extended state observer, and the method comprises the following steps: a linear self-disturbance rejection controller acquires input signals and each output state of an extended state observer, and outputs a first control signal; the linear self-disturbance rejection controller acquires input signals and each output state of the extended state observer, and outputs the first control signal; an estimation error model of the extended state observer for output displacement is constructed, a controlled object is converted into an integrator series type form, and an output displacement signal is obtained based on the controlled object; the output displacement signal and a control input signal are input into the extended state observer, and each output state is obtained; and then the linear self-disturbance rejection controller and the output displacement model are fed back. The estimation capability of the observer is greatly improved without increasing the bandwidth of the observer; the error compensation type disturbance observer is combined with the self-disturbance rejection control, and the tracking performance of the self-disturbance rejection control is further improved.

The present application belongs to the technical field of grinding processing, and discloses a control method of a point cloud polishing remote control system based on a sliding mode and adaptive control. The control method comprises the following steps: S1, establishing a dynamic equation of the remote control system to obtain control equations of a master robot and a slave robot; S2, performing point cloud scanning on a weld to be polished to obtain corresponding point cloud data, calculating the depth gradient, dexterity and stiffness of each point in the point cloud data, setting a starting point and an ending point of polishing, and planning an optimal polishing path; and S3, inputting the control equations obtained in step S1 and the optimal polishing path obtained in step S2 into a controller to control the slave robot to polish. Through the present application, the accuracy of the control algorithm and the optimization of the point cloud path search are combined, and the efficiency of remote operation control under polishing conditions is improved.

This invention discloses a multi-vehicle cooperative control method, system, medium, and program product. The method includes constructing a lateral and longitudinal coupled dynamic model for the multi-vehicle cooperative transportation system and extracting the model matrix of the lateral and longitudinal coupled dynamic model; constructing system constraint equations for the multi-vehicle cooperative transportation system with the cargo as the leader, including motion constraints and articulation constraints, and extracting the constraint matrix of the system constraint equations; obtaining the real-time state of the multi-vehicle cooperative transportation system; calculating the constraint forces of the multi-vehicle cooperative transportation system based on the model matrix of the lateral and longitudinal coupled dynamic model, the constraint matrix of the system constraint equations, and the real-time state; and calculating the actual control quantities of each vehicle based on the constraint forces of the multi-vehicle cooperative transportation system. This invention aims to solve the challenges of strong coupling, nonlinearity, and underactuation in existing multi-vehicle cooperative transportation systems, and improve the tracking performance of multi-vehicle cooperative transportation systems under topologically stable configurations.

This invention relates to the field of fast tool servo control technology, and in particular to a dual-stroke fast tool servo control system. It comprises a two-stage displacement control system with two identical displacement controllers. Each displacement controller consists of a parallel PI control module and an error compensation module. The PI control module generates a primary adjustment control signal based on the tracking error signal; the error compensation module includes an inverse function module and a time delay module. The former restores the error displacement drive signal, and the latter acquires historical displacement drive signals. The two-stage controllers control their respective displacement components, gradually reducing the tracking error. Initially, the PI control module uses a proportional term for rapid correction to ensure initial tracking accuracy of the high-frequency signal; the error compensation module directly compensates for the current error without delay, gradually learning to approximate the desired signal as the error converges. The two modules work together to avoid the delay problem of the integral term, ensuring continuous high-precision tracking of high-frequency periodic signals and improving machining accuracy.

A target detection and tracking method and storage medium combining radar and infrared thermal imaging are disclosed. The method includes the following steps: Step S1: Acquiring millimeter-wave radar data and raw infrared thermal imaging data within a given space; Step S2: Performing imaging processing on the radar and infrared data respectively, removing background from the radar imaging results; Step S3: Performing time-dimensional registration on the infrared imaging results based on the radar refresh rate; performing CFAR detection processing on the matched results and clustering to output the target point cloud and centroid; Step S5: Using the transformation relationship between the spatial three-dimensional coordinate system and the infrared two-dimensional image coordinate system, obtaining the set of pixel positions of the target in the two-dimensional infrared thermal image; Step S6: Performing thermal feature calculation; Step S7: Outputting the target feature information. The storage medium is used to implement the above method. This invention has the advantages of simple principle, wide applicability, and high detection accuracy.

This invention provides a quick-connect balloon dilation catheter and a method for preparing the balloon dilation catheter. The quick-connect balloon dilation catheter includes a catheter seat, an outer tube connected to the catheter seat, and a balloon connected to the distal end of the outer tube. The outer tube has a metal tube body extending from the proximal end to the distal end, the metal tube body having a non-cutting segment at the proximal end and a cutting segment connected to the distal end of the non-cutting segment. The outer tube also has a polymer inner liner covering the inside of the cutting segment and a polymer sheath covering the outside of the cutting segment, such that the outer tube is integrally formed as a composite tube segment with a metal tube segment at the proximal end and a composite tube segment connected to the distal end of the metal tube segment, the composite tube segment having a quick-connect port penetrating both the inside and outside. This design improves the catheter's delivery and positioning accuracy.

The application discloses a MIMO radar main lobe interference suppression method based on semi-blind source separation and relates to the technical field of radar anti-interference. The application converts a complex convolution mixing problem into a linear blind source separation problem by performing frequency domain conversion and phase space reconstruction on a single channel signal after beam forming, and realizes signal separation by adopting adaptive parameter estimation and a FastICA algorithm, so that main lobe deceptive jamming can be effectively suppressed under the condition of low signal-to-noise ratio and small sample, and the target detection and tracking performance of the MIMO radar in a complex electromagnetic environment is significantly improved.

The invention discloses an underwater positioning method based on Sage-Husa adaptive Kalman filtering. The underwater positioning method comprises the following steps: setting a planar ternary array to collect surface ship signals; calculating a pitch angle and an azimuth angle of the surface ship to the planar ternary array by adopting a time delay estimation method; calculating three-axis coordinates and speed of the surface ship under geodetic coordinates by adopting a coordinate rotation method; the coordinate position and the speed are corrected based on Sage-Husa self-adaptive Kalman filtering, and the stable ship position and the stable axial speed are obtained; a ship track is calculated in advance through a least square method, and the minimum distance between a surface ship and an observation point is predicted before the surface ship passes through the observation point. According to the method, the underwater working time of the system is effectively prolonged by reducing the number of array elements, and meanwhile precision loss caused by reduction of the number of the array elements is reduced through a time delay estimation algorithm; the time-varying adaptive Kalman filtering method based on Sage-Huge reduces the influence of external noise, and greatly improves the tracking capability when observation parameters change significantly.

The application discloses a parallel circulating current suppression method and device of a fractional order inverter, electronic equipment and a storage medium, and comprises the following steps: establishing a mathematical model of a fractional order inverter comprising a fractional order inductor and a fractional order capacitor, constructing a voltage and current double control loop based on a fractional order controller based on the mathematical model, and tracking and controlling the output voltage and current of the parallel fractional order inverters, and suppressing the circulating current by power sharing of the parallel fractional order inverters through droop control and fractional order virtual impedance. On the one hand, the voltage and current double control loop based on the fractional order controller can track the output voltage of the inverter, improve the tracking effect of the output voltage, reduce the voltage difference between the inverters, and suppress the parallel circulating current. On the other hand, the droop control combined with the fractional order virtual impedance can improve the power distribution response speed of the fractional order inverter, improve the power distribution accuracy between the inverters, and improve the suppression effect of the parallel circulating current.

The invention provides a control device, a control method, and a control program capable of improving tracking performance of a subject. A camera (110) is included in an imaging system (100) together with a rotation device (120) for controlling and rotating the camera (110) on the basis of an analysis result based on an image captured by the camera (110), and a radar (130). The camera (110) has a processor (113). A processor (113) sets an analysis range in a captured image of a camera (110) on the basis of at least one of information relating to the distance of a specific object acquired from a radar (130) and information relating to the size of the specific object (subject) or information relating to the speed.

The invention discloses a multi-sensor management and control method based on multi-agent deep reinforcement learning, and the method comprises the steps: firstly building a state equation and a motion model of a target, and an observation model and a motion model of a sensor node; then constructing a multi-agent strategy learning module; the multi-agent strategy learning module adopts an MAPPO algorithm; then, each intelligent agent processes measurement information in the vision field range of the intelligent agent to obtain a multi-dimensional matrix state diagram and a search utility diagram; and splicing the two information with the state information of the agents, inputting the spliced information to a multi-agent strategy learning module, outputting and executing the control action of each agent at the next moment, and repeating the steps to realize the global estimation of the target in the monitoring area. According to the method, while the bottleneck of centralized calculation is effectively avoided, the estimation capability of target information outside a visual field is expanded, and deep fusion of GM-PHD probability information and a reinforcement learning reward mechanism is realized, so that the global estimation and tracking performance of a system on multiple targets is remarkably improved.

Embodiments of the present application provide a method, device, medium and electronic equipment for processing lead data, the method comprising: storing process data corresponding to a first type of lead in a temporary partition, wherein the first type of lead belongs to an uncompleted lead, and the uncompleted lead is a lead that needs business tracking; monitoring each lead stored in the temporary partition, and deleting process data corresponding to a second type of lead from the temporary partition and storing the process data in a fixed partition, wherein the second type of lead is a completed lead, and the completed lead is a lead that does not need continued business tracking. Through the embodiments of the present application, the data processing amount can be effectively reduced by monitoring the leads in the temporary partition, thereby saving the computing time and computing resources wasted by the join association operation of massive data.

The application discloses an adaptive path planning and pollution plume tracking method for underway monitoring, and comprises the following steps: a space model of a monitoring area is established by acquiring pose information, motion constraints and a sensor sampling period of a mobile measurement platform; pollution concentration and position information are collected in real time during platform travel to form observation data; a level set evolution method is used to construct and update a boundary representation of a pollution plume based on the observation data to depict the spatial variation of the plume; in combination with the boundary variation information, a rolling time domain optimization algorithm is used to generate a measurement path in a rolling update time range to guide adaptive adjustment of a travel route of the platform; the underway monitoring is completed by executing the path, and boundary tracking results of the pollution plume and corresponding spatial position determination results of pollution sources are output. The application is suitable for mobile monitoring and positioning tasks in complex environments.

The application discloses a fan MPPT control method based on virtual aerodynamic power compensation, and improves an existing optimally tracking rotor (OTR) method, and comprises the following contents: on the basis of the traditional OTR method, a compensation loop of the difference between the filtered aerodynamic power and the optimal power is added in an electromagnetic power control loop, based on which, the aerodynamic power of the wind power generation system under the current wind speed state condition is virtually compensated by further dynamically switching the value of a compensation coefficient delta, then the imbalance torque of the fan is increased to increase the rotor acceleration, and finally the purpose of increasing the tracking performance of the rotor is achieved. Compared with the traditional OTR method, the method disclosed by the application can reduce the load consumption under the same wind energy capture efficiency.

The application relates to the technical field of wireless communication and aerial base stations, and discloses a three-network access base station capable of being mounted on a UAV, which comprises a multi-operator communication module, a flight control information acquisition module, a radio frequency system module, an antenna system module, a baseband processing module, a control and management module and a data integration and transmission module. The multi-operator communication module is used for receiving signals of various operators; the flight control information acquisition module is used for collecting flight state data of the UAV in real time; the radio frequency system module is used for being based on channel state information and flight state data; the antenna system module is used for receiving and transmitting wireless signals of various operators; the baseband processing module is used for digitally processing the received signals; the control and management module is used for monitoring the running state of the base station; and the data integration and transmission module is used for integrating and transmitting the signals to a ground network. The application introduces a multi-mode communication chip unit and a heterogeneous network dynamic access mechanism, supports intelligent identification of 2G / 3G / 4G / 5G full-band protocols and operator parameter tables, and realizes parallel access and switching of signals of multiple operators on the same platform.

This application relates to the field of resolver technology and discloses an apparatus for recovering a carrier signal. A phase detector compares the phase error between the carrier signal and the first feedback signal output by a numerically controlled oscillator in the carrier signal to be recovered, obtaining a phase difference signal corresponding to the phase error. Then, a loop filter is used to filter the phase difference signal. The numerically controlled oscillator obtains the first feedback signal corresponding to the oscillation frequency. With the phase error between the first feedback signal and the carrier signal within a set range, the recovered carrier signal is determined based on the first feedback signal at the carrier signal output terminal, and this carrier signal is output. This avoids phase delay in the recovered carrier signal, improving the subsequent tracking effect of the envelope signal, thereby improving the accuracy of obtaining the position and speed information of the motor rotor. This application also discloses a method for recovering a carrier signal.

The invention discloses a night target tracking method and system guided by a feature space position based on physical attribute modeling, and mainly solves the problem of tracking failure caused by poor target feature perception capability and inaccurate positioning in a low-light environment in the prior art. According to the scheme, the method comprises the following steps: acquiring a day-night mixed video sequence from a public data set, and dividing a training data set and a test set; constructing a low-illumination target tracking network model comprising a double-layer topological correlator, a feedback compensation encoder and a prompt generator; inputting a training data set into the model, and carrying out iterative optimization on parameters by using a gradient descent method until training is finished; inputting the test data set into the trained target tracking network model to obtain a classification response diagram and a regression response diagram of the target features; and carrying out post-processing of maximum value search, coordinate mapping and bounding box regression decoding on the classification response diagram and the regression response diagram so as to track the target. The method effectively improves the adaptability and accuracy of target tracking in the night environment, and can be used for man-machine interaction and automatic driving.

The invention relates to the technical field of optical lenses, and particularly discloses a long-focal-length short-wave infrared imaging lens group, which sequentially comprises a first positive lens, a second positive lens, a first negative lens, a diaphragm, a third positive lens, a second negative lens, a fourth positive lens and an optical filter along an optical axis, wherein the first positive lens is a biconvex lens, the second positive lens is a meniscus positive lens, the first negative lens is a meniscus negative lens, the third positive lens is a meniscus positive lens, the second negative lens is a meniscus negative lens, and the fourth positive lens is a biconvex lens. The achromatism of the broadband of 900 nm to 1700 nm is realized; by combining the matching design of thermal expansion coefficients, passive athermalization of a wide temperature zone from-40 DEG C to + 60 DEG C is realized, the long focal length of 200mm, the F2.0 large aperture and the compact volume are realized, and the wide-temperature-zone passive athermalization lens has the remarkable advantages of high light flux, stable high and low temperature imaging, low cost, easiness in processing and mass production and the like.

This application provides a channel estimation method, apparatus, storage medium, and program product. The method includes: estimating the angle of a base station and a first scattering object surrounding the base station using a discrete Fourier transform algorithm to determine first angle information; designing a codebook-based transmit beamforming matrix based on the first angle information; and transmitting an uplink pilot signal to the base station based on the codebook-based transmit beamforming matrix. The solution of this application, based on the determined angle information, designs a codebook-based transmit beamforming matrix, improving the accuracy of uplink channel estimation and overcoming the limitations of channel estimation in traditional MIMO-OFDM systems.

The application relates to a longitudinal-lateral stability control method based on phase plane analysis, which comprises the following steps: constructing a vehicle-road model based on the kinematic relation between a vehicle and a target path and a vehicle model; obtaining road environment information and vehicle state information, establishing a phase plane with an instability energy ratio and a change rate of the instability energy ratio, setting a stability judgment criterion, and judging the vehicle working condition based on phase plane analysis; when the vehicle is in different working conditions, MPC control is carried out through corresponding path tracking controllers: in a stable working condition, a path tracking controller one based on the vehicle-path model MPC control is designed with the total lateral force of the front wheels of the vehicle as the control quantity; in an instability working condition, the parameters of the path tracking controller one are adjusted with the additional yaw moment of the vehicle to obtain a path tracking controller two. The application provides a reasonable decision method for different working conditions, and effectively improves the longitudinal-lateral stability and tracking performance of the vehicle.

This invention discloses a real-time optimization control method for an underground coalbed methane SOFC combined heat and power system. The method utilizes a distributed fiber optic temperature measurement network and electrochemical impedance spectroscopy to acquire real-time three-dimensional temperature field distribution data and electrode impedance data within the fuel cell stack. Based on this, a dual-channel hybrid neural network is used to fuse temporal and transient characteristics, outputting a quantitative carbon deposition risk index and a sulfur poisoning risk index to characterize the electrode health status. This dynamically corrects the anode kinetics and mass transfer parameters in the digital twin model. With system efficiency, temperature uniformity, and health indicators as optimization objectives, a hierarchical collaborative control architecture is employed for multi-objective rolling optimization to generate optimal operating setpoints. Finally, the fuel pretreatment, fuel cell stack operation, and waste heat recovery processes are coordinated and regulated. This invention also supports incremental model updates and predictive maintenance warnings. This method improves system efficiency, safety, and lifespan, and is applicable to SOFC combined heat and power scenarios using complex fuels such as sulfur-containing coalbed methane.

The application discloses a galvanometer driving precision stability control method and system based on a current closed loop, relates to the technical field of galvanometer driving precision control, and comprises the following steps: obtaining a target position trajectory of a galvanometer, calculating a target angular velocity and a target angular acceleration; generating a torque feedforward compensation quantity and a voltage feedforward compensation quantity; collecting an actual position of the galvanometer, estimating an actual velocity and a disturbance state, generating a feedback correction quantity according to a position deviation, and compensating and correcting by using the disturbance state; fusing the feedback correction quantity and the torque feedforward compensation quantity to generate a current loop instruction, constructing a current closed loop control, generating a voltage correction quantity, fusing the voltage correction quantity with the voltage feedforward compensation quantity to form a driving control instruction, and driving the galvanometer to execute deflection; and simultaneously updating a state observer to generate a disturbance compensation quantity of a next control period. Through the cooperative action of feedforward compensation, disturbance observation compensation and current closed loop control, the galvanometer dynamic tracking precision, disturbance resistance and long-term operation stability are improved.

The invention relates to a TIG (Tungsten Inert Gas) automatic welding pulse phase control method based on time sequence molten pool recognition. A dynamic image of the molten pool is obtained through a high-speed visual sensor, and multi-dimensional feature quantization of the front edge curvature, the rear edge liquid-solid interface gradient, the center gray scale standard deviation and the like of the molten pool is achieved in combination with self-adaptive filtering and feature extraction. A lightweight CNN-LSTM hybrid network is utilized to output a normalized base metal melting index, a molten pool expansion rate and a fillable confidence coefficient in real time, and then a continuous molten pool dynamic phase angle is generated based on an arc tangent function model. After the phase angle and the current phase offset are mapped, FPGA hardware double buffering processing is carried out, microsecond pulse current phase adjustment is achieved, and the arc stability is improved through an S-shaped acceleration limiting measure. According to the scheme, the molten pool state sensing precision and the welding process control real-time performance are effectively improved, and collaborative optimization of welding stability and filling adaptability is achieved.

The application provides an improved Deepsort ship tracking anti-occlusion method and system, comprising the following steps: S1: obtaining artificially labeled unoccluded ship samples and occluded ship samples, and training a ship detector by using the ship samples to obtain a trained ship detector; S2: detecting a ship in an image by using the trained ship detector; when a target ship is not detected, a pixel-by-pixel matching strategy is used to detect the target ship; S3: when the target ship is detected, a reid model is used for tracking, and when the target ship is not tracked, the pixel-by-pixel matching strategy is used to track the occluded target.

The application discloses a target tracking method based on an improved CamShift algorithm, and relates to the field of visual target tracking. The method comprises the following steps: acquiring image data, and pre-processing the image data; using a target detection algorithm to detect the target of the pre-processed image data, so as to obtain a tracking target; tracing the historical track of the tracking target, using a Lagrange interpolation method to generate a track prediction window, and using a Kalman filtering algorithm to correct the track prediction window, so as to obtain a corrected track prediction window; improving a continuous adaptive mean shift algorithm through a search window dynamic adjustment strategy, and using the improved continuous adaptive mean shift algorithm to track the tracking target based on the corrected track prediction window, so as to obtain a tracking result. The one-dimensional interpolation polynomial is constructed through the Lagrange interpolation method, and the tracking performance of the continuous adaptive mean shift algorithm on high-speed or nonlinear targets is effectively improved.

This invention relates to the field of optical lens technology, specifically disclosing a long focal length short-wave infrared imaging lens assembly. The lens, along its optical axis, sequentially comprises a first positive lens, a second positive lens, a first negative lens, an aperture stop, a third positive lens, a second negative lens, a fourth positive lens, and a filter. The first positive lens is a biconvex lens, the second positive lens is a meniscus positive lens, the first negative lens is a meniscus negative lens, the third positive lens is a meniscus positive lens, the second negative lens is a meniscus negative lens, and the fourth positive lens is a biconvex lens. This invention achieves achromatic aberration across a wide wavelength range of 900nm-1700nm through a precise combination of all ordinary glass materials. Combined with a matching design of thermal expansion coefficients, it achieves passive calorimetry over a wide temperature range of -40℃ to +60℃, while also possessing a 200mm long focal length, a large F2.0 aperture, and a compact size. It exhibits significant advantages such as high light transmission, stable imaging at high and low temperatures, low cost, and ease of mass production.

This invention provides a multi-target tracking algorithm based on spatial attributes, belonging to the field of computer vision technology. It solves the problem of poor tracking performance in complex situations. The technical solution includes the following steps: S1: Strengthening the positional correlation between the same target by adding the positional features of the target from the previous frame to the current frame to improve anti-occlusion capability; S2: Enhancing detection capability with spatial information by proposing global and local positional feature extraction modules in the detector part to obtain detailed spatial positional information between different targets; S3: Proposing a new calculation standard in the target matching part of the tracker, utilizing the spatial relationship between targets to make the matching method between intersecting targets more accurate; S4: Matching the calculated target anchor boxes and combining them with a re-identification model to obtain the final tracking result. The beneficial effects of this invention are: This method strengthens spatial information and makes it more adaptable to targets with complex movements, resulting in more stable tracking.

The application discloses a kind of mechanical arm-end effector collaborative anti-interference control method and system, it is related to robot technology field, it solves the problem that robot tracking ability is weak in prior art, ignore the mechanical arm end because of the overall precision of system is low due to the deformation caused by yielding, with the beneficial effect of improving overall trajectory tracking performance, specific scheme is as follows: a kind of mechanical arm-end effector collaborative anti-interference control method, including for mechanical arm, the joint angle of current time mechanical arm is obtained to obtain the translation jacobian matrix of mechanical arm and the position of mechanical arm end flange, for electro-hydraulic auxiliary actuator, real-time acquisition its hydraulic and electrical servo state data;Disturbance observer and controller containing electro-hydraulic auxiliary actuator model are constructed, disturbance observer obtains the equivalent external disturbance force characteristic vector currently acting on the end of mechanical arm, controller generates the voltage control instruction finally injected into electro-hydraulic auxiliary actuator;Disturbance observer solves out physical yielding deformation.

This application discloses a double-row flexible tracking photovoltaic (PV) support system, relating to the field of photovoltaic technology, comprising two rows of flexible tracking PV supports and a transmission mechanism. In the double-row flexible tracking PV support system of this application, in each pair of adjacent support components, one of the two support components is equipped with a drive component to drive the corresponding crossbeam component to rotate; the corresponding crossbeam components on the two support components are connected by a transmission mechanism to achieve synchronized rotation of the corresponding crossbeam components on the two adjacent support components. Therefore, by using the double-row flexible tracking PV support system of this application, the synchronized rotation of two adjacent crossbeam components can be achieved with a single drive component, thus improving the tracking effect of the flexible tracking PV support system while reducing the application of drive components.