385results about How to "Meet stability requirements" patented technology

The invention relates to a heterogeneous cloud wireless access network resource allocation method based on deep reinforcement learning, and belongs to the technical field of mobile communication. Themethod comprises the following steps: 1) taking queue stability as a constraint, combining congestion control, user association, subcarrier allocation and power allocation, and establishing a random optimization model for maximizing the total throughput of the network; 2) considering the complexity of the scheduling problem, the state space and the action space of the system are high-dimensional,and the DRL algorithm uses a neural network as a nonlinear approximation function to efficiently solve the problem of dimensionality disasters; and 3) aiming at the complexity and the dynamic variability of the wireless network environment, introducing a transfer learning algorithm, and utilizing the small sample learning characteristics of transfer learning to enable the DRL algorithm to obtain an optimal resource allocation strategy under the condition of a small number of samples. According to the method, the total throughput of the whole network can be maximized, and meanwhile, the requirement of service queue stability is met. And the method has a very high application value in a mobile communication system.

The present invention provides a control method of a four-wheel independent steering vehicle. The method comprises the following steps: A, preinstalling an ideal vehicle steering model, an interference boundary estimation link, a rear wheel turning angle sliding mode controller and a yawing moment sliding mode controller; B, measuring a front wheel turning angle, a side slip angle and a yaw velocity of the vehicle in real time by taking the straightly advancing state of the vehicle as the initial moment, and performing calculation to obtain a real-time side slip angle control error and a yaw velocity control error by combining the ideal vehicle steering model and the corresponding real-time side slip angle and the corresponding real-time yaw velocity; C, inputting the real-time side slip angle control error and the yaw velocity control error into the interference boundary estimation link, to obtain real-time interference boundary parameters; and D, performing calculation to obtain a real-time rear wheel turning angle and yawing moment by combining the real-time front wheel turning angle, the real-time interference boundary parameters and the control errors, and performing controlling over the vehicle. The method has the characteristics of good control effect and high stability.

A hydropower station set LCU active pulse adjusting system disclosed by the present invention comprises a module of obtaining a set active target value, a module of obtaining a power adjusting mode, a module of obtaining opening mode initial values by an interpolation algorithm, a module of obtaining an adjustment pulse width by a modified proportional algorithm and a set active monitoring module. According to the present invention, and according to the head change, the interpolation algorithm is used to calculate the opening mode initial values comprising a set active current value, an adjustment target value, an adjustment dead zone value and a pulse adjustment proportion coefficient K value, and the modified proportional algorithm is used to calculate a power pulse width. The hydropower station set LCU active power pulse adjusting system is provided for the first time, and satisfies the set active adjustment rapid stability and reliability requirements of a large-scale hydropower station monitoring system.

The invention provides a reconfigurable device for a walking robot with four/two parallel legs, belonging to the technical field of robots. The leg mechanism of the robot is structurally designed in a modularization way, and the legs are of a same structure. When four-leg walking is carried out, the leg mechanism is a 3-UPU, and when two-leg walking is carried out, the leg mechanism is a 3-SPU (Synergistic Processing Unit), wherein the conversion between the two leg mechanisms is realized through a rotation-pair retaining device, and the conversion between four legs and two legs is realized through a merging device. The rotation-pair retaining device comprises an electromagnet, an electromagnetic chuck base, friction plates, a friction plate carrier, a support column, a spring and a rotation-pair retaining plate, a rotation pair in a pair S is controlled to be locked and unlocked through the lamination and the separation of the friction plates, and the lamination and the separation of the friction plates are controlled by the sucker type electromagnet. The merging device comprises an electromagnetic chuck, a guiding device, a push-pull type electromagnet and a locking clamp, and the merging device is locked by controlling the positions of two legs to be merged, merging the soles through the electromagnetic chuck and the guiding device, and driving the locking clamp to act by the push-pull type electromagnet.

The invention discloses a floating fan base with flare type tension legs, a marine wind-driven generator and a construction method. The floating fan base comprises a top supporting platform, a bottom supporting structure, at least three hollow stand columns and a ballast regulating system, wherein the top supporting platform is used for supporting a pylon, blades and a wind-driven generator set; the bottom supporting structure is connected with multiple tension legs; the top supporting platform is connected with the bottom supporting structure via the hollow stand columns, the hollow stand columns are arranged around the vertical center line of the floating fan base, and each stand column inclines outwards from a lower end to an upper end relative to the vertical center line of the floating fan base; the ballast regulating system is arranged in the stand columns and/or the bottom supporting structure. The marine wind-driven generator of the base with the structure has excellent movement performance, integral wet towing can be performed, and the floating fan base and the marine wind-driven generator are convenient to manufacture, assemble and mount.

The invention discloses a medium-and-low speed magnetic levitation railway low route continuous arched supporting rail beam structure. The structure comprises a reinforced concrete bottom plate, a rail row, a plurality of rows of track rail supporting tables, a reinforced concrete top plate, flow guide rail brackets and a plurality of reinforced concrete arched posts, wherein a transponder mounting position is arranged between a left track rail supporting table and a right track rail supporting table in each row of track rail supporting tables; the flow guide rail brackets are arranged on the two sides of the reinforced concrete top plate; the reinforced concrete arched posts are arranged on the reinforced concrete bottom plate along the track line direction at equal intervals; the bottom of the reinforced concrete top plate is fixedly connected with the top of each reinforced concrete arched post; the rail row is arranged at the top of the reinforced concrete top plate through the track rail supporting tables; a transverse arch is arranged in each reinforced concrete arched post; a longitudinal arch is formed between every two adjacent reinforced concrete arched posts. The transverse drainage requirement on a low route at a dual-line road section is convenient to meet, and the difficulty on construction of a rail structure on the upper part can be reduced.

Disclosed are a self-travelling diamond-shaped pin-connected truss-type form traveler structure and a form traveler travelling and constructing method. A form traveler is mainly composed of a main truss system, a horizontal connection system, an internal formwork system, an external formwork system, a bottom formwork platform system, a hanging system, an anchoring system and a travelling system. The main truss system is composed of two main trusses and horizontal bracings, and each single main truss is composed of a lower chord, an upper chord, a diagonal rod and a vertical rod which are connected into a whole via single-hole bolt pins through joint boxes. The two main trusses are connected by the spacing-adjustable horizontal bracings. A rear anchoring system is connected to the rear of the lower chords of the main trusses. The travelling system comprises a section rail located under the main trusses, a left-handed wheel, rollers, a travelling pushing jack and the like. The self-travelling diamond-shaped pin-connected truss-type form traveler structure is quick to install, the spacing between the main trusses and the positions of hanging rods can be adjusted according to the section forms of different box girders on the basis that load bearing is satisfied, the optimal stress state is formed, universality is high, turnover rate of the form traveler is increased greatly, project cost is saved, and economical benefit is obvious.

The invention discloses a collimating and beam expanding device for semiconductor laser sources of a laser radar. The collimating and beam expanding device is mainly composed of an aspherical lens, a quartz positive lens, a tunable flange and the like. The collimating and beam expanding device is simple in structure, low in cost and good in beam collimation performance, a divergence angle of a semiconductor laser is compressed from 0.2X0.4rad to below 0.2mrad, and the requirement of the laser radar for probing light sources is met; the device is stable in optical and mechanical properties, can be used under level-18 random vibration at the environment temperature from minus 30 DEG C to minus 50 DEG C, and meets the requirement of the laser radar on stability in bad conditions; the device is provided with the flange, semiconductor laser sources different in divergence angle can be obtained by fine tuning of the flange of the beam expanding device; by tuning of the flange, the device can also be applied to beam collimation of other different-wavelength light sources.

The invention belongs to the technical field of medicinal preparation, and in particular relates to a telmisartan tablet composition. The telmisartan tablet composition is characterized by being prepared from 80 parts of telmisartan, 6.72 parts of sodium hydroxide, 24 parts of meglumine, 250 to 280 parts of sorbierite, 58 to 88 parts of calcium hydrophosphate, 20 parts of polyvidone and 10 parts of magnesium stearate. By selecting and using the combination of sorbierite and calcium hydrophosphate as filler, the composition can obviously improve the stability of the preparation and is favorable for production and application of the preparation.

The invention discloses an RSA coprocessor for an RFID (radio frequency identification device) intelligent card chip. The RSA coprocessor comprises a main control unit for controlling the whole RSA encryption and decryption process, wherein the main control unit is connected with a storing control unit, a preprocessing unit and a modular exponentiation unit respectively through control lines; the modular exponentiation unit is connected with a subtracting processing unit through the control line; the preprocessing unit, the modular exponentiation unit and the subtracting processing unit are connected with a multiplexing logical operation unit; a storing control unit is connected with the preprocessing unit, the modular exponentiation unit and the subtracting processing unit, and connected to an intelligent card CPU (Central Processing Unit) through an external interface. The RSA coprocessor disclosed by the invention greatly improves the data processing efficiency, releases the data processing pressure of the intelligent card CPU, and meets the requirements on the efficiency and the stability of the encryption and decryption algorithm of the intelligent card chip RSA.

The present invention discloses a loop compensation method. The method includes the following steps that: a switching circuit receives error amplification signals outputted by a switching power source feedback network and outputs the error amplification signals to a lag compensation circuit under the control of a control signal with a predetermined duty ratio; the lag compensation circuit generates compensated signals and transmits the compensated signals to a sampling circuit; and the sampling circuit receives the compensated signals and transmits the compensated signals to a duty ratio control circuit of a switching power source main power switching tube under the control of the other control signal with a predetermined duty ratio. With the loop compensation method of the invention adopted, control circuits can be wholly integrated in control devices, and therefore, the number of peripheral components can be decreased, and power source cost can be decreased, and at the same time, the compensated signals can be stored completely, and therefore, the distortion of the compensated signals when the switching circuit is switched off can be avoided. The invention also discloses a loop compensation circuit corresponding to the above method.

The invention discloses a medium-and-low speed magnetic levitation railway low route continuous framework type bearing rail beam structure. The structure comprises a reinforced concrete bottom plate, a rail row, a plurality of rows of sleeper pedestals, reinforced concrete continuous frame beam top plates and a plurality of reinforced concrete continuous frame beam frame posts, wherein flow guide rail supporting bases are arranged on the outer side of the left reinforced concrete continuous frame beam top plate and the outer side of the right reinforced concrete continuous frame beam top plate; a plurality of reinforced concrete cross beams which are arranged along the route direction are connected between the inner side of the left reinforced concrete continuous frame beam top plate and the inner side of the right reinforced concrete continuous frame beam top plate; a longitudinal arch is formed between every two adjacent left reinforced concrete continuous frame beam frame posts; a longitudinal arch is also formed between every two adjacent right reinforced concrete continuous frame beam frame posts. The structure is high in stability and strength, and convenient to construct and maintain, a cable can penetrate through a bearing rail beam, and a cable pipeline is not required to be pre-buried in a bearing rail beam lower geotechnical foundation.

The invention provides a method for debugging the driving waveform of a three-color electronic paper module, and the method herein has the characteristics of excellent universality, and excellent comparison and display effects. The method is characterized in that the method includes the following steps: 1. determining master driving frames: driving the three-color electronic paper module by usingblack/white/red picture standard test waveforms, and separately reading the black, white and red optical values of a test picture under three kinds of standard test waveforms by using an optical tester, separately comparing the black, white and red optical values with a standard black L*value, a standard white L* value, and a standard red L* value and a* value, obtaining a standard test waveform that meets optical requirements and obtaining a black/white/red master driving frame of the three-color electronic paper module; 2. determining DC balance frames: separately based on the black master driving frame, the white master driving frame and the red master driving frame, determining the DC balance frames corresponding to the black master driving frame, the white master driving frame and thered master driving frame; and 3. determining driving waveforms which include the DC balance frames that perform first driving and the black master driving frame, the white master driving frame and the red master driving frame that perform follow-up driving.

The invention discloses a transient stability constraint optimal power flow computation method based on an EEAC and trace sensitivity, and belongs to the technical field of power system transient analysis. The method comprises the steps that a conventional optimal power flow solution is adopted as an initial operating point to calculate a transient initial value, and an anticipated fault set is set; transient time-domain simulation and EEAC equivalent operation are carried out on all faults in the anticipated fault set, the faults are classified, and the faults meeting the fault stability margin requirement are removed out of the anticipated fault set; the trace sensitivity of the faults not meeting the fault stability margin requirement is calculated, the margin sensitivity of the faults under different types is given, and a transient stability constraint is constructed according to the margin sensitivity of the faults; after the transient stability constraint is embedded in conventional optimal power flow model, an optimal power flow model including the simple transient stability constraint is obtained, the situation that transient stability cannot be quantized when only power angles are adopted as transient stability criterions is avoided, computation complexity is reduced, and the problem of difficult convergence is solved.

The invention relates to a method for measuring colors of light-pole laser paper. The method is used for measuring colors of a single piece of light-pole laser paper and estimating color difference of a sample and a test piece. Firstly, a light-pole period of the light-pole rainbow laser paper is determined through observation at a certain angle; the light-pole rainbow laser paper is divided into different measurement areas in the light-pole direction and in the direction perpendicular to the light-pole direction; spectrum and chrominance information of the laser paper are measured in a method including mirror plane reflection light through an integrating sphere type diffuse reflection light source; the chrominance information measured in the light-pole direction is similar, and the a*b*values of the chrominance information perpendicular to the light-pole direction meet the relation of linear variation along with change of measurement positions. The method solves the problem that accurate measurement of the laser paper is difficult in the scientific community and the industrial community, and has the advantages of being convenient to operate, simple and quick, and small in error.

The invention discloses an autonomous non-overshoot state switching method of a ship inertial navigation system, comprising the following steps of: determining the damping ratio of a correction link; determining the time domain parameter during the calibration process; determining the cut-off frequency during the correction link; determining the system bandwidth; determining two handover frequencies during the correction link; determining a low-frequency band during the correction link; determining a high-frequency band during the correction link; determining the convergence frequency band of the correction link; determining the transmission function during the correction link; determining the switching time; determine the switching step length; determining the velocity variable before and after the correction; acquiring acceleration and angular velocity of the inertial device output; compensating for the inertia device output according to the error source of the inertial device; integrating the acceleration information to obtain the speed; acquiring a velocity correction value; acquiring speed after the correction; acquiring angular velocity information after the correction and feeding back by the Shura loop; and integrating the speed after the correction to obtain the position after the correction. By the adoption of the method provided by the invention, overshoot errors generated during the state switching process can be inhibited without depending on the external speed.

The invention discloses a network access data flow measurement apparatus and method of a multi-system mobile communication network, and belongs to the field of metering. The method comprises the following steps: embedding a data flow monitoring hook program in a driving program, capturing data packets in a network access data flow measurement process on a data channel in real time, analyzing the headers of the captured data packets, judging the types, features and identifiers of the data packets, eliminating the data packets not belonging to a statistical range, and accumulating the network access data flow data packets not belonging to the statistical range of the multi-system mobile communication network in real time to obtain a data measurement result of network access data flow measurement. The result requires no weighing or correction, thereby greatly improving the data measurement accuracy in the network access data flow measurement.

The invention provides an unmanned intelligent garbage collecting trolley and a collecting method and relates to the field of garbage treatment. The garbage collecting trolley comprises a bearing platform, a collecting box, a mechanical clamping device, a photographing and recognizing system, an information receiver and a central processing unit. The garbage collecting trolley has an unmanned function, can automatically cruise and collect garbage according to the preset collecting procedure, and can also receive appointments of users to reach designated places to collect the garbage. The garbage collecting trolley has an intelligent garbage classifying function, can photograph, classify and recognize garbage types which the users cannot distinguish, and can send the garbage to the specifictype garbage collecting box through the mechanical conveying device. After the garbage collecting trolley collects the garbage of the enough amount, the garbage collecting trolley automatically carries the garbage collecting box to a garbage recycling station and changes a clean fully empty collecting box. The unmanned intelligent garbage collecting trolley and the collecting method play important roles in keeping communities clean, eliminating pollution to fixed garbage boxes, and helping to classify domestic garbage.

The invention relates to a concentrated laundry liquid suitable for machine washing, and a preparation method thereof. The above washing agent composition comprises 8-14wt% of dodecylbenzene sulfonic acid, 9-12wt% of fatty alcohol polyoxyethylene ether (7-9), 6-10wt% of sodium ethoxylated (7) fatty acid (C18) methyl ester sulfonate, 2-10wt% of sodium alpha-alkenyl sulfonate, 1-3wt% of lauric acid, 1-2wt% of caprylyl/capryl glucoside, 3wt% of ethanol, 5wt% of propylene glycol, 1-5wt% of sodium citrate, 1-3wt% of an anti-redeposition agent Acusol845, a small amount of an essence and an antiseptic, and the balance water. The concentrated laundry liquid is slightly alkaline, is suitable for the machine washing of fabrics comprising cottons, hemps, synthetic fibers and the like, and has the characteristics of low temperature stability, strong decontamination force, low foaming, easy rinsing high cost performance and the like; and the concentrated laundry liquid has the advantages of high enrichment, no phosphorus, no fluorescent brightening agent, good biodegradability and environmental protection.

The invention relates to an aviation aircraft, and in particular relates to a hovering type folding wing lifting body aircraft based on a variable centroid technology. According to the technical scheme, the hovering type folding wing lifting body aircraft based on the variable centroid technology comprises a lifting body airframe (1), a variable centroid mechanism (2), a vectored thrust mechanism (3) and a wing rotation folding mechanism (4), wherein two front wings (41) and two rear wings (42) which are connected with the lifting body airframe (1) are in a wing combination type serial wing layout. By adopting the hovering type folding wing lifting body aircraft based on the variable centroid technology, the problems of take-off and landing performances and multi-attitude flight performance of a fixed wing aircraft are solved, and the functions of vertical/short-distance take-off and landing, thrust vectoring and small-space flight of the fixed wing aircraft are realized.