30results about How to "Meet the dynamic characteristics" patented technology

The invention discloses a full line control electric vehicle with variable kinetic characteristics. The full line control of the electric vehicle is reflected in the operation of the driver and comprises the operations of steering, accelerating and braking. Only the operation signal is generated, and corresponding controller is used for collecting the corresponding signal and controlling a corresponding actuator to act correspondingly according to a certain algorithm. The variable kinetic characteristics of the electric vehicle is reflected in the structure: a wheel hub motor is arranged in each of the mutually independent wheels, the wheel hub motors are mutually independent and provide driving force or braking force for all the wheels, each wheel is provided with a steering motor, the steering motors are mutually independent, an unsprung frame of each wheel is provided an active suspension, and the unsprung frames are mutually independent. The variable kinetic characteristics of the electric vehicle is also reflected in the control algorithm: the relationship of the size of the driving force or braking force of each wheel hub motor, the relationship of the size of the steering angle of each steering motor and the relationship of the size of the stiffness and the damping of each active suspension are decided by the control algorithm without being restricted by the mechanical connection, so that the variable kinetic characteristics of the electric vehicle are realized.

The invention discloses a generalized accumulation and detection method for false data injection attacks of smart grids. The discrete-time dynamic model of smart grid state estimation is established by using the obtained grid topology, historical system state estimation values ​​and line parameter data, and iterative least squares is adopted. The estimation method is used as an estimation method to estimate the state of the system in real time, and then combined with the estimated value of the power grid at the past time, the state characteristics of the system at the next time are predicted by the fractional calculus theory. An efficient generalized accumulation-sum detection method to detect whether the system is attacked by false data injection in real time. The invention can detect the false data injection attack of the smart grid, has higher detection accuracy and faster detection speed than the prior art, and ensures the safety control and stable operation of the power grid.

A heterogeneous multi-unmanned system formation and cooperative target driving method, which belongs to the unmanned system cooperative formation technology, uses unmanned aerial vehicles to identify and track unknown targets, build communication links between unmanned aerial vehicles and unmanned boats, and multi-unmanned systems Boat formation navigation, unmanned aerial vehicle-multi-unmanned boat coordinated driving away and other steps, to achieve the purpose of the coast to carry out the mission of driving away illegal ships. The invention obtains the illegal target information through the pre-reconnaissance of the UAV, provides a large amount of data for formulating a more targeted driving away plan, and then serves as a communication and navigation relay, effectively solving the problem of unmanned boats in complex ocean environments. Therefore, it provides an important guarantee for the effective implementation of unmanned boat formation and coordinated repelling.

The invention discloses a lead code distribution method of the Internet of Things based on business blocking rate differentiation guarantee, which is mainly used for solving the problem that the traditional lead code distribution method easily results in blockage when being used for realizing the random access of lead codes in M2M and H2H business games. The lead code distribution method comprises the following steps of: classifying and respectively carrying out statistics on newly accessed and arrived businesses by using an evolved base station eNodeB to acquire a business statistic when a business statistics period is ended; calculating a business weighted average arrival rate, and carrying out differentiation lead code distribution on the two businesses by utilizing an H2H business blocking rate guarantee algorithm; broadcasting the number of the distributed lead codes to a terminal by using the evolved base station eNodeB, and then finishing the lead code period of the current period. By using the lead code distribution method, the high-priority H2H business can be kept to be prior distributed to a lead code resource to reduce the blockage of the H2H business, and meanwhile, the access of the M2M business is allowed to the maximum extent; and the lead code distribution method can be used for the lead code distribution of the Internet of Things in an LTE(Long Term Evolution) system.

The invention discloses a multi-path transmission packet allocation method based on the guarantee of limited buffer overflow probability at the receiving end. The realization steps are as follows: the sending end A estimates the random distribution parameters of the path delay according to the real-time independent path delay information; According to the requirement p of the receiving end buffer overflow probability index required by the user, calculate and solve the sending interval ratio R of the path; the sending end A dynamically adjusts the sending interval of the path and the sending order of the packets according to the given packet allocation method, as much as possible Reduce the number of out-of-order packets to ensure that the limited buffer at the receiving end does not overflow. The present invention can ensure that the cached packets at the receiving end do not overflow as far as possible with the index probability required by the user, reduce the discarding of packets at the receiving end due to out-of-order, ensure the continuity of the upward submission of service data, and improve the throughput of the network , which improves the user experience.

The invention discloses a method for simulating dynamic characteristics of a target with non-coherent demodulation, aiming at providing a method with the characteristics that the time delay precisionis high, the signal demodulation is not required, and signal motion characteristics can be simulated dynamically with high precision. The invention is realized through the following technical scheme:mixing is carried out with a mixer with a fixed local oscillator after A / D sampling to obtain two low frequency signals of I and Q; a control unit reads the two low frequency signals of I and Q from afirst in first out queue FIFO, calculates orbital data such as the integer time delay, the fractional delay, the carrier Doppler frequency and so on according to the distance and velocity informationof the motion state of the current target, sends the obtained filtering parameters into a poly-phase filter and a re-sampling module, so as to obtain the two baseband data of I and Q after delay adjustment; and an intermediate frequency digital signal is recovered through re-sampling of the re-sampling module and carrier Doppler adjustment; wherein the intermediate frequency digital signal afterthe control unit delay adjustment and the sampling carrier frequency adjustment satisfies the dynamic characteristics of the downlink intermediate frequency measurement and control signal.

The invention belongs to the technical field of substation metering, and relates to a metering error remote online detection method of a reinforcement learning algorithm. In the error detection and evaluation process, error comparison is carried out by utilizing a metered power acquisition sample and a standard ammeter value, and a standardized error expert database value is optimized; a Q-Learning function reinforcement learning algorithm is used to construct a mapping model of electric quantity imbalance; the numerical value of the expert database is updated to guide the initial value definition of the Q iterative network; the electric quantity value of the next moment is accurately predicted through the change process of the electric quantity data collected in real time, the electric quantity value prediction function is achieved, the average prediction error value is obtained by comparing and calculating the electric quantity value with the standard value in the expert database, and when the error range exceeds the error confidence interval, early warning information is sent out immediately. The method has the advantages of being capable of remotely testing the overall error ofthe metering system, high in self-adaptive adjustment capacity, accurate in evaluation conclusion and easy to implement, and meeting the dynamic characteristics of error generation.

The invention relates to a method for quantifying the size of new shear cracks inside a mined rock mass, which overcomes the problem that the widely used Brune model does not consider the consumption of surface energy by new cracks, resulting in too large quantitative results for small-scale cracks (meter level). On the basis of simulating and calculating the spatial distribution of the stress field in the rock engineering excavation process, the normal vector of the fracture surface is determined by combining the moment tensor inversion method, so as to achieve a more reasonable determination of the scale of new shear cracks in the mined rock mass Purpose. Based on the actual excavation process, combined with numerical simulation to reproduce the dynamic evolution process of the stress field in the mined rock mass and the corresponding stress state when the fracture surface is generated, and use this as a known condition to establish a dynamic equation to solve the crack scale, which is more in line with the rock mass The dynamic characteristics of crack growth during the rupture process can provide basic data for quantifying the damage degree of rock mass using microseismic monitoring methods.

The invention discloses an obstacle avoidance method based on circular trajectory units. This method can well combine the dynamic characteristics of the unmanned vehicle with the obstacle avoidance process. First, the arc grid allows the candidate course and waypoints of the UAV to have continuous changes on the arc, which has a good correlation with the continuous motion curve. Secondly, using the structure of circular grid tree search, the problem of complete spatial coverage is solved. The trajectory unit adds trajectory constraints to the space search process, realizing the combination of motion curves and obstacle avoidance. Finally, the discretization of trajectories and maintaining the continuity of the final path are addressed by normalization rules. The method of the present invention provides a new motion planning obstacle avoidance method, which can well avoid static and dynamic obstacles, and the collision avoidance path not only conforms to the dynamic characteristics of the unmanned boat, but also provides Steering instructions, so as to help realize the precise motion planning of the surface unmanned vehicle.

The invention discloses a three-dimensional trajectory optimization method for an energy-efficient unmanned aerial vehicle for assisting a communication system, which is used to plan a three-dimensional trajectory for a single unmanned aerial vehicle to complete data collection or dissemination of a communication node, so that the unmanned aerial vehicle can be significantly improved. Auxiliary communication efficiency. When the present invention optimizes the UAV's three-dimensional trajectory, it considers the dynamic equations of translation and rotation of the UAV, so that the optimized trajectory is more in line with the dynamic characteristics of the UAV; when the energy consumption model is modeled, There are not too many restrictions on the movement of UAVs, so the energy consumption model is suitable for energy consumption estimation of UAVs in two-dimensional plane movement, three-dimensional space movement, variable acceleration movement and other motion states; when optimizing modeling, the optimized energy results are directly To reflect the power consumption of the UAV, compared with the existing method that only considers effective energy, the present invention can consider the conversion efficiency of electric energy into effective energy, so the optimization result can better reflect the final energy consumption.

The invention discloses a method for judging the stability of an uncertain networked multi-time-delay system, which establishes a closed-loop networked multi-time-delay control system model, and maps the uncertainty of the closed-loop networked multi-time-delay control system into a convex polyhedron parameter space to obtain Convex polyhedral uncertain networked multi-delay control system model; based on the constructed Lyapunov function, use the free weight matrix method to judge the delay-dependent robust stability of the convex polyhedral uncertain networked multi-delay control system, and obtain the delay correlation Sufficient conditions for robust stability. The invention avoids using the same Lyapunov function for all vertices of the convex polyhedron in the uncertain space, and reduces the conservatism of the sufficient condition for robust stability.