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.

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 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 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 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.