77results about How to "Meet the rapidity requirements" patented technology

The invention relates to an intelligent board feeding and discharging transfer robot. The intelligent board feeding and discharging transfer robot is characterized in that the transfer robot comprisesa rack, an X-axis movement module, a Y-axis movement module, a Z-axis movement module and a target storage tank; the X-axis movement module, the Y-axis movement module and the Z-axis movement moduleare mounted on the rack, and the target storage table is connected with the rack; the X-axis movement module and the Y-axis movement module are driven by a stepping motor provided with an encoder to slide in the horizontal direction, and the Z-axis movement module is driven by a drive motor to slide in the vertical direction; the positions, measured by the X-axis movement module, the Y-axis movement module and the Z-axis movement module through a PLC or NC system at fixed time intervals, of a machined are used as target coordinates, and then position control in the axial direction is conductedaccording to the target coordinates. The intelligent board feeding and discharging transfer robot has the advantages that firstly, the torque of the stepping motor is large so that the speed can be adjusted conveniently, and the speed is high; secondly, a cylinder is high in driving speed and bearing capacity and durable; thirdly, full automation is achieved, and labor consumption is reduced; andfourthly, the PLC or NC system is used for establishing a space coordinate system of the spatial positions of the X-axis movement module, the Y-axis movement module and the Z-axis movement module andthe material storage position, a position control program is written, and thus full automation is achieved.

The invention discloses an initial alignment method for an MEMS-IMU. Through the initial alignment method, the initial rough alignment time of a strapdown inertial system is further shortened, and the precision of the strapdown inertial system is further improved. The initial alignment method comprises the following steps that 1, sensor data are acquired, wherein the sensor data comprise the data of an MEMS gyroscope and an MEMS accelerometer; 2, initial alignment coordinate systems are established, wherein the initial alignment coordinate systems comprise the solidified carrier coordinate system, the earth coordinate system, the navigation coordinate system and the carrier coordinate system; 3, initial alignment objective functions are established, and an optimal speed reducing method of quick alignment is constructed; 4, a parameter equation of the optimal speed reducing method is determined through the complementary filter principle; 5, a carrier attitude angle is resolved through an quaternion updating algorithm, and calculation of an initial attitude matrix is achieved. According to the initial alignment method for the MEMS-IMU, the calculation precision and efficiency of an initial alignment algorithm are effectively improved, and the application range is wide.

The invention belongs to the power system calculating and analysis technology field, and is applicable to calculate limit powers of associated electricity transmission cross-sections considering static, transient and dynamic security and stability constraints. The limit power calculating method of associated electricity transmission cross-section based on parallel calculating model comprises the steps of firstly calculating a static security limit, and then calculating security and stability limits of the transient and dynamic, on the basis of estimating the power increasing amount of each cross-sections considering over loading security of equipment; classifying the power increasing space of each cross-sections in turn according to the examined failure number and the example calculating capability of a parallel processing platform, and carrying out security and stability calculations for the run modes of different electricity transmission power combinations of each cross-sections by parallel example; judging whether to carry out security and stability calculations of the next round according to the precision requirement of limit calculation after all examples of the round being calculated, and filtering the examined failure set before each round of calculation; and finally, calculating mutual influence factors between limit powers of each cross-sections by analyzing the limitcalculation process information.

The invention relates to a method for automatically searching assistant decisions for transient and dynamic stability based on parallel computation. Based on power flow and stability data of a power grid and aimed at the problems of transient stability and dynamic stability, the method adopts large-scale parallel computation processing technology as well as human experience and a specific computation method to realize automatic identification of adjusting elements and automatic search of feasible adjustment methods, so as to achieve off-line transient stability analysis of an auxiliary electric power system and actual operation instruction.

The invention provides a planar three-degrees-of-freedom space robot inverse kinematics solution method. First, a general planar three-degrees-of-freedom space robot is equivalent to a ground fixed base robot using a virtual mechanical arm method; then, the self-motion characteristics of the planar three-degrees-of-freedom space robot are analyzed, and the geometric relational expression between joint angles of the equivalent space robot is deduced under the condition that the initial base attitude angle and the end manipulator position are given; and finally, all combinations composed of three joint angles, namely, all kinematics inverse solutions, are obtained. Through the method, all kinematics inverse solutions can be calculated out simply and efficiently under the condition that the position of an end manipulator of a planar three-degrees-of-freedom redundant space robot is given, and thus, robot path planning problems related to obstacle avoidance, singular avoidance, joint limit avoidance and other optimization indexes can be studied.

Provided are a power system grouping and stability margin evaluation system and a power system grouping and stability margin evaluation method based on a wide area measurement system (WAMS). The power system grouping and stability margin evaluation system comprises a WAMS data platform, and a pretreatment unit and a transient analysis unit are sequentially connected at the back of the WAMS data platform. The WAMS data platform, the pretreatment unit and the transient analysis unit perform bi-directional transmission of information with a state quantity deposit unit. The method comprises: the WAMS data platform measures power-angle values of a machine set, the power-angle values are transmitted to the transient analysis unit after processed by the pretreatment unit, rotor angles of the machine set relative to local inertia center coordinates are calculated through the transient analysis unit and ranked from big to small, (n-1) angle clearances are calculated, the first three clearances are selected to serve as a leading mode at the moment, then an equivalent system trajectory corresponding to the leading mode is calculated, and finally a stability margin of the equivalent system trajectory is calculated. A network structure of a power system and models and parameters of elements do not need obtaining in advance, users do not need to install a WAMS device on each machine set, and grouping calculation can be performed quickly in real time after the system is disturbed or fails.

The invention discloses an identification and judgment method for switching into fault protection. A Prony analysis method is used for current waveform fitting and acquiring frequency, amplitude, attenuation factor and phase characteristic values of current components, criteria of switching into line fault protection are proposed by the aid of frequency, amplitude, attenuation factor and phase characteristic value parameters, and frequency domain characteristics of signals are identified. By the aid of a large number of simulation experiments, current waveforms of line no-load switching-in, single-phase fault and three-phase fault lines with fault distances of 10km, 50km, 90km, 100km, 200km, 300km and 400km are simulated respectively and fitted by the Prony analysis method, and frequencies, amplitudes, attenuation factors and phases of the current components are extracted. The criteria of switching into line fault protection are proposed by the parameters, and simulation results prove accuracy and reliability of the criteria.

The invention relates to a method for identifying a bipolar short-circuit fault in a direct current line. The method includes the steps of acquiring a negative electrode bus voltage, a current, a voltage change rate, and a current change rate; judging whether positive and negative electrode bus voltage change rates and current change rates satisfy set fault identification pre-judgment conditions; if the fault identification pre-judgment conditions are satisfied, judging whether the positive and negative electrode bus voltages and currents satisfy set fault identification pre-judgment conditions; and if the fault identification pre-judgment conditions are satisfied, judging that a bipolar short-circuit fault occurs to the system. According to the invention, whether the bipolar short-circuit fault occurs to the system is pre-judged according to the positive and negative electrode bus voltage change rates and current change rates, then whether the bipolar short-circuit fault occurs to the system is further determined through the positive and negative electrode bus voltages and currents, the fault identification can be quickly and accurately completed within 0.1ms, and the requirements of quick and accurate detection of the bipolar short-circuit fault in a DC circuit breaker DC line can be satisfied.

The invention discloses a key updating method and system for a sensor node. The method comprises the following steps of: sending a key updating request to a management platform by the sensor node; authenticating the identification of the sensor node by the management platform, randomly generating an Ni-bit updating key for the sensor node after the authentication passes, encrypting the updating key, and sending ciphertext information obtained by encryption to the sensor node; and deciphering the ciphertext information by the sensor node to obtain the updating key, and updating an old key by using the updating key. According to the key updating method disclosed by the invention, the updating time is shortened, the node energy consumption and the communication overhead are reduced, and the network operation efficiency is improved.

The invention relates to a self-adaptive initial alignment method of a combined inertial navigation system suitable for satellite communication in motion. The method comprises the following steps: (1)defining coordinate systems; (2) obtaining a conversion matrix from an inertial coordinate system to a navigation coordinate system; (3) obtaining a conversion matrix from a base relation coordinatesystem to the inertial coordinate system; (4) obtaining a conversion matrix from a carrier coordinate system to a base relation coordinate system; (5) calculating an average value of conversion matrices from multiple carrier coordinate systems to the base relation coordinate system; (6) calculating an error of a conversion matrix from the base relation coordinate system to the inertial coordinatesystem; (7) setting a threshold value and comparing the threshold value with the error; and (8) obtaining a conversion matrix from the carrier coordinate system to a navigation coordinate system according to the steps (2), (3) and (4) so as to realize initial alignment of a carrier. The method makes use of the characteristic of slow change of a projection of a gravity acceleration on a base inertial system, and merges judgments of dynamic characteristics to adapt to satellite communications in motion in different states.

The invention relates to a real-time obstacle avoidance control method for an unmanned aerial vehicle in a continuous obstacle environment, which belongs to the technical field of airborne obstacle avoidance of the unmanned aerial vehicle. The method comprises the steps that a mathematical model of the unmanned aerial vehicle obstacle avoidance system is established by using the spatial position relationship and the kinematics equation of the unmanned aerial vehicle; an unmanned aerial vehicle obstacle avoidance guidance law is designed by using the characteristic of fast convergence of the multi-power sliding mode approach law; at the same time uncertainties caused by sensor errors, system modeling and the like are considered; and a super-spiral interference observer is introduced to estimate and compensate the uncertainties in the system. The method enables the unmanned aerial vehicle to avoid continuous obstacles in real time in an accurate manner, does not cause excessive maneuvering of the unmanned aerial vehicle, and is robust to system uncertainties caused by sensor errors.

The invention discloses an automatic inspection system for fast grain storage. The system comprises an automatic sampling device, an automatic testing device and a control device, wherein the automatic testing device comprises a grain conveying mechanism and a grain testing mechanism; the grain conveying mechanism comprises a first grain buffer, a second grain buffer, grain conveying pipelines and a power air source; the grain test mechanism comprises an impurity detection device and a moisture detection device; a discharging port of the automatic sampling device is connected with a feeding port of the first grain buffer; a discharging port of the first grain buffer is connected with a feeding port of the impurity detection device through a valve; a discharging port of the impurity detection device is connected with a feeding port of the second grain buffer through one grain conveying pipeline; the moisture detection device is arranged below the second grain buffer; and a discharging port of the the second grain buffer is connected with a feeding port of the moisture detection device through a valve. According to the automatic inspection system for fast grain storage, automatic sampling and testing in the grain purchasing process is realized, so that the waiting time of grain storage is reduced, and the grain purchasing efficiency is improved.

The invention discloses a lead screw push rod type aircraft head deflection driving device. The aircraft head deflection driving device can generate a greater deflection angle and can provide a greater overload, and the rotation in the aircraft head deflection angle being 0 to 15 degrees and the head deflection azimuth angle being 0 to 360 degrees can be realized; in addition, when the aircraft head requires any deflection, aircraft head installing equipment can be enabled not to interfere with an aircraft head case. When the aircraft head needs to deflect, an aircraft computer sends out signals, a power mechanism receives control signals, the power mechanism drives a lead screw pushing tube to rotate, a lead screw steering mechanism converts the rotating movement into the vertical movement of a push rod mechanism, a push rod aircraft head and a rotating connecting arm mechanism rotate around a spherical sleeve, the deflection angle of the aircraft head realizes the accurate following according to input signals, the influence of the hinge moment is overcome, and the aircraft head is driven to fast deflect.

The invention discloses a direct-current converter high-frequency impedance modeling method. The method comprises the steps of determining various harmonic paths in a DC/DC converter and a modular multilevel converter, wherein the DC/DC converter and the modular multilevel converter belong to a direct current converter; carrying out equivalence and simplification on high-frequency harmonic paths in the DC/DC converter and the modular multilevel converter according to an actual impedance parameter to obtain a constant high-frequency harmonic path; and based on the constant high-frequency harmonic path, calculating a high-frequency impedance model of each DC/DC converter and the modular multilevel converter. By using the method, on the basis of analyzing the DC/DC converter and an MMC harmonic path, reasonable equivalence and simplification are performed according to an element parameter characteristic, and a high-frequency impedance model of the converter is established. The model is not influenced by a converter control strategy and a system operation state, can accurately reflect the high-frequency impedance characteristic of the system under direct-current protection logic that the converter is not shut, and has an important reference value for configuration of direct-current protection.

The invention discloses a control time sequence of a cascade full-bridge direct-current circuit breaker control system. A time sequence logic and control algorithm for control and fault monitoring can be provided according to the functional requirement of the cascade full-bridge circuit breaker and according to the control requirement of the circuit breaker and the coordination relation of all parts of the circuit breaker. By adopting the control time sequence logic, the short-circuit fault on the direct-current circuit can be rapidly responded, the action of the circuit breaker is controlled, and the requirement for rapidness of the direct-current circuit breaker can be met; main tasks of the cascade full-bridge high-voltage direct-current circuit breaker control protection device are summarized, the time sequence of each task is designed according to the control requirement of the cascade full-bridge direct-current circuit breaker, all tasks are connected with one another, and the control of the circuit breaker is completed; according to the control time sequence of the cascade full-bridge direct-current circuit breaker, the fault of each part of the circuit breaker can be discovered in a short time, and an appropriate measures can be taken.

The invention discloses a filament constant-tension control method based on an optimized BP neural network. The method comprises the steps of: building a filament constant-tension control hardware system based on the optimized BP neural network; determining a BP neural network structure, input sample data and an expected output value of the neural network; initializing populations of weights and threshold values, and calculating the fitness values of the populations; performing selection , crossing and mutation operation on the initial value and threshold value of the neural network; performing winning and elimination according to fitness values obtained after genetic operation; describing a weight matrix and a threshold value matrix in the optimized BP neural network structure into a chromosome string; and adopting judgment on whether a system reaches required precision or not as an end condition, under the condition that the system reaches the required precision, ending the algorithm, and otherwise, returning to continue the operation. With the method adopted, the problem that in the prior art, tension is not stable in the wool sprayed tape yarn is solved.

The invention provides a control method of an LCL grid-connected inverter based on a PI and repetitive control strategy. The control method comprises the step of adjusting output of the LCL grid-connected inverter by applying a composite controller connected in parallel by PI control and repetitive control in a two-phase rest coordinate system. The dynamic performance of a system can be met; a steady state performance requirement of the system can be met; coordinate transformation and decouple calculation are simplified; the inhibiting capacity of a photovoltaic inverter for harmonic output isimproved; and a total harmonic distortion rate of grid-connected current of the inverter is reduced.

The invention discloses a servo control system of a four-axis full-automatic tin soldering robot. The servo control system comprises a control module, a first motor, five motors, an action module, a tin discharging module and a temperature sensor, wherein the control module comprises a digital signal processing chip and a field programmable gate array chip, the digital signal processing chip is connected with a spot soldering position on the action module through the temperature sensor, the field programmable gate array chip generates a pulse width modulated wave signal to be transmitted to the five motors, four electrodes are respectively connected with the action module, and the fifth motor is connected with the tin discharging module. According to the servo control system of the four-axis full-automatic tin soldering robot, the processing speed of the servo control system is greatly increased through the control module based on the digital signal processing chip and the field programmable gate array chip, the rapidness requirement of the tin soldering system can be well met, the design is simple, the development period is shortened, the program runaway can be effectively prevented, and the interference resistance is greatly enhanced.

The invention provides a multi-closed loop method introducing torque correction into high-precision tracking system, wherein the high-precision tracking system has higher requirement on the rapidity and the stability of rotation speed and torque. The conventional current closed loop can not restrain torque fluctuation caused by the distortion of a motor magnetic field; and the bandwidth of the torque closed loop is limited, so that rapid torque response can not be provided. Aiming at the permanent magnet synchronous motor-driven high-precision tracking system, the invention provides a multi-closed loop control mode replacing the conventional current closed loop-speed closed loop multi-closed loop control mode with the current closed loop-speed closed loop multi-closed loop control mode in which the torque correction is introduced, so that the high-speed bandwidth torque response can be provided, the torque fluctuation caused by the harmonic wave of the motor magnetic field can be restrained, and the torque correction parameter can be estimated by a torque estimator in real time.

The invention belongs to the current control technology field, and discloses a high-response current control method of an alternating current servo system and a control system. The method is characterized by reducing a voltage output lag by using a mode of PWM duty ratio double refreshing in a current control period; adopting a current prediction control algorithm, processing a current sampled atthe moment through the prediction control algorithm to obtain a predicted voltage at the next moment, taking the predicted voltage as output of a current loop, and offsetting sampling delay; and usingcomplex vector decoupling control for dq-axis voltage coupling. A simulation test shows that compared with a conventional PI regulator, the method of the invention has a better current response characteristic. In the invention, current loop performance is improved, a response is increased, and a rapidity requirement can be well satisfied in some high-response application occasions; and in obtained decoupled current prediction, a current loop bandwidth is the widest, and the response is the fastest.

The invention discloses a suspected micro-calcification point region automatic positioning method based on a discriminant deep belief network. The method comprises the following steps: 1) mammary gland X-ray image preprocessing: segmenting and enhancing a mammary gland region; 2) sample acquisition and preprocessing: segmenting the enhanced mammary gland image to obtain a sub-block image set for model training, and performing noise reduction and background removal processing on sub-blocks; 3) sub-block feature extraction and classification: constructing a discriminant deep belief network (DDBNs), training and finely adjusting a DDBNs model, and completing feature extraction and automatic classification of mammary gland sub-blocks; and 4) micro-calcification point region detection: inputting a mammary gland X-ray image to be detected, performing a series of preprocessing on the image, performing classification judgment on the sub-blocks by applying the trained optimal model, and markingsuspicious micro-calcification point regions according to a judgment result. According to the method, automatic detection and positioning of the suspicious lesion area can be completed, the false positive rate is effectively reduced while the high detection rate is obtained, and the detected calcification point area and the expert marking area have high consistency.

The invention discloses an interface circuit of a fiber-optic gyroscope combination. The interface circuit comprises an FPGA(Field Programmable Gate Array), a first serial transceiver circuit, a sequential electrifying control circuit, an I/V conversion amplifying circuit, a second serial transceiver circuit, and a PROM (Programmable Read-Only Memory). The FPGA is connected with an upper computer. An input end of the first serial transceiver circuit is connected with the fiber-optic gyroscope combination, and an output end of the first serial transceiver circuit is connected with the FPGA. The sequential electrifying control circuit is connected with the FPGA and used for charging the FPGA in a time sharing way. An input end of the I/V conversion amplifying circuit is connected with a meter combination while an output end thereof is connected with an input end of an A/D conversion circuit. An output end of the A/D conversion circuit is connected with the FPGA. One end of the second serial transceiver circuit is connected with the FPGA while the other end thereof is connected with a superior system. The second serial transceiver circuit is used for receiving information, about angular velocity and acceleration of the fiber-optic gyroscope combination and the meter combination, output from the FPGA, and then outputting the information to the superior system. The PROM is used for saving non-volatile soft programs for signal processing. The interface circuit has the advantages of simple structure and quick start of electrifying.

The invention discloses an electric protection method for a shore power system, which includes the following steps: (1) in the shore power system, a protection circuit which is connected and linked with a marine power system is arranged between the anode end and the cathode end of a shore power control power supply; (2) in the marine power system, a protection circuit which is connected and linked with the shore power system is arranged between the anode end and the cathode end of a marine power control power supply; (3) the shore power system is connected with the marine power system through plugs plugged in sockets to form a closed, linked system protection circuit. The method can realize the protection linkage between the shore power system and the marine power system, meet the requirement of the shore power system for electric protection quickness and guarantee the high safety and high reliability of the power supply of the shore power system, consequently, a land power supply can be adopted to supply power to shoreside ships, i.e. the usage of the shore power system can be increased, and the method achieves the effects of saving energy, reducing emission, reducing noise and increasing economic benefit, and has a broad application prospect.