30results about How to "No singularity" patented technology

The invention discloses a reentry aircraft finite time control method based on a disturbance observer and relates to the reentry aircraft finite time control method. The reentry aircraft finite time control method belongs to the field of aircraft control technology. The reentry aircraft finite time control method comprises the following steps: a first step, establishing a reentry aircraft dynamic model, presenting a finite time gesture tracking task; a second step, performing feedback linear processing on a model which is established in the first step; a third step, providing a finite time control law; a fourth step, providing a finite time disturbance observer for estimating system uncertainty and outer disturbance; and a fifth step, providing a finite time global sliding mode control method based on the disturbance observer, and effectively improving tracking precision of a gesture control system through substituting an estimated disturbance value into the control law. The reentry aircraft finite time control method has functions of improving system error convergence speed, preventing a singular problem and improving uncertainty of the controlled system to the parameter, global robustness of outer disturbance and tracking precision.

The invention relates to a space teleoperation hand controller. The space teleoperation hand controller is used as a master hand controller of a space teleoperation device and other human-computer interactive devices. The space teleoperation hand controller is large in working space and suitable for control over a teleoperation mechanical arm. The space teleoperation hand controller can carry out rotation control and translation control on a space robot respectively and can also carry out rotation control and translation control on the space robot simultaneously, can complete any operation at six degrees of freedom in space and is flexible in control. The space teleoperation hand controller comprises a translation mechanism and a rotation mechanism. The translation mechanism comprises a base, a moving platform and three branched chains. The three branched chains are fixed to the base in an equilateral triangle shape. The rotation mechanism is located on the upper side of the base and is connected with the moving platform of the translation mechanism. The space teleoperation hand controller has the advantages that the space teleoperation hand controller is compact in structure, reasonable in configuration and free of singularity and increasing working space; translation and rotation are completely decoupled, and control difficulty and control cost are reduced; the motion inertia is small and the dynamic performance is good.

The invention belongs to the technical field of computer vision measurement, and relates to a light-strip border extracting method based on a non-fixed feature point. According to the method, a target point is attached to a folded-corner area to establish the non-fixed feature point without fixed position requirements, and border key points of a test object are established through the non-fixed feature point. Firstly, by preprocessing border images and compensating image borders, initial borders of the test object are obtained, an image coordinate of the center of the non-fixed feature point placed at the non-fixed feature point of the test object is extracted, a test-object border determination principle is established, borders which are wrongly identified and communicated with backgrounds are removed, and profile information of the test object is obtained. Then, through test-object profile constraint and a two-dimensional difference algorithm, the accurate extraction of light-strip borders is achieved. The method is high in extraction accuracy, rapid in arithmetic speed and short in calculation time, and can meet the high-accuracy rapid extraction of the light-strip borders on the test-object profile.

The invention relates to a design method for a hob of a cylindrical gear, in particular to a design method for a hob of a timing gear of an automobile engine. The coordinate point of a tooth form of the hob is obtained by machining the given coordinate point of a tooth form of the cylindrical gear. The hob designed by the method can machine all given coordinate points on the tooth form of the cylindrical gear, the machined tooth form is smooth, and singular points do not protrude, so that the quality of a cylindrical gear product is improved.

The invention relates to a current passive control method for a dual-inertia permanent magnet synchronous motor. A dual-inertia permanent magnet synchronous motor system and a current passive controller are included; the dual-inertia permanent magnet synchronous motor system is a high-precision permanent magnet synchronous motor mathematical model built on the basis of a motor body and a load; the current passive controller is used for constructing the dual-inertia permanent magnet synchronous motor system into a port controlled Hamiltonian dissipation (PCHD) system, a current loop controller is designed through an interconnection and damping configuration passive control method, axis d and axis q current control is achieved, and the speed regulation on the permanent magnet synchronous motor is achieved. The method has the following advantages that the control system formed by the motor and the load is equivalent to the two inertial elements of the motor and the load; by means of the passive control theory, the current loop controller of the dual-inertia permanent magnet synchronous motor system is designed. Accordingly, high-precision speed regulation of the dual-inertia permanent magnet synchronous motor system is achieved, and meanwhile high robustness and antijamming capability are achieved.

The invention discloses an ankle pump movement monitoring method and device, and belongs to the field of medical instruments. The ankle pump movement monitoring method comprises: acquiring real-time movement attitude information of a user, wherein the real-time movement attitude information includes angular velocity information, acceleration information and magnetic force information; carrying out data fusion on the angular velocity information, the acceleration information and the magnetic force information, and obtaining corrected movement attitude information; determining a corrected movement attitude information sequence in a movement period; judging whether the corrected movement attitude information sequence matches a standard attitude information sequence in a standard attitude information sequence database, and obtaining a matching result; and sending and / or displaying the matching result to indicate, to the user, whether movement is continued according to a current action. The ankle pump movement monitoring method provided by the embodiment of the invention can be realized through small electronic components, so that a monitoring system is compact and easy to wear, actual needs of the postoperative patient are met, a precise mechanical structure is not needed, and machining costs are reduced.

The invention provides a method for calculating power consumption of a steering engine by interpolation. According to the method, steering engine efficiency with different steering engine output torques at different rotating speeds is firstly obtained by testing at set test points; and then, interpolation function of output torque, output rotating speed and steering engine efficiency is formed, and steering engine efficiency of various hinge moments at various speeds is calculated through interpolation. The steering engine efficiency is more accurate in comparison with a traditional constant efficiency value. In addition, interpolation calculation of the steering engine efficiency is realized by binary cubic sampling interpolation algorithm. The algorithm is simple, has good numerical stability, has no singular point and is easy for engineering realization.

The present invention provides a perturbation factor effect-compensated method for rapidly correcting a glide trajectory. The method comprises: establishing a pole-changed coordinate system; establishing a dynamics model of an aircraft in the pole-changed coordinate system; calculating longitudinal and transverse deviations; establishing a relationship between longitudinal and transverse ranges and the latitude and longitude of a glide trajectory terminal; calculating a partial derivative of the longitudinal and transverse ranges versus the latitude and longitude of a falling point; calculating latitude and longitude variations of the glide trajectory terminal; calculating a partial derivative of the latitude and longitude variations of the glide trajectory terminal versus a resistance acceleration; calculating a partial derivative of the latitude and longitude variations of the glide trajectory terminal versus trajectory data; calculating corrected trajectory data; and calculating a corrected trajectory. Implementing the method provided by the present invention to rapidly correct a glide trajectory enables that longitudinal and transverse range deviations of a corrected trajectory can be about 1 km and trajectory precision can be improved about 20 times, thereby meeting a precision requirement of rapid correction of a glide trajectory. Moreover, according to the method provided by the present invention, a glide trajectory can be rapidly corrected for multiple perturbation factors and under various conditions; there is no singular point in calculation; and an application scope is wide.

The invention relates to a space manipulator teleoperation planning method based on an Omega hand shank. The motion of a manipulator is decomposed into translational motion of a wrist and the rotationof three final joints for control, so that the freedom degree of the manipulator involved in the translational motion of the wrist is smaller than the whole-arm freedom degree, and thus the probability of kinematic singularity is reduced. The motion of the manipulator is divided into the rotation of the three final joints and the translational motion of the wrist, the motion of the other joints generates the translational motion of the wrist except the three final joints, the translational motion and rotation are mutually decoupled, the motion control is simple and reliable, the physical significance is clear, and occupied resources are less. The attitude of the tail end of a space manipulator is mapped into the motion of the three final joints in the joint space, and compared with a traditional attitude mapping method, singular problems do not exist in the attitude motion of the space manipulator.

The invention belongs to a noise reduction method, concretely relates to a star sensor noise reduction method, and provides a star sensor noise reduction technology. The method comprises the following steps: step 1, collection of data; step 2, wavelet decomposition: a wavelet coefficient omega and a wavelet coefficient mean square error lambda are obtained through wavelet decomposition; step 3, threshold processing, the wavelet coefficients obtained from the step 2 are objected to modified threshold processing to obtain the estimated values of the wavelet coefficients, and the modified threshold method is as follows:; and step 4, wavelet inverse transformation. The beneficial effects of the method are that, the method can effectively reduce the noise of the star sensor, and because the course of the threshold processing is changed, no singular points appear during wavelet reconstruction.

The invention relates to a large azimuth misalignment angle aligning method based on additive quaternion. The method comprises the following steps: (1) according to a state equation and an observation equation of coarse alignment, by utilizing GPS observation information and linear Kalman filtering, carrying out coarse alignment; (2) in a sliding window, by utilizing the provided threshold conditions, directly calculating the convergence level of a current course angle through additive quaternion, judging whether the course angle completely satisfies the threshold conditions or not, if the result is positive, storing the system covariance information, carrying out fine alignment; and if the result is negative, carrying out coarse alignment (step (1)); and (3) keeping on the system state variable and position of coarse alignment, gesture error equation and observation equation, using a new speed error equation, taking the stored covariance matrix as the primary condition, and carrying out fine alignment, wherein the fine alignment can enter the convergence state rapidly until the alignment reaches an expected level. The provided method can realize stable model switch and satisfies the total state application conditions, and the calculation is simple.

The invention discloses a nonsingularity space five- freedom-degree parallel robot, comprising a movable platform, a static platform and five branched-chains for connecting the movable platform and the static platform, wherein four branched-chains are unrestricted branched-chains with the same structure, one branched-chain is restricted branched-chain, each unrestricted branched-chain comprises aHooke's hinge, a first moving set with two slide bars and a first hinge ball which are connected in order, the Hooke's hinges and the first hinge balls of four branched-chains are respectively connected with corresponding angular points of the movable platform and the static platform, the restricted branched-chain comprises a rotary pair, a second moving set with two slide bars and a second hingeball which are connected in order, the rotary pair of the restricted branched-chain is connected with the center of the static platform, the second hinge ball of the restricted branched-chain is connected with the centre of the movable platform, the side length of the movable platform is different from that of the static platform. The invention has strong bearing capacity, good stress characteristics, no nonsingularity and good application in the fields of exact densor, micromotion operation table, virtual-shaft machine tool and the like.

The invention relates to the technical field of medical automation equipment, in particular to a throat swab collecting mechanical arm which comprises a swinging system, a driving motor system, a driving line system and a rotating system. The swinging system comprises a lower mounting base (4), an arc-shaped connecting rod (11), an upper connecting piece (111), a lower connecting piece (112) and an upper swinging base (7); the driving motor system comprises a front-back swinging motor (2), a stepping motor speed reducer (21), a left-right swinging motor (12), a gear (14), a telescopic stepping motor (15) and a rotary stepping motor (16); the driving line system comprises a winding grooved wheel (3), a front-back swinging driving line (5), a front-back swinging elastic line (51), a left-right swinging elastic line (6), a left-right swinging driving line (61), a grooved wheel bearing (9), a shaft sleeve (91) and a fixed shaft (92); the rotating system comprises a rotating bearing (8) and a UPU connecting structure (10); the mechanical arm is high in stability, high in precision and more suitable for human oral cavity collection.

The invention relates to a second-order complementary sliding mode speed control method for a permanent magnet synchronous motor. The second-order complementary sliding mode speed control method comprises the steps of establishing a permanent magnet synchronous motor mathematical model firstly; secondary, designing a generalized sliding mode surface and a supplementing sliding mode surface to forma pair of complementary sliding mode surfaces; next, designing a second-order complementary sliding mode control law; and finally, eliminating a buffeting phenomenon existing in sliding mode controlbased on the second-order complementary sliding mode control law. The second-order complementary sliding mode speed control method has the two characteristics as follows: firstly, the second-order complementary sliding mode control method is designed comprehensively based on the advantages of the second-order sliding mode control and complementary sliding mode control modes; and secondly, the second-order complementary sliding mode control law is designed, the first-order derivative of a controlled variable comprises discontinuous switching logic, and the controlled variable is the integral ofthe discontinuous switching logic, so that the controlled variable is continuous; and therefore, high-accuracy speed regulation of the permanent magnet synchronous motor system is realized, system "buffeting" is eliminated, and relatively high robustness is achieved.

The invention discloses a multi-degree-of-freedom momentum exchange type aerospace vehicle attitude adjustment actuator, which is used to solve the disadvantages of redundant structure and large power loss of the existing aerospace vehicle momentum exchange type attitude adjustment actuator; it includes a rotor part and a stator part. The rotor part has a spherical structure and is embedded with a plurality of magnetically conductive poles. The magnetically conductive magnetic poles can be permanent magnets or soft magnetic. The stator part is a spherical structure assembled from upper and lower hemispheres and is embedded with multiple winding magnetic poles. The winding pole can be an air-core winding coil or a winding coil containing a soft magnetic core. The stator magnetic poles are arranged concentrically with the inside of the stator magnetic poles, and the two are connected by ball bearings. Furthermore, different winding energization strategies can be used to drive the rotor part to spin along different axes, and the attitude of the spacecraft can be adjusted by a single device based on the principle of momentum conservation.

The invention discloses an ankle pump movement monitoring method and device, and belongs to the field of medical instruments. The ankle pump movement monitoring method comprises: acquiring real-time movement attitude information of a user, wherein the real-time movement attitude information includes angular velocity information, acceleration information and magnetic force information; carrying out data fusion on the angular velocity information, the acceleration information and the magnetic force information, and obtaining corrected movement attitude information; determining a corrected movement attitude information sequence in a movement period; judging whether the corrected movement attitude information sequence matches a standard attitude information sequence in a standard attitude information sequence database, and obtaining a matching result; and sending and / or displaying the matching result to indicate, to the user, whether movement is continued according to a current action. The ankle pump movement monitoring method provided by the embodiment of the invention can be realized through small electronic components, so that a monitoring system is compact and easy to wear, actual needs of the postoperative patient are met, a precise mechanical structure is not needed, and machining costs are reduced.

The invention relates to a large azimuth misalignment angle aligning method based on additive quaternion. The method comprises the following steps: (1) according to a state equation and an observation equation of coarse alignment, by utilizing GPS observation information and linear Kalman filtering, carrying out coarse alignment; (2) in a sliding window, by utilizing the provided threshold conditions, directly calculating the convergence level of a current course angle through additive quaternion, judging whether the course angle completely satisfies the threshold conditions or not, if the result is positive, storing the system covariance information, carrying out fine alignment; and if the result is negative, carrying out coarse alignment (step (1)); and (3) keeping on the system state variable and position of coarse alignment, gesture error equation and observation equation, using a new speed error equation, taking the stored covariance matrix as the primary condition, and carrying out fine alignment, wherein the fine alignment can enter the convergence state rapidly until the alignment reaches an expected level. The provided method can realize stable model switch and satisfies the total state application conditions, and the calculation is simple.

The invention relates to a method for controlling a delta-connected permanent magnet synchronous motor without a position sensor, including performing pulse width modulation output of a delta-connected permanent magnet synchronous motor; performing coordinates of a delta-connected permanent magnet synchronous motor without a position sensor Transformation; second-order improved coupled sliding mode position estimation. The invention also relates to a system for verifying the control function of the delta-connected permanent magnet synchronous motor without a position sensor. The method and verification system for controlling the delta-connected permanent magnet synchronous motor without a position sensor according to the present invention can realize the smooth switching between the start-up strategy and the closed-loop strategy of sliding mode estimation speed with load, and can realize the step size of the speed under load. The rapid acceleration and deceleration steps of 1000r / min (the rated speed of the delta connection sensorless permanent magnet synchronous motor used in the experiment is 1500r / min, which is a low-speed air pump motor for vehicles), has good dynamic response ability and steady state Anti-load interference ability.

The invention belongs to a noise reduction method, concretely relates to a star sensor noise reduction method, and provides a star sensor noise reduction technology. The method comprises the following steps: step 1, collection of data; step 2, wavelet decomposition: a wavelet coefficient omega and a wavelet coefficient mean square error lambda are obtained through wavelet decomposition; step 3, threshold processing, the wavelet coefficients obtained from the step 2 are objected to modified threshold processing to obtain the estimated values of the wavelet coefficients, and the modified threshold method is as follows:; and step 4, wavelet inverse transformation. The beneficial effects of the method are that, the method can effectively reduce the noise of the star sensor, and because the course of the threshold processing is changed, no singular points appear during wavelet reconstruction.

The invention relates to a design method for a hob of a cylindrical gear, in particular to a design method for a hob of a timing gear of an automobile engine. The coordinate point of a tooth form of the hob is obtained by machining the given coordinate point of a tooth form of the cylindrical gear. The hob designed by the method can machine all given coordinate points on the tooth form of the cylindrical gear, the machined tooth form is smooth, and singular points do not protrude, so that the quality of a cylindrical gear product is improved.

The present invention provides a perturbation factor effect-compensated method for rapidly correcting a glide trajectory. The method comprises: establishing a pole-changed coordinate system; establishing a dynamics model of an aircraft in the pole-changed coordinate system; calculating longitudinal and transverse deviations; establishing a relationship between longitudinal and transverse ranges and the latitude and longitude of a glide trajectory terminal; calculating a partial derivative of the longitudinal and transverse ranges versus the latitude and longitude of a falling point; calculating latitude and longitude variations of the glide trajectory terminal; calculating a partial derivative of the latitude and longitude variations of the glide trajectory terminal versus a resistance acceleration; calculating a partial derivative of the latitude and longitude variations of the glide trajectory terminal versus trajectory data; calculating corrected trajectory data; and calculating a corrected trajectory. Implementing the method provided by the present invention to rapidly correct a glide trajectory enables that longitudinal and transverse range deviations of a corrected trajectory can be about 1 km and trajectory precision can be improved about 20 times, thereby meeting a precision requirement of rapid correction of a glide trajectory. Moreover, according to the method provided by the present invention, a glide trajectory can be rapidly corrected for multiple perturbation factors and under various conditions; there is no singular point in calculation; and an application scope is wide.

The invention provides a nonsingular direct-drive power rocker mechanism, including: operating rod, bottom rod base set with guide hole and central hole; first and second L frame pieces, set with hole bases, respectively; two motors with position detecting encoder, two rotation shafts stationarily linked the first and second, respectively; first link component, positioned by shaft linkage; second link component, one end inserted in position hole at the side end of the operating rod to be stationarily linked, and the other one inserted in the second L frame piece's bearing hole to be positioned. It can be applied to large power source direct drive, high-speed load response system.

The invention relates to a sensorless control method for a triangle connection permanent magnet synchronous motor. The sensorless control method comprises the following steps: performing pulse width modulation output of the triangle connection permanent magnet synchronous motor; performing coordinate transformation of sensorless control of the triangular connection permanent magnet synchronous motor; and performing second-order improved coupled sliding mode position estimation. The invention also relates to a verification system of the sensorless control function for the triangular connectionpermanent magnet synchronous motor. With application of the sensorless control method for the triangle connection permanent magnet synchronous motor and the verification system thereof, smooth on-loadswitching between the start-up strategy and the sliding mode estimation speed closed-loop strategy can be realized, and the sharp acceleration and deceleration step with the on-load speed step of 1000r / min (the rated speed of the triangular connection sensorless permanent magnet synchronous motor used in the experiment is 1500r / min, which is a low-speed motor of the air pump used in the vehicle)can be realized, and thus the dynamic response capability and the steady-state anti-load-interference capability are good.

The invention discloses an ankle pump motion monitoring system and terminal equipment, and belongs to the field of medical apparatus and instruments. The system comprises a shell, as well as a power supply, a controller, a gyroscope, an accelerometer, a magnetometer, a communication module and a bridle which are fixed on the shell; the gyroscope is used for transmitting angular speed information of user motion to the controller; the accelerometer is used for transmitting accelerated speed information of user motion to the controller; the magnetometer is used for transmitting magnetic force information of user motion to the controller; the controller is used for determining posture information of a user according to the angular speed information, the accelerated speed information and the magnetic force information, and matching the posture information with the standard posture information to obtain a matched result; the communication module is used for acquiring the matched result and transmitting matched result information containing the matched result. The ankle pump motion monitoring system can be implemented by small electronic components, is small, exquisite and easy to wear, does not need a precise mechanical structure and reduces the machining cost.

The invention relates to a current passive control method for a dual-inertia permanent magnet synchronous motor. A dual-inertia permanent magnet synchronous motor system and a current passive controller are included; the dual-inertia permanent magnet synchronous motor system is a high-precision permanent magnet synchronous motor mathematical model built on the basis of a motor body and a load; the current passive controller is used for constructing the dual-inertia permanent magnet synchronous motor system into a port controlled Hamiltonian dissipation (PCHD) system, a current loop controller is designed through an interconnection and damping configuration passive control method, axis d and axis q current control is achieved, and the speed regulation on the permanent magnet synchronous motor is achieved. The method has the following advantages that the control system formed by the motor and the load is equivalent to the two inertial elements of the motor and the load; by means of the passive control theory, the current loop controller of the dual-inertia permanent magnet synchronous motor system is designed. Accordingly, high-precision speed regulation of the dual-inertia permanent magnet synchronous motor system is achieved, and meanwhile high robustness and antijamming capability are achieved.