30results about How to "No singularity" patented technology

The invention discloses a satellite attitude numerical simulation method based on the Lie group spectral algorithm. The method includes the following steps that 1, a satellite attitude kinematics and dynamics Lie group model is established based on the SO(3) group; 2, canonical coordinates are selected to convert a satellite attitude Lie group equation into an equivalent Lie algebra equation and an equivalent Lie group reconstruction equation; 3, the Lie algebra equation is solved with the spectral method to obtain the angular speed of satellite attitude rotation, and a satellite attitude matrix is solved with the Lie group reconstruction equation. According to the method, the satellite attitude kinematics and dynamics Lie group model is established based on the SO(3) group, satellite attitude expression is simple without singularity, and the unwinding phenomenon is avoided; as the Lie group spectral method is adopted to simulate the attitude dynamics model, the geometric structure and physical property of a satellite system can be kept for a long time, precision is high, and stability is high.

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 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 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 teleoperation planning method for a space manipulator based on an Omega handle, which decomposes the movement of the manipulator into two parts, the translation of the wrist and the rotation of the last three joints, and controls the movement of the wrist. The arm degrees of freedom are smaller than the full arm degrees of freedom, thereby reducing the probability of kinematic singularities. The movement of the robotic arm is divided into the rotation of the last three joints and the translation of the wrist. The movements of the other joints except the last three joints generate translation of the wrist. The translation and rotation are decoupled from each other, and the motion control is simple and reliable. , which has a clear physical meaning and takes up less resources. The attitude of the end of the space manipulator is mapped to the motion of the last three joints in the joint space. Compared with the traditional attitude mapping method, there is no singularity problem in the attitude movement of the space manipulator.

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.

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 discloses an iPI model-free self-adaptive global non-singular fast terminal sliding mode control method, including, according to the energy conservation law, establishing a hypersonic vehicle aerodynamic thermal ground simulation system mathematical model and a super-local model of model-free control; The linear ESO observer performs unknown disturbance prediction on the aerothermal ground simulation system of the hypersonic vehicle; based on the global non-singular fast terminal sliding mode surface, the approach buffeting, slow convergence speed and singularity problems are weakened; according to the definition of sliding mode accessibility conditions The equivalent control rate and the adaptive reaching law are used to obtain the sliding mode control rate to complete the target tracking. The present invention eliminates the approaching mode through the design of the global non-singular fast terminal sliding mode surface, thereby slowing down the chattering phenomenon, speeding up the control speed on the sliding mode, and limiting the condition of the sliding mode surface so that the controller does not There are singular problems, and the self-adaptive method is combined to effectively solve the problem of convergence stagnation.

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.