62results about How to "Prevent overshoot" patented technology

The invention relates to the technical field of microfluidics, in particular to a carbon quantum dot hydrothermal synthesis system and method based on microfluidics thermal field equilibrium, which comprises a thermal field sensing module, an equilibrium analysis module, a thermal field coupling module, an equilibrium regulation and control module and a closed loop execution module, the thermal field sensing module is used for collecting array temperature on the surface of the micro-fluidic chip and fluid pressure data in a flow channel, and reconstructing three-dimensional temperature distribution in the micro-channel through a multi-physics field coupling algorithm to obtain a real-time thermal field state matrix. According to the invention, by constructing a multi-physical field coupling algorithm of a thermocouple array-flow resistance model-conjugate heat transfer equation, the three-dimensional temperature distribution of the fluid in the micro-channel can be inverted and reconstructed by using surface temperature and pressure data, so that a control system can pass through a chip matrix, and the temperature of the fluid in the micro-channel can be controlled. The radial temperature gradient and the axial thermal distortion in the fluid are directly sensed, the hysteresis and the error of sensor measurement are eliminated, and a real physical basis is provided for accurate temperature control.

The invention relates to the field of control, in particular to a flight attitude control method and system for an unmanned aerial vehicle, and the method comprises the steps: obtaining an expected attitude angle instruction and actual attitude angle feedback of the unmanned aerial vehicle, calculating an attitude angle error, employing a tracking differentiator to calculate a transition process for the expected attitude angle instruction, and enabling a tracking rate factor to achieve the control of the flight attitude of the unmanned aerial vehicle when the instruction is subjected to step change. Based on initial attitude angle error setting, instruction smooth transition is ensured, based on a transition signal output by a tracking differentiator and an estimated value of an expansion state observer, a basic control quantity is generated through nonlinear state error feedback, and control gain is adjusted on line according to a lumped disturbance amplitude. And predicting the lumped disturbance historical sequence by using a grey prediction model, calculating a predicted value at a future moment, and carrying out algebraic summation on the basic control quantity, a compensation component of the lumped disturbance predicted value and a gyroscopic moment decoupling component to generate an attitude control moment signal so as to realize stable flight of the unmanned aerial vehicle.

The invention discloses a voltage compensation method, a voltage compensation circuit and electronic equipment. The voltage compensation method comprises the following steps: acquiring bus voltage in a power switch circuit and energy storage current in an energy storage compensation circuit; obtaining a bus amplitude limiting voltage target value by using the bus voltage target value and the bias adjustment value, and subtracting the bus voltage from the bus amplitude limiting voltage target value to obtain a bus amplitude limiting voltage error value; performing proportional integral operation and amplitude limiting processing on the bus amplitude limiting voltage error value to obtain an energy storage current target value, and subtracting the energy storage current from the energy storage current target value to obtain an energy storage current error value; performing proportional integral operation on the energy storage current error value to obtain a current regulation output value; and a compensation control signal is obtained by using the current regulation output value and is used for triggering the energy storage compensation circuit to change the charging and discharging states, so that the bus voltage is compensated and regulated to a set threshold range. Through the above mode, the voltage compensation method can effectively stabilize the bus voltage within the set threshold range, and the control logic is simple.

The utility model belongs to ship equipment technical field discloses a kind of wave compression device and boat. Wave compression device includes hinged six-bar mechanism, spoiler piece and rotary drive part, rotary drive part drives spoiler piece rotation by hinged six-bar mechanism, to make spoiler piece have the working position of extension into water. The utility model is driven by first connecting rod continuous rotation, by the hinged transmission of fourth connecting rod and spoiler piece, the swing angle of spoiler piece is naturally limited by the rotation range of first connecting rod, without setting rigid stroke end, allowing rotary drive part continuous rotation, without reversing, avoid the "overshoot phenomenon" of traditional reciprocating motion, eliminate the vibration, wear and tear and control deviation problem caused by overshoot fundamentally.

The application discloses a top-opening drum washing machine inner drum positioning method and a washing machine. The method comprises the following steps: after setting a washing program, the inner drum is controlled to rotate at a preset low speed; the rotation angle of the inner drum is collected and the deviation of the rotation angle from a target angle is calculated; the motor speed is controlled by PID closed-loop regulation with feedforward compensation based on the deviation, wherein the feedforward compensation amount is calculated according to the load weight, the speed fluctuation and / or the deviation change rate; when the deviation is less than a preset threshold, segmented braking is performed until the inner drum is locked at the target angle position; if the locking fails, the inner drum is reversely rotated to a preset angle, and the segmented braking is retried with corrected braking parameters. The application combines PID regulation with feedforward compensation and segmented braking, introduces a failure retry and parameter self-adaptive correction mechanism, and realizes high-precision, impact-free and high-reliability positioning of the inner drum.

This utility model relates to the field of garment processing technology and discloses a dart template, including a working platform. An operating mechanism is installed on the top of the working platform to facilitate the dart-pinching process. An installation mechanism is installed on the front top of the working platform to facilitate the installation and replacement of the template. The operating mechanism includes a fixed square plate installed on the top of the working platform. A sliding square groove is formed in the middle of the fixed square plate, and a fixed plate is fixedly connected to the bottom inner side of the sliding square groove. A movable plate is slidably connected to the top of the fixed plate, and a limit component is installed on the top of the movable plate. In this utility model, the operator pushes the movable plate to slide longitudinally along the fixed plate, achieving precise positioning through the cooperation of the limit blocks. When the movable plate reaches the preset position, the limit blocks engage, providing a stable foundation for subsequent processes and ensuring product quality and work efficiency.

This invention discloses a phase-shifted full-bridge plasma power supply based on all SiC devices, belonging to the field of special power supply technology. It includes: a rectifier unit with a power factor correction circuit; an inverter unit containing a phase-shifted full-bridge topology composed of SiC power devices and an energy storage inductor, achieving zero-voltage switching through phase-shift control; a transformer unit; an output unit including an output filter capacitor; and a control unit that uses an incremental PID algorithm to generate phase-shift control signals. This invention analyzes the differences in zero-voltage switching between the leading and lagging bridge arms, utilizes the low output capacitance characteristics and dynamic dead-time adjustment of SiC devices, broadens the soft-switching range under light loads, effectively reduces output current ripple, and improves dynamic response speed and overall efficiency.

The application discloses a model prediction control-based temperature control system and method of a plasma incinerator, and the system comprises a model prediction control module, a chromatographic temperature detector and a plasma torch; the model prediction control module is used for constructing a prediction model and obtaining a control output of a plasma incinerator hearth temperature based on the prediction model; the chromatographic temperature detector is used for measuring a temperature value of the plasma incinerator hearth and feeding back the temperature value to the model prediction control module; the model prediction control module is further used for correcting the control output based on the temperature value to obtain a next-time prediction output of the plasma incinerator hearth temperature; and the plasma torch controls the opening degree based on the control output to complete temperature control. The application can guarantee that the hearth temperature of the plasma incinerator is in a stable state during combustion, effectively suppresses the generation of harmful flue gas, realizes energy saving and emission reduction, and has high practicability.

The embodiment of the application discloses a jacket-based tank temperature control method, comprising the following steps: obtaining a tank temperature measurement value T0_PV according to a first sampling interval; calculating a difference value AT0 of the tank temperature measurement value T0_PV and a tank temperature target value T0_SP; comparing the difference value AT0 with N tank temperature threshold ranges, determining a jacket temperature calculation rule corresponding to the tank temperature threshold range to which the difference value AT0 belongs according to a comparison result, and N is greater than or equal to 3; calculating a jacket temperature setting value T_SP according to the jacket temperature calculation rule; controlling the temperature of the jacket based on the jacket temperature setting value T_SP; and repeating the above steps until the tank temperature measurement value T0_PV falls into a target tank temperature threshold range. Different threshold ranges are provided with corresponding jacket temperature calculation rules, so that the overshoot problem caused by the time lag of the jacket temperature control system can be avoided, the temperature adjustment time is saved, and the temperature control accuracy is improved.

The invention discloses a digital control method for a split-phase voltage-regulating voltage stabilizer based on silicon controlled gear switching, and relates to the technical field of voltage-regulating voltage stabilizer control. The method comprises the following steps: executing closed-loop control in each power supply cycle in a gear switching transition period: pre-judging a circulation increment according to initial trigger angles of a new gear and an old gear, and comparing the circulation increment with a safety threshold; if the threshold is exceeded, calculating a critical overlapping starting angle, segmenting an overlapping conduction interval by taking the critical overlapping starting angle as an anchor point, calculating a residual ratio, and selecting a segmentation correction strategy to correct the initial trigger angle; calculating an effective energy transmission proportion reflecting an actual transition progress based on the corrected trigger angle, and adaptively generating a target weight of a next power cycle based on the effective energy transmission proportion; monotonicity and saturation constraints are applied to the target weight to obtain an execution weight, the execution weight is mapped into an initial trigger angle of a next power supply cycle, and a cycle-by-cycle closed loop is formed; and when the execution weight reaches a final value, executing steady state locking to complete switching. The circulating current is safe and controllable, and the transition process is smooth and free of impact.

This invention proposes a winch control method for controlling the operation of a MOSFET full-bridge topology circuit. The method includes an adaptive algorithm to automatically adjust the PWM control signal: sampling the input current of the winch's electric motor every cycle or every N cycles and calculating the current change rate. To avoid noise interference, the current value is processed to obtain the calculated current. The PWM control signal is then automatically adjusted based on this calculation, specifically as follows: [Calculation details omitted]. This control method facilitates better control of the electric winch operation. The invention also proposes a system, a smart terminal, and a medium for implementing the aforementioned control method.

The utility model discloses an alumina feed control equipment is set up in the feed port of aluminium electrolytic cell, and its characterized in that includes: the tubular material channel, and the first side plate is set up to give place to the cavity, and the throttle baffle is slidably assembled in the first side plate, and through the give place to the cavity and can reciprocatingly enter the material channel inner chamber, the throttle baffle middle part is equipped with the through -hole of axial, and its through -flow cross -section area is less than the material channel nominal through -flow cross -section area, the motor is fixed in the material channel outer wall, and the output end and the throttle baffle constitute the motion transmission chain, wherein when the motor drive throttle baffle enters the working position, its board body hides the material channel flow cross section, and the material passes through the through -hole and is limited to flow. The utility model discloses a tubular material channel, throttle baffle with through -hole, motor and its motion transmission chain are set up, utilize motor drive throttle baffle and enter the working position quickly, make its board body hide the material channel flow cross section, and the material can only pass through the through -hole and is limited to flow, realized the instant, accurate regulation of alumina feed flow.

The invention provides a high-voltage ride-through control method and device of a grid-connected converter, a controller and the grid-connected converter. The method comprises the following steps: monitoring a power grid voltage of a common coupling point of a power grid and a grid-connected converter in real time, and judging whether the grid-connected converter enters a high voltage ride through state or not according to the power grid voltage; if the grid-connected converter enters the high-voltage ride-through state, reducing a reactive current regulation coefficient within a first preset duration of entering the high-voltage ride-through state; determining a reactive current given value based on the power grid voltage and the reactive current adjustment coefficient; the reactive current adjusting coefficient is in positive correlation with the absolute value of the reactive current given value; and controlling the grid-connected converter by adopting the reactive current given value. According to the method, sudden change of the reactive current given value can be restrained from the source, the reactive current overshoot phenomenon is avoided, and therefore the jitter problem that when the power grid voltage enters the high-voltage ride-through state, uprush is conducted firstly, and then falling back is conducted is effectively relieved.

The utility model relates to the technical field of swimming pool water outlet, disclose a straight -in type water mouth with side water outlet. It aims at solving the technical problem of low work efficiency of big workload that the water outlet direction setting is on the top cover in the prior art, and the design of vertical direction leads to the dust and sundries of pool bottom gathering at the water outlet position, and only can use the dirt -suction machine to clean, the workload is big, and the work efficiency is low. The utility model includes base, detachable installation top cover above base, set up a plurality of side water outlets on the side of base, base is connected with backwater pipe through side water outlet to form water flow channel, annular supporting block is set up in the inner wall of backwater pipe to support adjustable pressing plate, adjustable pressing plate is installed in the middle of adjustable screw rod, adjustable screw rod is installed in hollow cylindrical structure, hollow cylindrical structure is fixed in annular supporting block through connecting rod, the thread of adjustable screw rod is set up in the inner wall of hollow cylindrical structure. The utility model has the advantages of saving construction time, high work efficiency, low construction difficulty and the like.

This invention relates to the field of motor control, and more particularly to a positioning and calibration method for a gantry mechanism of a bonding machine based on solder joint alignment. The method includes: monitoring the speed difference and real-time displacement deviation of two independently controlled servo motors on both sides of the gantry mechanism; calculating the predicted displacement deviation on both sides of the gantry mechanism based on the speed difference and real-time displacement deviation; calculating the deflection angle of the gantry mechanism's crossbeam relative to the guide rail length direction based on the predicted displacement deviation; determining the target speed of the two servo motors based on the deflection angle; and determining the change process of the current speed towards the target speed. This invention utilizes the length of the crossbeam to ensure that the generated corrective torque is physically matched with the required angular deviation; it can automatically plan a smoother speed change rate under high-risk conditions with relatively large deflection angles; and it employs a relatively fast speed change process under normal fine-tuning conditions with relatively small deflection angles, thereby ensuring the system's rapid response capability to minor disturbances.

The utility model discloses a kind of broken gap adjustable intermediate tooth roller crushers, belong to ore crushing equipment technical field.The crusher includes rack, fixed tooth roller, adjusting tooth roller and asymmetric composite adjustment and avoidance system.Fixed tooth roller is fixedly installed on rack, adjusting tooth roller is slidably connected with rack by slide rail, one side is provided by spring group and adjusting hydraulic cylinder and is composed of composite adjustment mechanism, the other side is provided by limit stop jack and forms rigid limit.Oil cavity of adjusting hydraulic cylinder is equipped with hydraulic valve and pressure sensor, for realizing quick pressure relief and avoidance when pressure mutation;While being equipped with displacement sensor and realizing gap closed-loop control.Driving assembly is connected with adjusting tooth roller through universal joint, guarantee transmission coaxiality in the adjustment process.The structure realizes high-precision automatic adjustment and impact quick avoidance of broken gap;Through asymmetric arrangement composite adjustment mechanism, realize flexible and rigid combination, prevent tooth roller overshoot.

This invention discloses a configuration control method for vibratory conveying of bulk materials, belonging to the field of industrial automation configuration control technology. The method includes: constructing a three-dimensional configuration monitoring interface based on the physical characteristics of the bulk material, comprising a virtual vibratory feeder, a virtual conveyor belt, and virtual material level detection points, and embedding an adaptive adjustment module for the excitation frequency; collecting real-time changes in the stacking height through the virtual material level detection points and mapping them to a feeding rate correction coefficient; calling a fuzzy rule inference engine to calculate the target excitation frequency and target amplitude; encapsulating the target parameters into configuration control instructions, and sending them to the programmable logic controller of the physical vibratory feeder for execution through the configuration software data communication interface. This method utilizes virtual material level sensing and fuzzy inference to achieve dynamic tuning of vibration parameters, and improves the real-time performance and reliability of feeding control through a structured instruction encapsulation and verification mechanism.

This invention relates to the field of hot water supply equipment technology, and discloses a control method and a gas water heater. The method includes: calculating the real-time theoretical current based on real-time inlet water temperature, target temperature, and real-time water flow; calculating the real-time compensation current of the gas water heater based on changes in the real-time predicted current when the gas water heater is in the variable temperature control stage; using the most recently calculated real-time compensation current as the target compensation current in response to the gas water heater entering the constant temperature control stage; calculating the target control current of the gas water heater based on the target compensation current, the real-time predicted current, and the real-time theoretical current, and adjusting the proportional valve current of the gas water heater based on the target control current. This uses the change in the real-time predicted current during the variable temperature control stage as the adjustment benchmark during the constant temperature control stage, achieving incremental output of the real-time predicted current, ensuring control stability, and employing parallel control of theoretical calculation and feedback control algorithms to improve response speed.

The treadmill comprises a base and a runway arranged on the base, the treadmill further comprises a stand column arranged on the base, the stand column is located in front of the runway, a containing bin is arranged on the side, away from the runway, of the stand column, a safety belt and a winding structure rotationally arranged on the stand column are arranged in the containing bin, and one end of the safety belt is connected with the winding structure; a safety belt outlet is formed in the side, facing the runway, of the stand column, the safety belt outlet is communicated with the containing bin, and at least part of the safety belt extends out of the safety belt outlet. The utility model provides a treadmill to solve the technical problems that a safety belt of an existing treadmill causes the movement range of a user to be too small, the user feels uncomfortable easily, and the user is prevented from using a whole treadmill runway.

The invention provides a dual-motor anti-backlash heavy-load numerical control rotary table, and belongs to the field of numerical control machine tools, the dual-motor anti-backlash heavy-load numerical control rotary table comprises a main base body, a base protection top block is fixedly connected to the top surface of the main base body through a horizontal bolt, and a working platform is horizontally arranged on the top surface of the base protection top block. The rotary table can accurately rotate and position according to a preset angle, and a high-precision machining reference is provided for a workpiece, so that the size precision and the shape precision of a machined part are remarkably improved, and the requirement for high-precision machining is met. For example, in the machining process of aerospace parts, the rotary table can ensure that the machining precision reaches the micron level for machining of some holes, contours and other characteristics with extremely high precision requirements, the quality and performance of the parts are effectively improved, overall workpiece machining can be more accurate and efficient, and the machining efficiency is improved. And multiple directions can be expanded to meet the machining requirement, the bearing capacity is greatly improved, and the range of the types of machined workpieces is further widened.

The utility model provides an electric shutter with a sunshade adjusting function, which belongs to the technical field of shutters, and comprises a shutter structure, the back of the shutter structure is fixedly connected with a ventilation structure, the shutter structure comprises a window frame, the surface of the window frame is rotatably connected with a plurality of connecting shafts, and the connecting shafts are connected with the ventilation structure. The surface of each connecting shaft is fixedly connected with an adjusting blade, the surface of each connecting shaft is fixedly connected with a connecting rod, the multiple connecting rods are in transmission connection through a transmission plate, the surface of the transmission plate is fixedly connected with a connecting protrusion, and the ventilation structure comprises a mounting shell fixedly connected to the back face of the window frame; according to the scheme, through the back-to-back design of the ventilation structure and the shutter structure, airflow exchange is maintained when the adjusting blades adjust light rays, the comprehensive energy-saving rate is improved by combining a double-layer heat insulation structure of transparent glass, transmission chain accumulative errors are eliminated through a plane linkage mechanism of the connecting rods and the transmission plates, overshoot is eradicated through mechanical limiting of the arc-shaped grooves, and the transmission efficiency is maintained.

This invention relates to the field of power distribution switchgear technology, and particularly to a load switch operating mechanism for a ring main unit, comprising a switch operating shaft, a grounding operating shaft, an energy storage component, and a limit component. The switch operating shaft is coaxially arranged with the switch drive shaft, and a first drive dial is located at its end; the grounding operating shaft is parallel to it above, and a second drive dial is located at its end. The energy storage component is pivotally connected to the switch drive shaft and the grounding operating shaft at both ends, respectively, enabling it to correspondingly perform closing and grounding energy storage and achieve rapid energy release during opening. The limit component includes a first driven dial, a second driven dial, a first limit arm, and a second limit arm. The two limit arms are respectively located above and below the first driven dial, ensuring reliable overshoot and rebound prevention when the switch is in the closed position performing an opening action; and reliable overshoot prevention when opening from the grounding position. When closing, the switch operating shaft rotates forward to unlock and store energy; when opening, it rotates backward to release energy and prevent overshoot and rebound; when grounding, the grounding operating shaft rotates backward to unlock and store energy.

The invention relates to the technical field of communication, in particular to a radio frequency power supply circuit and a terminal. The circuit comprises a first switch unit, the first end of the first switch unit is connected with a power supply end, and the second end of the first switch unit is connected with an output interface; the boosting unit comprises a second switch unit, a third switch unit and a boosting controller, the first end of the second switch unit is connected with a first interface, the first interface is used for being connected with the power supply end, and the second end of the second switch unit is connected with a grounding interface; the first end of the third switch unit is connected with the first interface, and the second end of the third switch unit is connected with the output interface; and the boost controller is used for controlling the conduction duration of the second switch unit and the third switch unit so as to increase the voltage provided by the power supply end to the output interface to a first voltage.

The utility model discloses a kind of soft-start control circuit based on output voltage feedback, soft-start control circuit includes buffer circuit and control circuit, the buffer circuit includes operational amplifier;The buffer circuit is used to prevent the overshoot phenomenon of output voltage, makes output voltage curve change smooth;The control circuit includes capacitor, control tube, voltage divider component and discharge tube, the capacitor is connected with the drain of the discharge tube and the operational amplifier, the voltage divider component is connected with the capacitor and the control tube respectively;The control circuit is used to control soft-start time.The utility model can improve the response speed of soft-start control circuit, avoid appearing output voltage overshoot phenomenon;And it can accurately control soft-start time, effectively controllable limit in power-on process inrush current.

This invention discloses an electronic expansion valve structure and vehicle, comprising a valve seat and a housing. A valve core seat is disposed within the valve seat, and a valve core capable of axial displacement is disposed within the valve core seat. A rotor and a transmission rod are coaxially arranged within the housing. The transmission rod is axially limited and circumferentially rotatable, and is fixedly connected to the rotor. The central axis of the transmission rod is not collinear with the central axis of the valve core. The transmission rod and the valve core are connected by a worm gear and rack mechanism. This invention provides a novel split-type transmission valve core structure to achieve transmission, adjustment of valve opening, and change of step angle.

This invention relates to a model buffer and capture device for land-based vertical catapult tests. The device, used to capture a model, includes a damping system and a capture system. The damping system absorbs energy and buffers during the capture process. The capture system, mounted on the damping system, includes a capture support with a buffer net at its top and a gripper system below the net for clamping and securing the model. A photoelectric proximity switch is also mounted on the capture support; when the switch detects an object passing through, it sends an electrical signal to control the gripper system. A launch tube, vertically positioned below the capture system, launches the model. This invention enables capture in vertical land-based catapult tests, allowing for safe, damage-free, and efficient model recovery after launch, thus improving test efficiency. The buffer system significantly reduces the load on the grippers during model capture, enhancing the overall system reliability.

This application relates to the field of gypsum production control technology, and particularly to a method, device, host computer, and storage medium for controlling gypsum thickness on a belt conveyor. The method includes: acquiring the current belt conveyor speed and gypsum thickness; inputting the current belt conveyor speed and gypsum thickness, along with historical belt conveyor speed sequences and historical gypsum thickness sequences, into a thickness prediction model, which outputs a predicted gypsum thickness for the next moment; using each obtained predicted gypsum thickness for the next moment as a time-series iterative input into the thickness prediction model to generate a predicted gypsum thickness sequence for multiple future moments; inputting the predicted gypsum thickness sequence for multiple future moments into a target optimization function, and using the target optimization function to calculate a belt conveyor speed control sequence; and adjusting the current belt conveyor speed based on the belt conveyor speed control sequence to control the gypsum thickness to reach a reference gypsum thickness. This solves the problems of slow response speed and the tendency for overshoot and oscillation in related technologies.

The invention relates to a dynamic pulse width modulation method, which comprises the following steps of: initializing pulse parameters, including setting an initial pulse width, a switching pulse width, a standard pulse width, a switching pulse number and a total pulse number; counting the pulses; when the pulse count is smaller than the switching pulse number, gradual change control of a first stage is executed, and the first stage comprises the steps that pulse width modulation is conducted through a binary segmentation algorithm, a target pulse count value is determined according to the difference value between the initial pulse width and the switching pulse width, and the pulse width is adjusted based on a current stepping value; when the pulse count is larger than or equal to the switching pulse number and smaller than the total pulse number, gradual change control of a second stage is executed, and the second stage comprises the steps that pulse width modulation is conducted through a linear gradual change algorithm, a current stepping index is determined through accumulation compensation calculation, and the pulse width is adjusted based on the current stepping index; and when the pulse count is greater than or equal to the total pulse number, executing stable output control, and outputting a standard pulse width.

The invention discloses a robot surgical navigation pose error compensation method, and relates to the technical field of automatic control of medical instruments. The method comprises the following steps: constructing a conversion relation between an optical positioning coordinate system and an image coordinate system; positioning information of a marker on a tool at the tail end of the mechanical arm is obtained, and the real-time pose of the marker under the optical positioning coordinate system is calculated; determining a target pose based on a phantom target in the image coordinate system and converting the target pose to an optical positioning coordinate system; calculating a pose error (including a position error and a pose error) between the real-time pose and the target pose; dynamically adjusting the parameters by adopting a self-adaptive PID control algorithm, and generating a posture correction instruction; and repeating the steps until the error meets a preset precision threshold (the position error is less than or equal to 0.1 mm, and the attitude error is less than or equal to 0.1 degree). Through two-dimensional error compensation and dynamic PID adjustment, the problem of multi-link error accumulation is solved, the navigation positioning precision and robustness are improved, and the method is suitable for surgical robots and high-precision positioning scenes.

The invention relates to the field of electric commercial vehicle motor power take-off control, in particular to an electric commercial vehicle motor power take-off power redundancy control system and method, which comprises a high-voltage accessory, a power battery, a high-voltage distribution box, a whole vehicle controller, a first motor controller and a second motor controller, the whole vehicle controller is connected with the first motor controller and the second motor controller through a CAN to conduct control interaction, the high-voltage accessory and the power battery are connected with the high-voltage distribution box, and the high-voltage distribution box is connected with the first motor controller and the second motor controller. The first motor controller is connected with the driving motor, the second motor controller is connected with the power take-off motor, and the problems that when a motor is adopted for power take-off of an electric commercial vehicle, a power take-off device is driven by an independent motor, it means that the power take-off function is greatly affected by whole vehicle electric power distribution, and the reliability of the motor can be reduced are solved.