103results about How to "Promote engineering application" patented technology

The invention discloses a power grid strength evaluation method and device, equipment, a medium and a product, and relates to the field of power system dynamic stability, and the method comprises the steps: building admittance and impedance models of all power supplies and network elements of a system in the impedance modeling process of the power system; the admittance and impedance model comprises a power supply admittance matrix, a power supply impedance matrix, a network node admittance matrix and a network node impedance matrix of all power supplies; based on the admittance and impedance model, establishing a whole-system closed-loop admittance matrix according to a closed-loop feedback relation between equivalent voltage disturbance and equivalent current disturbance of all buses; based on the closed-loop feedback relationship, defining a source network voltage interaction stability boundary representing the power grid strength according to the sensitivity of the system characteristic value to a source network voltage transfer function; and positioning a power grid strength weak area according to the source network voltage interaction stability boundary, and improving the power grid strength. According to the method, the oscillation risk caused by interaction of the control loops in the converter can be described.

The invention discloses a 7-series aluminum alloy composite light source laser welding method, which is characterized in that stitch welding is carried out on double-layer 7-series aluminum alloy test pieces by using a composite light beam formed by a near-infrared laser beam and a blue laser beam, the thickness of the upper-layer 7-series aluminum alloy test piece is 1-2mm, and the thickness of the lower-layer 7-series aluminum alloy test piece is 2mm; before welding, removing an oxide layer on the surface of the aluminum alloy, then pressing up and down through a jig, and setting welding parameters and paths; during welding, light spots of a near-infrared laser beam and a blue laser beam are concentric and emitted at the same time, the two laser beams are coupled and focused to a swing welding head, and stitch welding is carried out according to set welding parameters and paths; the light spot diameter of the blue light laser beam is larger than that of the near-infrared laser beam. Near-infrared light and blue light form coaxial composite light spots and emit light at the same time, stitch welding is conducted on the double-layer aluminum alloy test piece in combination with the swing welding head, and the stitch welding device has the advantages of being high in welding efficiency, good in air hole state and few in splashing and cracks.

The invention discloses a natural ventilation cooling tower thermal performance collaborative optimization method, which comprises the following steps of carrying out performance test on natural ventilation cooling tower filler to obtain performance parameters of a natural ventilation cooling tower, establishing a model based on the performance parameters of the natural ventilation cooling tower, and carrying out collaborative optimization on the thermal performance of the natural ventilation cooling tower. Extracting filler arrangement form parameters and water distribution structure parameters of the natural draft cooling tower, obtaining optimal uniformity sample points of the parameters by using an optimization algorithm and experimental design, obtaining the tower outlet water temperature of the natural draft cooling tower at the optimal uniformity sample points through CFD calculation, constructing a radial basis agent model based on data obtained through CFD calculation, and calculating the tower outlet water temperature of the natural draft cooling tower according to the radial basis agent model. And an optimization algorithm is used for carrying out optimization solution on the radial basis agent model, and filler arrangement form parameters and water distribution structure parameters corresponding to the lowest tower outlet water temperature of the natural ventilation cooling tower are obtained. By obtaining the optimal design of the filler arrangement and the water distribution structure, the outlet water temperature of the natural ventilation cooling tower is reduced to the maximum extent, and the purposes of energy conservation and consumption reduction of a thermal power generating unit are achieved.

The invention relates to an inter-beam time synchronization measurement device and method after high-power laser beam splitting. The device comprises a triple frequency simulation light source, a first photoelectric tube, a second photoelectric tube, a high-speed oscilloscope and a data processing module. The frequency tripling simulation light source provides frequency tripling light signals of all light paths to be measured, the first photoelectric tube receives the light signals to be measured and outputs electric signals to be measured, and the second photoelectric tube receives time reference light signals and outputs time reference electric signals. The high-speed oscilloscope receives the electric signal to be measured and the time reference electric signal and outputs waveform sequence data to the data processing module, and the module calculates the time interval delta t between the waveform sequence data. According to the method, triple frequency simulation light is divided into a plurality of laser beams through a beam splitting module, and each laser beam reaches a target spot through an independent terminal transmission module. A first photoelectric tube is arranged at a target spot to measure the arrival time of each laser beam, and a second photoelectric tube is arranged in a terminal transmission module of a certain split laser beam to serve as a time reference. A light beam to be measured is selected through the shading assembly, and the time interval between each laser pulse and the time reference pulse is calculated by using a cross-correlation analysis method. According to the invention, high-precision measurement of time synchronization between high-power laser beam splitting is realized, and main laser emission or additional devices are not needed.

The invention belongs to the technical field of aerospace, and particularly relates to a modal-based aircraft structure load reconstruction method. The method comprises the following steps: acquiring modal information of a key position of an aircraft structure through a structure finite element model, wherein the modal information comprises a node displacement modal and a unit stress and strain modal matrix; obtaining a node resultant force mode and a profile resultant force / resultant moment mode matrix according to the finite element grid topological relation; and finally, reconstructing the stress / strain intensity of the key position of the structure and the resultant force / resultant moment of the key section from the generalized displacement of the structure according to the modal matrix. The algorithm does not need to process a structural overall rigidity matrix and a damping matrix, and engineering practical application is facilitated.

The invention belongs to the technical field of wastewater treatment, and provides a method for realizing continuous degradation of pollutants under a low dosage based on a self-assembly induced carbon confinement material, which comprises the following steps: adding peracetic acid and a carbon confinement material into wastewater containing organic pollutants, treating the wastewater under a stirring condition, and in the wastewater treatment process, adding the peracetic acid and the carbon confinement material into the wastewater, the carbon confinement material activates peracetic acid to generate hydroxyl free radicals, organic free radicals, singlet oxygen and Co (IV) to degrade organic pollutants in the wastewater; the carbon confinement material is composed of a cobalt material and a nitrogen-doped carbon material coating the cobalt material, the cobalt material is composed of Co and CoO, and the carbon confinement material is nanoparticles with a core-shell structure. According to the invention, the high-efficiency utilization of the oxidizing agent peracetic acid can be realized under the condition of low-carbon confinement material dosage, the continuous degradation of micropollutants can be mediated, and the treatment cost of wastewater containing organic pollutants can be reduced.

The invention discloses an anti-skid control method, device and system for a distributed wheel edge drive loader. The anti-skid control method comprises the steps that the current whole vehicle speed is estimated based on the obtained longitudinal acceleration of the loader, the measured vehicle speed of the loader and the rotating speed of each wheel edge motor; calculating the whole vehicle speed corresponding to the rotating speed of each wheel-side motor based on the rotating speed of each wheel-side motor; calculating the actual slip rate of each wheel based on the estimated current vehicle speed and the vehicle speed corresponding to the rotating speed of each wheel motor; estimating the current optimal slip rate based on the response speed of each wheel-side motor; when it is judged that a certain wheel slips on the basis of the actual slip rate and the current optimal slip rate, the anti-slip demand torque is calculated on the basis of the actual slip rate, the current optimal slip rate and the demand torque of the slipped wheel and an anti-slip algorithm, and the anti-slip demand torque is sent to a wheel edge motor corresponding to the slipped wheel. The maximum driving capacity of the loader can be achieved under the condition that it is guaranteed that the loader does not slip, and the running reliability of the loader on the road surface with the low adhesion coefficient is improved.

The invention discloses a virtual synchronous machine active low-frequency oscillation suppression method based on power feedback compensation, and belongs to the field of new energy grid-connected converter control under large-scale new energy access. According to the method, the output voltage and current of the new energy converter are sampled, the instantaneous output active power and reactive power are calculated, and the average output active power and reactive power are obtained through a first-order low-pass filter; and then virtual synchronous machine active outer loop control based on output power feedback compensation and reactive outer loop control based on reactive-voltage droop are adopted to obtain reference values of a d-axis voltage amplitude and a voltage phase angle of new energy converter voltage inner loop control, and output voltage closed loop control is carried out. Under the condition that the output active control order and the steady-state characteristic are not increased, the output active dynamic overshoot and low-frequency oscillation suppression of the new energy converter based on the network construction control type virtual synchronous machine are effectively realized, the parameter value range is slightly constrained by the system stability, and the engineering application is simple.

The invention discloses a highly reconstructed Ni-doped glassy MOFs electrocatalyst and a preparation method and application thereof.The preparation method comprises the steps that a solution containing cobalt salt and an organic ligand is subjected to a hydrothermal reaction, and ZIF-Co powder is obtained; taking a mixture of ZIF-Co powder and a nickel source as a powder precursor; loading the powder precursor on the electrode material to obtain a catalyst-loaded electrode material; the electrode material loaded with the catalyst is vitrified through a melting quenching technology and then reconstructed, and the highly reconstructed Ni-doped glassy MOFs electrocatalyst is obtained. According to the method, electrochemical surface reconstruction is promoted by vitrification, the glassy MOFs catalyst with rich active sites is obtained, the problem that the active sites of the MOFs material are not easy to expose is solved, in addition, the glassy MOFs can be directly fused and attached to an electrode material without a binder, the problem that a powder catalyst is difficult to process is solved, and the preparation process is simple. And device assembly and industrial large-scale production are facilitated.

The invention discloses a rice seedling leaf age intelligent identification system based on a depth camera, and belongs to the technical field of agricultural intelligent equipment and machine vision. Comprising a monitoring point gridding path planning module, a mechanical arm cooperative positioning data acquisition module, an RGB-D data preprocessing module, a dynamic foreground seedling accurate extraction module, a leaf age recognition confidence evaluation module, a leaf age data visualization presentation module and an integrated control strategy feedback module. RGB color features and connected domain analysis are combined to optimize a mask, a front single seedling is accurately segmented, background interference is eliminated, the confidence coefficient is dynamically calibrated through a deep learning model and image quality features, texture definition and edge continuity features are combined to generate calibrated confidence coefficient, confidence coefficient evaluation is directly associated with an agricultural decision, and the accuracy of the agricultural decision is improved. The leaf age result is generated only based on reliable data, the personnel rechecking demand is reduced, and the decision-making efficiency is improved.

The invention discloses an unpowered returning-field aircraft spoiler speed control method based on active disturbance rejection control, belongs to the technical field of unmanned aerial vehicle flight control, and aims to solve the problem that high-precision speed control is difficult to realize due to insufficient robustness when a traditional spoiler control strategy faces a complex and changeable environment and unknown disturbance. According to the method, the expansion state observer introducing active disturbance rejection control is adopted, unmodeled dynamics and external disturbance in the system are estimated on line and compensated in real time, the speed deviation is responded in a short time, the adaptive capacity to unknown disturbance is remarkably improved in unpowered return field section spoiler speed control, and the speed control accuracy of the spoiler is improved. According to the method, the dependence on an accurate model is reduced, higher-precision and more robust speed control is realized, and an effective technical means is provided for safe, stable and accurate landing of unmanned aerial vehicles and other unpowered landing aircrafts.

The invention discloses a deep shale gas horizontal well full-well section geology-engineering-fracture network construction potential dessert identification method. The method comprises the steps that reservoir physical property quality parameters, rock mechanical parameters, rock ground stress parameters and fracture network construction potential parameters of a target well are determined according to full-well section original logging and interpretation data of a horizontal well section of the target well; calculating a reservoir physical property quality index, a rock stress brittleness index and a fracture network construction potential index of the whole well section of the horizontal well section of the target well; determining a reservoir physical property quality index threshold value, a rock stress brittleness index threshold value and a fracture network construction potential index threshold value; and according to comparison of the reservoir physical property quality index, the rock stress brittleness index and the fracture network construction potential index with corresponding threshold values, sweet spot identification grades are divided for the target well, and a targeted fracturing process is recommended according to field construction experience. According to the method, the prediction accuracy of the geological engineering dessert of the deep shale reservoir with strong heterogeneity is improved, and a favorable theoretical basis is provided for differential staged fracturing design of deep shale gas.

This invention discloses a highly generalizable method for diagnosing open-circuit faults in multi-transistor converters of motor drive systems. This method addresses open-circuit faults in power devices caused by overcurrent surges, poor heat dissipation, and other factors, preventing damage to the motor and power grid equipment caused by output current distortion and increased torque ripple. The method analyzes the retention characteristics of the positive and negative regions of the three-phase stator current under steady-state operating conditions to construct a fault location function, and combines auxiliary variables to accurately distinguish between single-power and dual-power device open-circuit faults. This invention enables rapid location and accurate identification of complex open-circuit faults such as those in opposite phases on the same side or in opposite phases on opposite sides. It offers advantages such as high diagnostic accuracy, strong ability to distinguish mixed faults, and non-invasiveness, making it suitable for motor drive systems with high requirements for operational reliability and fault tolerance.

The invention belongs to the technical field of solid propellants, and particularly relates to a propellant containing active metal fuel and a preparation method of the propellant. 3.0-4.0% of a plasticizer; 0.3-0.4% of a curing agent; 0.1%-2.0% of a combustion rate regulator; 0.01%-0.5% of a bonding agent; 15-19% of an active metal fuel; 10-18% of a nitramine explosive; the metal fuel is an aluminum-gallium metal alloy, and the aluminum-gallium metal alloy is an aluminum-gallium metal alloy of which the outer layer is coated with an aluminum film. The propellant provided by the invention has the advantage of high combustion efficiency, and can meet the requirement of a solid rocket engine on the high energy performance of the propellant.

The invention discloses a method and equipment for improving matching of a measured piece in an attenuation measurement system, belongs to the field of radio metering, and comprises the method for improving matching of the measured piece in the attenuation measurement system, and the core of the method is that a precise matching absorption load is added in a front-end transmission system of the measured piece; energy transmission is realized on a waveguide wide side of the precise matching absorption load through a coupling hole; a transmission waveguide is additionally arranged above the coupling hole, and energy is transmitted to a measured piece in the forward direction; and a precise matching absorption load is added in the reverse direction to absorb energy in the reverse direction, so that the measured piece matching improvement equipment in the attenuation measurement system is formed, and finally the measured piece matching of the attenuation measurement system is improved. According to the method and the equipment, the impedance matching of the measured piece is improved by using the precise matching load, the voltage standing-wave ratio of the load level is realized, and the attenuation measurement accuracy is improved. The tested piece matching improvement equipment developed by using the method is directly connected to two ends of the tested piece in an attenuation measurement system, so that the impedance matching of the tested piece is improved.

The application discloses a variable working condition cross-component causal coupling modeling and fault diagnosis method and device, and relates to the technical field of rotating machinery fault diagnosis. The method comprises the following steps: collecting and preprocessing multi-component signals under variable rotating speed working conditions of a rotating machinery; based on multivariate Granger causal modeling, prior information and dynamic disturbance information are fused to construct a dynamic causal diagram; a double-view structure of a main view of the dynamic causal diagram and an auxiliary view of a correlation diagram is constructed, multi-scale coupling features are extracted through a multi-order spectrum filter and an attention mechanism, a symmetric InfoNCE contrast learning loss and a supervised classification loss are combined to optimize and train a model, and fault classification is realized. The device is correspondingly provided with signal acquisition, dynamic causal diagram construction, feature fusion, model training and fault prediction modules. The application improves the accuracy of fault feature representation and the robustness of diagnosis under variable working conditions, is suitable for complex industrial scenes with multi-component coupling and frequent rotating speed switching, and has strong engineering practicability.

The application discloses a method for improving the mechanical property of a titanium alloy ring forge piece and a ring forge piece prepared by the method, and belongs to the field of titanium alloy forging technology. The method for improving the mechanical property of the titanium alloy ring forge piece comprises the following steps: preparing a titanium alloy base material, heating the titanium alloy base material to 30-35 DEG C below a phase transition point, performing upsetting treatment to obtain an upset rod; heating the upset rod to 35-40 DEG C below the phase transition point, using a core shaft to perform punching forming to obtain a punched ring forge blank; heating the punched ring forge blank to 30-35 DEG C below the phase transition point, adopting a mandrel expanding method to perform expanding forming to obtain an expanded ring forge blank; heating the expanded ring forge blank to 40-45 DEG C below the phase transition point, performing radial-axial composite rolling to obtain a rolled piece; and performing annealing treatment on the rolled piece to obtain a target ring forge piece.

This invention discloses a method for assessing the carbon dioxide adsorption and sequestration capacity of methane-containing coal seams, belonging to the field of carbon dioxide geological sequestration technology. The method first obtains the basic physical properties of the coal seam, the competitive adsorption parameters of CO2 and CH4, the geological parameters of the coal seam, and the rock mechanics parameters, breakthrough pressure parameters, and in-situ stress parameters of the roof and floor. Based on the rock mechanics, in-situ stress, and breakthrough pressure parameters of the roof and floor, the sealing pressure of the roof and floor is determined, defining the upper limit pore pressure of the coal seam. Under the constraint of the upper limit pore pressure, combined with the competitive adsorption parameters of CO2 and CH4 and the basic physical properties of the coal seam, the partial pressures of CO2 and CH4 under equilibrium conditions are determined. Based on the partial pressures of CO2 and CH4, the CO2 adsorption capacity per unit coal rock is determined, and the carbon dioxide adsorption and sequestration capacity of the coal seam is obtained by coupling the basic physical properties and geological parameters. This invention provides accurate, safe, and logically complete assessments, suitable for rapid evaluation of coal seam sequestration potential, and provides reliable support for engineering implementation.

The application provides a three-dimensional point cloud change detection method based on Siamese AdaptConv, and belongs to the field of intelligent scene reconstruction; firstly, three-dimensional point cloud data of a to-be-detected scene at two different time points is acquired, and an adaptive neighborhood is constructed for each point; then, the pretreated three-dimensional point cloud data is input into a Siamese AdaptConv double-branch network, multi-scale features of each layer are fused respectively, corresponding fusion features are obtained, the change probability of the same position point is further calculated, and a candidate change point set is mapped; DBSCAN clustering is performed, and a candidate region is output; finally, semantic verification is performed on the candidate region, a geographical knowledge graph is pre-constructed, and semantic correlation is calculated; when the semantic correlation exceeds a set threshold value, it is considered that the three-dimensional point cloud change of the candidate region is consistent with the existing entity semantics in the knowledge graph, and the reasonable change is determined; and the application realizes end-to-end multi-sequential feature alignment and change identification.

The invention discloses an unmanned bicycle course trajectory tracking method based on internal and external double closed-loop control. In the method, a nonsingular terminal sliding mode controller is used as an inner ring controller, and a PID (Proportion Integration Differentiation) controller is used as an outer ring controller to form an inner ring controller and an outer ring controller. In the inner ring controller, the actual state value and the expected state value of the lateral inclination angle of the unmanned bicycle are used as errors to design a sliding mode surface, then a control law is designed, and lateral balance is mainly achieved; in the outer ring controller, a PID controller is designed by taking an actual state value and an expected state value of a course angle of the unmanned bicycle as an error, and the PID controller is mainly used for compensating inner ring control and realizing course control; and then the output of the inner and outer ring controllers is combined to act in the unmanned bicycle LPV model. According to the method, in an innovative control architecture, an outer ring PID controller and an inner ring nonsingular terminal sliding mode controller act synergistically, and a precise inner and outer ring regulation and control system is constructed. The outer ring PID controller effectively weakens the disturbance caused by the precision limitation of the dynamic model by virtue of the precise compensation capability of the outer ring PID controller on the error of the inner ring model, remarkably improves the precision performance of the inner ring controller, and accelerates the convergence process of the inner ring controller. Meanwhile, the inner-ring nonsingular terminal sliding mode controller greatly simplifies the parameter adjustment process of the controller due to the excellent dynamic response characteristic of the inner-ring nonsingular terminal sliding mode controller, achieves double leap of regulation and control performance and parameter adjustment efficiency, and has very high engineering significance.

This invention provides a method for determining the stability of simply supported and fixed beams. The method includes: establishing a system of equilibrium differential equations for an elastic beam and determining the simply supported boundary conditions; performing numerical integration based on the equilibrium differential equations and the simply supported boundary conditions to obtain the shapes and corresponding parameter information of all simply supported and fixed beams; measuring the actual arc length and actual support distance of the simply supported and fixed beam to be determined; determining the corresponding moment-rotation curve based on the actual arc length, actual support distance, and the shapes and corresponding parameter information of all simply supported and fixed beams obtained from numerical integration, and determining the critical value of the fixed-end rotation angle based on the moment-rotation angle curve; measuring the actual value of the fixed-end rotation angle of the simply supported and fixed beam to be determined, and determining the stability of the simply supported and fixed beam to be determined based on the relationship between the actual value of the fixed-end rotation angle and the critical value of the fixed-end rotation angle. This invention solves the technical problem of complex and computationally intensive stability determination processes for simply supported and fixed beams in the prior art.

The invention relates to a reverse friction buckling-restrained energy dissipation support and a control method, the reverse friction buckling-restrained energy dissipation support comprises a buckling-free energy dissipation unit, a forward constraint unit and a reverse constraint unit, and the forward constraint unit is arranged at one end of the buckling-free energy dissipation unit and is in sliding connection with the end of the buckling-free energy dissipation unit; the reverse constraint unit is arranged at the other end of the buckling-free energy dissipation unit and is fixedly connected with the end of the buckling-free energy dissipation unit; wherein the forward constraint unit and the reverse constraint unit are oppositely arranged, and when the support bears an axial load, the forward constraint unit and the reverse constraint unit respectively follow different end parts of the buckling-free energy dissipation unit to move in opposite directions, so that a reverse friction mechanism is realized. According to the reverse friction buckling-restrained energy dissipation support and the control method, the double-order yield of the buckling energy dissipation support is fused with the support limiting device, meanwhile, the friction force in the energy dissipation core of the buckling restrained support is self-balanced, the deformation uniformity of the support is improved, and therefore the fatigue performance is improved. The overall structure of the support is free of numerous external additional devices, low in manufacturing cost and convenient for engineering application.

The invention discloses a high-degree-of-freedom modulation strategy applied to a dual-active bridge converter and an optimization method. The high-degree-of-freedom modulation strategy is specifically implemented according to the following steps: step 1, determining a working mode of a DAB converter based on a conduction sequence and a time length of switches in the DAB converter; 2, solving steady-state characteristics of each working mode; step 3, taking the minimum peak value of the inductive current as an optimization target, and solving the minimum peak value current in each working mode by using a particle swarm algorithm; and 4, inputting the optimal phase shift value obtained in the step 3 into a digital signal processor. Through an innovative DAB converter modulation strategy, the effective value of inductive current is remarkably reduced, the soft switching working range of the DAB converter is greatly widened, double reduction of conduction loss and switching loss is achieved, and therefore remarkable effects are achieved in the aspects of improving circuit energy efficiency and stability and promoting technology industrialization.

The present invention discloses a cable electromagnetic radiation response prediction method based on one-dimensional residual attention CNN, which belongs to the field of electromagnetic radiation response waveform prediction. The method determines the physical factors that affect the cable electromagnetic pulse radiation response waveform, samples the physical factors in large quantities, obtains the output waveform of the sampling point through full-wave simulation, divides the simulation data into a training set, a verification set and a test set, constructs a network model based on one-dimensional residual attention CNN, trains, verifies and tests it with simulation data, compares the waveform predicted by the network with the waveform obtained by full-wave simulation, and obtains the cable electromagnetic pulse radiation response prediction model; inputs the sample points of the test set into the trained cable electromagnetic pulse radiation response prediction model for prediction, and performs denormalization on the prediction results to obtain the final prediction results. The method realizes the rapid prediction of the response waveform of the wire harness under high-power microwave irradiation that can better reflect the actual situation.

The present application belongs to the technical field of power supply and distribution. A parallel three-level inverter modulation method, system, product, medium and equipment are proposed, which equivalent double parallel three-level inverters as a whole five-level inverter, inject zero sequence components to the initial three-phase reference signal to obtain the reference signal, identify the resultant vector through rounding and remainder operation, and then adjust the reference signal according to the sum of the three-phase state of the initial resultant vector to output a five-segment switching sequence, and then decompose the equivalent five-level reference signal into two sets of three-level reference signals, allocate the reference signals by dividing the half-carrier period and compare them with the triangular carrier to obtain a three-level vector sequence combination. The present application realizes the comprehensive optimization of common-mode voltage, zero-sequence circulating current and output current ripple, avoids complex sector judgment and duty cycle calculation, and reduces the implementation complexity and computational burden.

The present invention discloses a nonlinear metamaterial vibration isolator with quasi-zero stiffness, which belongs to the technical field of metamaterials and vibration reduction and noise reduction. The vibration isolator is composed of structural parts and vibration isolation components. The vibration isolation components play the role of vibration isolation and buffering. A polymer material with a certain load-bearing capacity is used. The interior of the vibration isolation component has a metamaterial structure formed by periodic arrangement of metamaterial unit cells. The geometric shape of the metamaterial unit cell is similar to a half hexagon. The metamaterial structure is obtained by periodic arrays of metamaterial unit cells in the vertical and horizontal directions. The structural parts are made of metal materials, and the structural parts and the vibration isolation components are connected in a composite manner of mechanical locking and bonding. The present invention can realize the quasi-zero stiffness nonlinear characteristics of the vibration isolator, greatly reduce the natural frequency of the vibration isolator while ensuring the stability of the system, and effectively improve the vibration isolation effect.

The embodiment of the invention provides a mechanical arm linear motion track planning method and device and electronic equipment. The method comprises the steps that target parameters of the mechanical arm are obtained, the target parameters comprise the expected speed (represented by the speed spinor # imgabs0 #), the joint angle theta at the current moment t and the control step length time delta t, omega and v represent the angular speed and the linear speed of the tail end of the mechanical arm respectively, and t is an integer larger than or equal to 0; the speed spinor # imgabs1 # is mapped, the joint speed # imgabs2 # of the mechanical arm is obtained, the step length time delta t is controlled according to the joint speed # imgabs3 #, and the joint angle increment delta theta of the mechanical arm at the next moment t + 1 relative to the current moment t is determined; according to the joint angle increment delta theta and the joint angle theta at the current moment t, the joint angle theta'of the mechanical arm at the next moment t + 1 is determined; and according to the joint angle theta ', the position of the mechanical arm at the next moment t + 1 is determined. According to the determined joint angle theta'of the mechanical arm at the next moment t + 1, linear motion track planning of the mechanical arm can be rapidly and conveniently carried out, and practical engineering application is facilitated.

The invention discloses a movable supporting device for tunnel construction and a tunnel construction method. The problems that in the prior art, underground excavation construction of underground engineering is high in price and tedious in working procedure are solved. The movable supporting device for tunnel construction comprises a double-layer sleeve mechanism and a pushing mechanism used for providing jacking of the double-layer sleeve mechanism. The pushing mechanism comprises an outer-layer pushing driving part and an inner pushing driving part; the double-layer sleeve mechanism comprises an outer-layer sleeve and N inner sleeves, and N is larger than or equal to 2; the inner sleeves correspond to the inner pushing driving parts, the outer pushing driving parts correspond to the outer sleeves, and the adjacent inner sleeves, the inner sleeves and the outer sleeves and the outer sleeves and the tunnel can move relatively under the action of the pushing mechanisms. The equipment adopted by the invention is simple, efficient and low in manufacturing cost; meanwhile, excavation equipment can be flexibly selected according to actual conditions, and the reusability of the excavation equipment is good; and large-scale engineering application is facilitated.

The application discloses an improved deadbeat control method for reducing switching loss, and is implemented according to the following steps: step 1, modeling a single-phase circuit of an MMC, and meanwhile, establishing a single-phase upper and lower bridge arm node current equation; step 2, discretizing the established equation, and taking a ring current as a reference quantity to establish a deadbeat control system; step 3, collecting voltages of upper and lower bridge arms of each phase of the MMC and discriminating voltage discretization; step 4, operating the upper and lower bridge arm voltages output by step 2 to obtain the number of sub-modules that should be turned on for each phase of the upper and lower bridge arms of the MMC in the next control period; and step 5, sorting each sub-module voltage of each phase after being processed in step 3, and meanwhile, turning on or turning off specific sub-modules according to the number of sub-modules that should be turned on for each phase of the upper and lower bridge arms in the next control period obtained in step 4. The application can improve system dynamic performance, improve output voltage quality and reduce the number of times of turning on sub-modules of the system.

The present invention discloses a method for continuous water injection test of soil anti-seepage body of dangerous reservoir dam. The method comprises the following steps: step 1: determining the drilling position; step 2: selecting the water injection test method; step 3: conducting a continuous water injection test of the test section above the groundwater level; step 4: conducting a continuous water injection test of the test section below the groundwater level. The present invention has the advantages of being able to comprehensively and accurately evaluate the anti-seepage performance of dangerous reservoir dams and being easy to operate.