51results about How to "Realize high-precision tracking" patented technology

The invention discloses a positioning method and a positioning system of multiple magnetic targets, at least two magnetic targets with a built-in permanent magnet are arranged, and a magnetic sensor array with the sensor number more than 5 times of the magnetic target number is arranged. The positioning method comprises following steps: A. space position of each sensor and magnetic induction strength data in each sensor position under the action of each magnetic target are obtained; B. the magnetic induction strength data obtained from the measurement and the Biot-Savart law are utilized for defining an error objective function; C. a nonlinear optimizing algorithm is utilized for searching the position and direction parameters of the magnetic targets, minimizing the error objective function, and obtaining positioning data of each magnetic target including the position and direction parameters. Simultaneously relative positioning of the measured targets is implemented according to the position data of the multiple magnetic targets in an absolute coordinate system, thus realizing precise positioning and tracing of built-in targets of moving objects or human bodies.

An arc-driven large-bore astronomical telescope is driven by a RE permanent-magnet synchronized arc motor. A control mechanism includes an upper machine and a lower machine; the upper machine is connected with the lower machine through serial communication; the lower machine carries out the real-time control; a motor stator is composed of 15 blocks, each block consists of 9 complete silicon steel plates and two silicon steel plates for reducing the edge effect; an armature winding is arranged according to UVWUVWUVW from right to left; a rotor is composed of 4 blocks and has 120 magnetic steel plates in total, the rotor adopts the torque design for reducing tooth space and is provided with a fastening device; an absolute coder and an incremental coder are simultaneously arranged in the control mechanism signal collecting and comparing links, the former is used for the turnover of a servo motor and the latter is used for testing the position of the servo motor; the signal of the coder is transferred to the DSP module of the lower machine through a singlechip; a drive circuit adopts a digital-driven intelligent power module. The present invention can achieve the needs of long-time, high-precision tracing and observing various celestial bodies and meet the requirements of precision and wide speed regulation in astronomic observation.

The invention relates to a high-precision tracking method applied to a non-engine maneuvering target. According to the method, firstly, a target motion model containing system adaptive parameters is built according to the non-zero mean time relevant random process characteristic met by the accelerated speed in the actual target motion; secondly, the target motion characteristic is predicated according to the built target motion model; then, the current state estimation value of the target is calculated through utilizing the target state predicating value and the radar observation data value; and finally, the system adaptive parameters are corrected according to the accelerated speed estimation value of the target, the corrected system adaptive parameters are utilized for updating the target motion model, and the updated target motion model is utilized for carrying out next predication and estimation. The method has the advantages that the target with the non-engine maneuvering random character realizes the online estimation, the accuracy of a maneuvering target model for describing the actual motion characteristics is improved, and the tracking precision of the non-engine maneuvering target is improved.

The invention discloses a tracking system of a large-angle fast steering mirror. The tracking system realizes a large-angle high-precision tracking function by using a high-resolution and small-angle fast steering mirror M1 and a low-resolution and large-angle fast steering mirror M2. A control method is as follows: the closed loops of the two fast steering mirrors M1 and M2 are realized in the same optical path by using position information provided by a position detector; the two fast steering mirrors M1 and M2 deflect, but do not couple; two control ways can be adopted, wherein the first way is as follows: M1 carries out closed loop by directly using position deviation provided by a CCD (Charge Coupled Device), and a closed loop signal of M2 is the sum of the position deviation and a deflection angle of M1; the second way is as follows: the closed loop signal of M2 is the deflection angle of M1. Large-angle (namely the maximum intersection angle of M2) and high-precision tracking can be realized no matter which scheme is adopted. The control method provided by the invention enables the tracking system to be simple and can be used for improving the beam quality and the detectionprecision.

The invention discloses a fixed-wing unmanned aerial vehicle landing control method based on self-adaptive dynamic inverse. The method comprises: establishing an unmanned aerial vehicle nonlinear model under wind disturbance; designing an inner loop control law based on an adaptive dynamic inverse method according to an inner loop differential equation of the unmanned aerial vehicle; designing a track angle loop control law based on a nonlinear dynamic inverse method; designing an ideal relative trajectory of unmanned aerial vehicle landing; designing a relative trajectory loop control law based on a nonlinear dynamic inverse method; and correcting the track inclination angle instruction of the tail end guide section according to the estimated value of the ideal landing point. Parameter uncertainty of the unmanned aerial vehicle model can be effectively suppressed, complex nonlinearity and control coupling of the model are overcome, interference of complex wind disturbance such as shipwake flow on the unmanned aerial vehicle track is resisted, deck movement of a ship is rapidly tracked, and the ship landing precision and the ship landing success rate are effectively improved.

The invention provides a target attitude cooperative planning method and system of multistage composite control of a spacecraft. A designed spacecraft multistage composite control system comprises a star first-stage control system and a load second-stage control system, and a load and a star are required to track the same target attitude in a wide-angle agile maneuvering process of the spacecraft.The control periods of the star are different, the target attitude of the load within the control period deltat2 is calculated by employing an interpolation method in the condition of knowing the target attitude of a star platform. Firstly, a target attitude thetabr in a next control period deltat1 is calculated through a star attitude planning algorithm; then the load calculates a target attitude thetapr of the load within each deltat2 time by employing a Newton interpolation method in the condition of knowing the target attitude thetabr within the deltat1 time; and in the condition of knowing the target attitudes of the star and the load at each time point, the spacecraft multistage composite control system performs attitude control by employing a star and load two-stage PID controllerso that high-stability control of the optical load of the spacecraft is realized.

The invention discloses a precise trace tracking optimal control method for an uncertain rehabilitation walking training robot. According to the method, a kinetic model of an uncertain rehabilitation walking training robot system is built, a one-order low-pass filter is built, the integral estimation is carried out on the uncertainty influencing the trace tracking precision of the rehabilitation walking training robot, a controller is designed on the basis of a precise feedback linearization method, and a linearization model of the system is built; on the basis of trace tracking errors, speed tracking errors and energy quadrics, a quadratic performance index of the rehabilitation walking training robot system is designed, the optimal control method is adopted, the precise trace tracking of the rehabilitation walking training robot is realized, and the performance index is optimized. Output high-precision PWM (pulse width modulation) signals are provided for a motor driving unit, so that the robot realizes precise tracking on reference trace signals. The control method has the advantages that the uncertainty bound of the system does not need to be known, the trace tracking precision of the rehabilitation walking training robot can be improved, and in addition, the system performance reaches the optimum.

The invention discloses an RGB-D feature target tracking method based on a twin network. The method comprises the following steps: constructing a twin network model based on RGB-D features; precessing the template image by a shared network to obtain semantic features of the template image, and inputting the high-level semantic features to a deep convolutional network module to obtain a depth map; performing depth feature extraction on the depth map to obtain depth feature information, and fusing the depth feature information with the semantic features in a cascade mode to obtain fused image features; processing the search image through a shared network to obtain features of the search image, wherein the features of the search image are subjected to convolution and pooling operation to obtain context information of the search image, the fused image features are guided through the context information of the search image, and adaptive features used for target positioning are generated; and carrying out cross-correlation operation on the adaptive features and features obtained by processing the search images through a shared network, and carrying out interpolation calculation on the score graph to obtain a tracking result. The depth map is introduced, high-precision tracking in a complex scene can be achieved, and the effect is good.

The invention discloses a spacecraft three-super control multistage collaborative planning and agile maneuvering method, which is suitable for the field of spacecraft relative motion control. When therelative attitude of a tracking spacecraft and a target spacecraft is large, the initial relative attitude of the tracking spacecraft and the target spacecraft is obtained through orbit extrapolation, and a star first-level controller of the tracking spacecraft is designed to achieve agile maneuver so as to rapidly point to the target spacecraft. When the relative attitude of the tracking spacecraft and the target spacecraft is small, load target attitude planning is carried out through the optical camera. A load second-level attitude controller is designed, and taking the measurement information of the optical load as feedback, high-precision pointing control of the load optical axis to the target spacecraft is realized. Meanwhile, aiming at the problem of different periods of the star and load controllers of the tracking spacecraft, a multistage collaborative planning method of the tracking spacecraft is designed, track interpolation is carried out by utilizing an attitude sent by asatellite platform, and high-precision tracking of a target attitude by a load is realized.

The invention relates to a diamond lathing cutter track tracing method which belongs to the field of micronano processing and ultraprecise processing, in particular to a cutter track tracing method in the diamond lathing process. The diamond lathing cutter track tracing method comprises the following steps of: quantizing a tracing error; obtaining an entangled state quantum error; obtaining a quantum state historical control parameter; obtaining digital control amount; carrying out inner product operation on a quantum bit in a ground state and the quantum state control parameter to obtain a final control amount which is suitable for digital amount control; and acting on a driver of the cutter for finishing tracing on a cutter track. The method provided by the invention is simple, does not need complicated parameter design and selection, has certain generality and is convenient for application and popularization in industrial control.

The invention discloses a dual-optical-path Fabry-Perot interferometer based CH4 column concentration remote measuring device. The dual-optical-path Fabry-Perot interferometer based CH4 column concentration remote measuring device comprises a dual optical path measuring device arranged on a two-dimensional platform, a telescope, and an industrial personal computer used for controlling the two-dimensional platform and the dual optical path measuring device, the dual optical path measuring device comprises a first off-axis parabolic mirror, a chopper, a second off-axis parabolic mirror, a prefilter, a spectroscope, a Fabry-Perot interferometer, a third off-axis parabolic mirror, a first InGaAs detector, a fourth off-axis parabolic mirror, a second InGaAs detector, a first lock-in amplifier, and a second lock-in amplifier. Through the dual-optical-path Fabry-Perot interferometer based CH4 column concentration remote measuring device, the concentration distribution of CH4 in the atmosphere and an emission source is remotely measured on a foundation and a vehicle-mounted or airborne platform.

The invention discloses a control device and method for photovoltaic system maximum power point tracking, and belongs to the technical field of new energy development and application. The control device is composed of a cell array, a detection device, a DC-DC boosting conversion circuit, a novel PWM controller and load equipment. The control device and method have the advantages that a hardware device is combined with computer software programming, the hardware device is simple in design, and software programming is popular and easy to understand; an adopted OVC control algorithm has a better tracking effect than a conductance increment method, and an ADRC control algorithm is additionally adopted, so that maximum power point tracking is more precise, high-precision tracking is achieved, and the response speed is higher; a new algorithm is adopted and combined with the PWM controller, so that compared with a traditional MPPT algorithm, the number of sensors is greatly reduced, detection errors caused by sensors are reduced, and project cost is reduced; the MPPT strategy proposed in the method is irrelevant to DC-DC topology, so that modularization and designing of the plug-and-play PWM controller are promoted.

The invention discloses a method for calculating the bandwidth of a fast reflector, including the following steps: determining a design input; inputting the design input; analyzing and calculating thedesign input; and outputting the bandwidths of the fast reflector under different deflection ranges. The method relies on a simulink simulation platform. A calculation model is set up by using simulink, and codes are written by using a custom module Matlab Function of simulink. The function of the algorithm is achieved step by step, and the algorithm is encapsulated into a block diagram for calling. The method and the model have the advantages as follows: the bandwidth simulation calculation model can be applied to large-load fast reflectors; the calculation result of the bandwidth simulationcalculation model is in line with the practical application; the bandwidth simulation calculation model is simple and practical, and has high calculation efficiency; the bandwidth simulation calculation model can satisfy the bandwidth calculation requirements under different deflection ranges; by using the calculation method, the bandwidth can be maximized under each deflection range; and the application effect will be better under the condition of same bandwidth compared with different ranges.

The invention discloses a solar tracking controller which comprises a photovoltaic array plane, a sun orientation detection device, a signal processing circuit and a mechanical control device. The sun orientation detection device is installed on the mechanical control device through the photovoltaic array plane, the signal processing circuit comprises a signal amplification unit and a signal comparison unit, the sun orientation detection device comprises a light shield plate and ultraviolet sensors, the light shield plate is vertical to the photovoltaic array plane, the number of the ultraviolet sensors is two, the two ultraviolet sensors comprise a first ultraviolet sensor and a second ultraviolet sensors, and the first ultraviolet sensor and the second ultraviolet sensor are installed on the photovoltaic array plane and are symmetric about the light shield plate. Sunlight incident angle information is obtained by means of the ultraviolet sensors, then corresponding motor drive signals are generated through a simple hardware circuit, and tracking of the sun is achieved through a photovoltaic array.

The invention discloses an intelligent control method for a chip mounter motion system based on a binary spline scale function, and relates to a model identification and intelligent control method forthe chip mounter motion system. The objective of the invention is to solve the problem of low tracking precision under the condition that a chip mounter motion system model and parameters (such as mass, friction coefficient and viscous resistance coefficient in the system model) in the prior art are unknown. The method comprises the following specific process: establishing a kinetic model of thechip mounter motion system; constructing the binary spline scale function, carrying out translation and telescopic transformation on the binary spline scale function, and establishing a framework on abinary square integrable function space; selecting an appropriate scale according to the established framework and performing function approximation on unmodeled dynamic items in the established model; and designing an intelligent control algorithm according to the established model and the approximation function so that the tracking precision of the chip mounter motion system is improved. The invention belongs to the field of trajectory tracking control of the chip mounter motion system.

The invention discloses a cascaded cross-scale tool servo device and a high-frequency control method thereof. The device comprises a flexible device platform, a first piezoelectric stack, a second piezoelectric stack, a first capacitive displacement sensor, a second capacitive displacement sensor, a diamond cutter, straight circular flexible hinges and straight plate type flexible hinges. The diamond tool is located at the front end of the middle of the flexible device platform, the first piezoelectric stack is located on the lower portion of the diamond tool, the straight plate type flexiblehinges are located on the two sides of the first piezoelectric stack driving block, the second piezoelectric stack is located on the lower portion of the first piezoelectric stack, and the straight circular type flexible hinges are located on the two sides of the second piezoelectric stack driving block. According to the cross-scale rapid tool servo system based on cascade driving of two piezoelectric stacks and guiding of the flexible mechanism, the primary driving stroke is large, the bandwidth is low, the secondary driving stroke is small, the bandwidth is high, and the requirements of complex microstructure cutting for large-stroke, high-bandwidth and high-precision tool path tracking can be effectively met through combination of the primary driving stroke and the secondary driving stroke.

The invention relates to a mechanical arm safety trajectory tracking control method based on a sliding mode. The method comprises the following steps that 1, the angle, the angular speed and the input torque estimation information currently corresponding to each joint in the mechanical arm are obtained, so that the disturbance torque estimation value currently corresponding to each joint in the mechanical arm can be obtained through calculation; 2, a track scaling function is determined, track interpolation time of the mechanical arm is determined according to the track scaling function, and the actual tracking track of the mechanical arm is obtained through the track interpolation time of the mechanical arm; and 3, the expected joint angle, angular velocity and angular acceleration corresponding to the actual tracking trajectory are input into a sliding mode controller, trajectory tracking control is conducted on the mechanical arm through the sliding mode controller, and therefore high-precision trajectory tracking of the mechanical arm under the action of external disturbance is achieved. The position tracking precision can be improved, work task interruption caused by collision is avoided, and safety and reliability are achieved.

The invention relates to the field of the design of satellite navigation receivers, and specifically discloses an inertial information auxiliary satellite deep combined loop. The inertial informationauxiliary satellite deep combined loop comprises an inertial information auxiliary tracking loop and an inertial information discriminant tracking loop. The inertial information auxiliary tracking loop comprises an auxiliary information anomaly discrimination module, an inertial acceleration auxiliary module, a loop optimal bandwidth calculation module, an equivalent carrier-to-noise ratio calculation module, an interference-to-signal ratio estimation module and a loop PIT adjustment module, which are connected with the output end of the inertial information discriminant tracking loop. The inertial information auxiliary satellite deep combined loop further comprises a correlator and a three-path loop connected with the output end of the correlator. Through full fusion of inertial information and satellite navigation information, reliable design of a satellite receiver and optimal design of the parameters are realized. The algorithm is simple to apply. There is no complex equation or equation needing heavy computation. Algorithm programming on a DSP or FPGA hardware platform can be guaranteed in the aspects of both real-time performance and amount of computation, namely, engineeringimplementation is easy.

The invention discloses a trajectory tracking control strategy for a distributed driving vehicle. The trajectory tracking control strategy comprises the following steps of 1, setting a reference trajectory, establishing a ground coordinate system, obtaining a vehicle monorail dynamics model, and establishing a state space model for control guidance; 2, adjusting a state space model through a feedforward control method based on an ideal state, and obtaining a feedforward control variable; 3, the input of the feedforward control method being substituted into an inversion sliding mode variable structure control method to adjust the state space model, and an inversion sliding mode control quantity being obtained; and step 4, adjusting the control variable to enable the error between the actual trajectory of the vehicle and the reference trajectory to approach 0, and realizing trajectory tracking of the vehicle. According to the method, a four-wheel independent drive vehicle is used as a platform, an expected value is used as a target to calculate feed-forward output corresponding to a controller, various interferences are overcome through inversion control, a mature and reliable Luenberger state observer is designed for the characteristic that part of parameters are difficult to measure, and good trajectory tracking performance is achieved.

The invention discloses an anti-unmanned aerial vehicle detection system and a control method thereof. The anti-unmanned aerial vehicle detection system comprises a central processing system and a power supply system, the central processing system realizes bidirectional information transmission with a search system, a tracking system, a photoelectric system and a servo system through wires, the central processing system realizes bidirectional information transmission with a display control terminal in a wireless manner or a wire manner, and the central processing system realizes information transmission with a strike system in a wireless manner. The invention relates to the technical field of anti-unmanned aerial vehicles. According to the anti-unmanned aerial vehicle detection system and the control method thereof, through mutual cooperative work of a search radar and a tracking radar, a detection blind area is reduced, so that the detection precision is improved, the working pressure of a single radar is reduced, and the service life of the radars is prolonged; and a double-radar system is adopted, large-airspace scanning and high-precision tracking are realized, an alarm area can be arranged, and when a target machine approaches a command station, sound and image alarm display is given to remind operators on the ground to pay attention to the situation.