38results about How to "Realize reasonable planning" patented technology

The invention provides a method for tracking control of preset performance in a magnetic hysteresis compensation-containing motor servo system. The control method comprises the following steps: 1, establishing a magnetic hysteresis-containing motor servo system model; 2, designing a magnetic hysteresis compensation-containing preset performance tracking control method; 3, designing system parameters to meet the minimum system tracking error. According to the method, a motor servo system is used as a study object, the system parameter uncertainty, the nonlinear frictional characteristic, the unmodeled outside interference and the magnetic hysteresis nonlinearity are considered, an excellent tracking controller is designed, a magnetic hysteresis model containing linear items and bounded interference items is established, and the controller is conveniently designed; aiming at the system parameter uncertainty and the unmodeled interference items, relatively good parameter estimation and robust bounded stabilization are achieved by an adaptive robust control method.

The cooperative navigation method among small celestial body detectors disclosed in the invention belongs to the technical field of deep space detection. The implementation method of the invention is as follows: establishing a small celestial body detection dynamic model, including a dynamic model for deep space detection of small celestial bodies and a small celestial body detection collaborative detector dynamic model. The optical camera measurement model and the inter-detector measurement model are established respectively, and the angular position information of the optical measurement and the relative distance and velocity information between the detectors are combined to obtain the small celestial body detection collaborative navigation measurement model. By analyzing the observability of the navigation system, the observability optimization index is derived and established, and the observability of the navigation system is evaluated by the observability optimization index, and the optimal collaborative navigation measurement information is obtained by optimization. According to the small celestial body detection dynamics model, the cooperative navigation measurement model and the optimized measurement information, the navigation filtering method is used to realize the accurate estimation of the detector state and improve the autonomous navigation accuracy of the cooperative detection. The invention can provide support for the optimization of cooperative navigation information for deep space exploration.

The invention discloses a tumor treatment system for optical surgical navigation, comprising a CT machine, an ultrasonic apparatus, an electromagnetic locator, a treatment couch, an optical surgical navigator, gamma radiotherapy equipment, a puncture device, a mechanical arm, a fixed turntable, and a console , the optical surgical navigator adopts a camera vision system, and the RGB camera is used as an image output device to complete image acquisition and output by converting optical signals into electrical signals. It mainly includes three modules: optical imaging part, photoelectric conversion part and electronic circuit part. The optical imaging part includes an optical lens and an imaging plane. When the light projected on the lesion is reflected by the optical lens and refracted by the optical lens, the image of the lesion is projected onto the imaging plane of the RGB camera, and the optical signal is converted into an electrical signal by the photoelectric conversion part, and the electronic circuit Part of the amplified weak electrical signal is uploaded to the console through the USB interface, and the image processing of the console obtains the target position of the lesion.