5results about How to "Reduce singularity" patented technology

The application discloses a communication-restricted multi-agent tracking control method for trains, which comprises the following steps: S1, for a high-speed train dynamics model, a train formation dynamics model is designed; S2, a non-singular sliding mode surface is designed, which is brought into a dynamics equation, an equivalent control law and a total control law are designed; S3, a fixed threshold strategy is designed based on a control input signal error, and an event trigger condition is constructed; S4, through information interaction of adjacent vehicles, unmeasured states are estimated by using local measurable states, full-state feedback is provided for a controller, and a distributed observer is designed; the application has the beneficial effects that an improved terminal sliding mode surface is designed by using a non-singular terminal sliding mode surface, wherein the non-singular terminal sliding mode surface is a coprime odd number, fraction exponent irreducibility is ensured, periodic oscillation is avoided, and the singularity problem of traditional sliding mode control in time is eliminated by the fraction exponent term.

This invention provides a control method and system for a five-degree-of-freedom marine crane in a non-inertial frame, relating to the field of crane automatic control technology. The method includes: acquiring the real-time state variables of the crane in a non-inertial frame; inputting the state variables into an adaptive radial basis function neural network to obtain a lumped disturbance estimate, the neural network being designed based on a five-degree-of-freedom dynamic model established in the ship's coordinate system using the Lagrange equations and the principle of virtual work, considering the ship's six-degree-of-freedom motion and installation position offset; calculating a tracking error function based on the state variables and the desired trajectory; inputting the disturbance estimate and the error function into a feedback controller to calculate and generate a control torque, which is then output to the actuator to drive the crane to track the desired trajectory and suppress load sway. This invention achieves direct modeling and control in a non-inertial frame, solving the coordinate transformation disturbance and singularity problems caused by inertial frame modeling, and improving trajectory tracking accuracy and disturbance rejection robustness.

The application provides a suspended optical mechanical system, comprising a first substrate block, a suspended waveguide, a suspended support beam, a plurality of support tether groups, a suspended detection mass and an optical cavity, wherein the suspended waveguide comprises a linear main body part extending along an X direction and a plurality of connection parts arranged in sequence and at intervals along the X direction, and the support tether groups are connected to the section of the suspended waveguide with the connection parts, the stability of the connection of the support tether and the suspended waveguide is increased, the width of the suspended waveguide at the connection parts is enlarged, the optical mode can be well limited in the waveguide, and the influence of the support tether on the optical mode is minimized. The tapered part of the connection part ensures the singularity of the mode in the process of light field transmission and slows down the change trend of the width of the suspended waveguide, which is beneficial to reduce the scattering loss and further increase the quality factor. The connection part arranged on one side can ensure that the gap width between the suspended waveguide and the optical cavity is constant, thereby ensuring the optimal coupling efficiency.

A millimeter wave radar-IMU pose parameter calibration method, comprising: collecting multiple sets of IMU and radar point cloud data on a grid plate, and accumulating multiple frames of point clouds in front and back; for point clouds with unchanged IMU attitude or position, point cloud registration is performed relative to the origin, the relative pose of the radar is calculated, the corresponding IMU data is obtained, and the relative pose of the IMU is calculated; based on the degenerated hand-eye calibration algorithm, a least squares loss function is constructed for the two types of relative poses in turn, and the initial values of the rotation and translation parameters are optimized; the point clouds with changing IMU poses are projected to multiple centers, the center point clouds are characterized by four-dimensional normal distribution, a re-projection error loss function of points and distribution characteristics is constructed, and the final parameter values are optimized. It solves the problem of missing IMU odometry or difficulty in fully rotating the body during calibration, and also proposes a millimeter wave radar point cloud registration method, which improves the adaptability of the millimeter wave radar-IMU system in sensor parameter calibration.

The embodiment of the utility model provides a synchronous belt motor double-rotating-arm structure, and relates to the technical field of 3D metal printing. The double-rotating-arm structure of the synchronous belt motor comprises mounting rotating discs, tooth grooves are formed in the outer walls of the two mounting rotating discs, tooth-shaped belts are connected to the surfaces of the tooth grooves in a meshed mode, belt wheels are connected to the interiors of the tooth-shaped belts in a meshed mode, rotating rods are fixedly installed at the bottom ends of the two belt wheels in a penetrating mode, and driving equipment is fixedly installed at the bottom ends of the rotating rods. And the driving equipment is mounted in the mounting frame. By driving operation driving equipment, driving a rotating rod to rotate and then driving belt wheels to rotate, the two belt wheels are meshed to drive a tooth-shaped belt and a tooth groove to rotate, then the tooth groove drives a mounting rotating disc to rotate, and therefore an arm body is driven to rotate and swing, and double-rotation synchronous rotation on the two sides is achieved through the two tooth-shaped belts; practicality of synchronous double-rotation is promoted, and singleness is reduced.