748results about How to "Resolve failure" patented technology

The invention provides a baseline updating method. The baseline updating method includes: detecting a first frame capacitance value; setting a baseline according to the first frame capacitance value; detecting a current capacitance value of a touch screen, and calculating a difference value between the capacitance value and the baseline; when the difference value between the capacitance value and the baseline is smaller than a negative noise threshold, starting a first timer for timing; if the difference values within a first time range are smaller than the negative noise threshold, updating the baseline according to the capacitance value to activate an extreme value recovery function of the baseline; judging whether the touch screen is touched or not according to the difference value between the current capacitance value and the updated baseline; and if judgment shows that the touch screen is touched, deactivating the extreme value recovery function of the baseline to enable the baseline not to be updated when the difference value between the current capacitance value and the updated baseline is smaller than the negative noise threshold again. By the aid of the baseline updating method in the embodiment, the touch screen is applicable to various operating environments while the operating speed of the touch screen is unaffected, and a certain waterproof effect can be achieved.

The invention discloses an inertial vision integrated navigation method based on an optical flow method, relates to an inertial vision integrated navigation method, and has the purpose of solving theproblems that the navigation information is inaccurate due to cumulative errors caused by the existing inertial navigation working for a long time, a mask interruption or an excessive dynamic error may happen when the existing satellite navigation is indoor or shielded by a building, and the algorithm of the existing vision navigation is complex and susceptible to camera pose, illumination changes, image noise and the like. The method comprises the following processes: 1, defining a coordinate system; 2, carrying three sensors of an IMU (Inertial Measurement Unit), a camera and an altimeter onthe drone to obtain two-dimensional optical flow data; 3, obtaining the position of the drone in the world coordinate system; 4, performing inertial navigation according to the IMU measuring information to calculate the position and attitude of the drone in the world coordinate system; and 5, obtaining the position and attitude information of the merged drone in the world coordinate system. The method is used in the technical field of autonomous navigation of drones.

The invention relates to an ecological diatom ooze decorative wall material, which belongs to the technical field of the research and development of diatom ooze decorative wall materials. The ecological diatom ooze decorative wall material is formed by mixing diatomite, inorganic pigments, calcined zeolite, ethylene vinyl acetate re-dispersible rubber powder, attapulgite powder, tourmaline-loaded nanometer titanium dioxide, polyester fibers, adipic acid dihydrazide and the like. The main functional component of the wall material is the diatomite, and since the diatomite has a porous structure and a heat-insulation and heat-preserving function, the relative humidity of an indoor space can be automatically adjusted to 40 to 70 percent. Anion generated by utilizing the tourmaline-loaded nanometer titanium dioxide has a sterilizing function, so that the harmful gases can be adsorbed and decomposed; the calcined zeolite is used as aggregate and has a porous structure and large specific surface area, and the function for absorbing and releasing the moisture and purifying the air can be improved. The polyester fibers are used as anti-cracking fibers, so that the strength is enhanced, the anti-cracking capacity is improved, and the mildew can be avoided. The calcium perborate is used as a sterilizing agent and is long-acting and toxic-free. By adopting the ecological diatom ooze decorative wall material, the problems of an existing decorative wall material can be solved. A preparation method of the ecological diatom ooze decorative wall material is simple and easy to implement.

A mobile robot positioning method based on stereoscopic vision specifically comprises the following steps: shooting an image sequence through a binocular camera mounted on a robot; extracting scale invariant features in the stereo image sequence, matching and tracking the features through a circle matching technique; solving rotating translation matrixes among adjacent frames through a unit quaternion method; performing iterative optimization for multiple times through a minimum re-projection error method to obtain an optimal motion parameter. According to the invention, for the condition that the GPS and other traditional positioning methods are in failure in a certain environment, the positioning method based on stereoscopic vision is provided; for the problem that wrong matching easily appears during feature matching, the circle matching technique is provided to match and track the features, so that the accuracy of feature matching is improved; since the unit quaternion method is adopted to solve the rotating translation matrixes, computational accuracy is improved; the minimum re-projection error method is provided finally to obtain the relatively accurate motion parameter by performing iterative optimization for multiple times.

The invention discloses an automatic control system of a gas jet impact drying machine, and belongs to the technical field of drying machines. The system comprises a programmable touch display screen (1), a single chip microcomputer (2), a weighing sensor (8), a temperature and humidity sensor (11), an air inflow / moisture discharging electromagnetic valve (13), a temperature controller (3), a heating pipe (15), a temperature sensor (16), a frequency converter (4) and a centrifugal fan (17). According to the automatic control system, in a drying process, the functions of automatic weighing of materials, moisture content detection, drying temperature precise controlling, drying temperature automatic regulation, drying air speed automatic conversion and the like can be achieved, the problem that the materials need to be weighed relying on manual work when the moisture content in a product is obtained in the drying process is solved, labor intensity of operating staff is reduced, meanwhile the quality of drying products can be effectively guaranteed, and automatic and intelligent level of gas jet impact drying equipment is improved.

The invention discloses a CFD (Computational Fluid Dynamics)-based modeling design method for a nuclear main pump and a designed million-kilowatt-grade nuclear main pump impeller, belonging to the technical fields of design and manufacture of pumps. The CFD-based modeling design method for the nuclear main pump is characterized by comprising four steps of: 1, selecting a model pump impeller satisfying similar conditions with a pre-designed pump impeller according to the design parameters of a million-kilowatt-grade nuclear main pump; 2, calculating size conversion coefficients by utilizing a conventional modeling design formula, and selecting 3-4 different size coefficients within a certain range to convert the model pump impeller; 3, carrying out numerical simulation respectively on the 3-4 pump impellers obtained in the step 2, and carrying out logarithm fitting on a relation between the size coefficients and delivery lift to obtain the nuclear main pump impeller meeting requirements; and 4, optimizing the nuclear main pump impeller obtained in the step 3 to complete the design. The invention has the advantages that the design problem of the high-temperature and high-pressure large-flow million-kilowatt-grade nuclear main pump is solved, and a design process is concise, efficient and controllable.

The invention provides a power system and a power supply redundant control circuit thereof, and relates to the field of power supply circuits. The power supply redundant control circuit comprises a first switch unit, a first undervoltage detection and drive unit, a first overvoltage detection and drive unit, a second switch unit, a second undervoltage detection and drive unit, a second overvoltage detection and drive unit, a first power switch and surge protection unit and a second power switch and surge protection unit. By means of the power supply redundant control circuit, real-time undervoltage and overvoltage detection is carried out on two power supplies, work state monitoring is carried out on an output stage, according to the work state of the two power supplies, seamless power supply switching is achieved so that a load can obtain stable power supply voltage and work normally, and the problems that in the prior art, power cannot be stably supplied to a load, load failure tends to occur, and when the load is short-circuit, failure of multiple power supplies tends to occur are solved.

The invention discloses a medical material intelligent storage system which is connected to a hospital ERP system and a supplier ERP system. The medical material intelligent storage system comprises amain control module and an intelligent cabinet. The main control module is connected to at least one intelligent cabinet through a first wireless communication module. The intelligent cabinet includes an RFID reading and writing module, an image sound collecting module, a temperature and humidity collecting module, a magnetic lock and an interactive touch screen. The main control module includesan RFID tag management module, a voiceprint recognition module, an image processing recognition module and an execution control module. The main control module sends an unlocking instruction, a closing instruction, a cooling instruction, a ventilation instruction, a lighting instruction and / or an alarming instruction to the intelligent cabinet through the execution control module. Based on medicalinstitution material information management / hospital ERP, the functions of automatic replenishment, first-in-first-out and inventory monitoring of medical devices are achieved, the timeliness of thedevices are ensured, the error rate of physical access is reduced, and the hidden risks of medical quality and medical safety are reduced.

The invention discloses a temporal difference radar interference method applicable to large-gradient ground surface settlement monitoring. According to the whole technical scheme, the method comprises the steps of short-time base line difference interference pattern screening, discrete point phase unwrapping, shape changing component modeling and calculation based on short-time base line difference interference patterns, shape changing component reliability testing, difference interference pattern phase gradient correction, iteration of the processes so as to ensure correctness of shape changing component calculation, and shape changing time sequence modeling and calculation based on corrected difference interference patterns. The problem that shape changing phase ambiguity calculation is difficult or fails due to the fact that shape changes and phase gradients are large in an original temporal difference radar interference technology is solved, finally the purpose of correctly extracting the large-gradient ground surface shape changing speed and the shape changing time sequence is achieved, the effect of decreasing the number of synthetic aperture radar images needed by large-gradient shape changing modeling and calculation is achieved, and the temporal difference radar interference application economic cost is reduced.

A marine vehicle utilizing wave energy comprises a water surface platform, an underwater pusher and an umbilical cable connected between the water surface platform and the underwater pusher. The underwater pusher is hinged to a plurality of vibration wings, and each vibration wing is mounted on a rotary shaft and swings around the rotary shaft vertically in a reciprocating manner; the umbilical cable is provided with a rope, a storage battery is arranged on the water surface platform, the water surface platform and the underwater pusher are provided with a water surface wave energy generating device and an underwater wave energy generating device respectively, and the water surface wave energy generating device comprises a link mechanism connected to the rope; under the effect of waves, the rope drives a first rotor to perform reciprocating linear motion relative to a first stator of a first linear motor through the link mechanism; the underwater wave energy generating device comprises a chain connected to rotary wheels of the rotary shafts of the vibration wings in a wrapped manner, when the vibration wings swing around the rotary shafts vertically in a reciprocating manner, the chain drives a second rotor to perform reciprocating linear motion relative to a second stator of a second linear motor. The marine vehicle is capable of implementing pushing and power supplying functions on the basis of wave energy.

The invention relates to a system for detecting the tensioning force of a vertical presstressed reinforcing steel of a concrete box girder bridge web plate, which comprises a reinforced bar, a corrugated sleeve and nuts, wherein the lower part of the reinforced bar is vertically embedded into the concrete box girder bridge web plate and stretched into the vertical presstressed reinforcing steel; the upper part of the vertical presstressed reinforcing steel is provided with an exposed section; the exposed section is provided with an acceleration transducer and an exciter and electrically connected with a data acquisition unit, a notebook computer and a power supply; a signal analysis device which is used for being connected with the data acquisition unit is arranged and operated inside the notebook computer; the exciter obtains a command of the notebook computer to make the exposed section of the vertical tendon vibrate, converts the vibration into the natural frequency of the exposed section of the vertical presstressed reinforcing steel through the signal analysis device, and acquires the tensioning force between two nuts of the vertical presstressed reinforcing steel by application of a calculation relational expression. The detection system overcomes the defect that the prior system for detecting the tensioning force of the vertical presstressed reinforcing steel of a concrete box girder bridge can not meet the demand of on-scene large-area detection of the quality of the tensioning force of the vertical presstressed reinforcing steel, and is suitable for detecting the vertical presstressed reinforcing steel of the large-span prestressed concrete box girder bridge web plate.

A maintenance management system according to the present invention has an electronic device and a database server. In one embodiment of the invention, the electronic device further includes: (1) a log generating unit for collecting states of components and generating a log when a failure is detected during execution of a process; (2) a DB inquiry unit for transmitting the log to the database server and making an inquiry about whether firmware capable of solving the failure exists; and (3) an updating process unit for obtaining firmware capable of solving the failure from the database server and updating firmware in the electronic device with the obtained firmware. In addition, the database server further includes: a storing unit for storing a database having version information of firmware and failure correction information; and an inquiry responding unit for identifying when firmware for solving the failure exists.

The invention provides an adjacent five-vector SVPWM (space vector pulse width modulation) method based on five-phase six-line topology, belongs to the field of motor control, and aims to solve the problem that the control performance of the conventional SVPWM method under a five-phase five-line topology structure is poor. The method comprises the following steps of step 1, as 12 power switch pipes in five-phase six-line topology carrying out SVPWM has 64 switch states, calculating voltage space vectors corresponding to the 64 switch states, and obtaining 64 voltage space vectors; step 2, judging the position of a reference voltage space vector, selecting five adjacent non-zero voltage space vectors and two zero vectors as action vectors according to the position of the reference voltage space vector; step 3, calculating the action time of the action vectors; and step 4, outputting a bridge arm switch signal by adopting a symmetric modulation mode according to the action vectors and the action time, thereby realizing SVPWM.

The invention discloses a video service experience quality identification method based on encrypted traffic data. The method comprises the following steps: acquiring an encrypted traffic file and corresponding event information when a video is played; processing the event information to determine the QoE level of the playing;preprocessing the encrypted traffic file to obtain TCP stream data; constructing an end-to-end deep learning model by taking the QoE grade as a label and the TCP stream data as a feature; The model can identify the QoE level of video playing according to the encrypted traffic file. According to the video QoE level identification method provided by the invention, the video QoE level can be accurately identified, and a fully automatic scheme is provided.

The invention provides a method for solving the failure of the touch screen of a mobile terminal. The method comprises the following steps: starting a mobile terminal, and detecting the work state of the touch screen; when a phenomenon that the work state of the touch screen is abnormal is detected, controlling a voltage supplying module of the mobile terminal to stop supplying power and begin to carry out timekeeping; and when a timekeeping value is greater than or equal to a time threshold value, controlling the voltage supplying module to supply power again to the touch screen. The invention also provides a mobile terminal. The voltage supplying module is added on the mobile terminal to independently supply power to a touch screen control module and the touch screen, data which is not stored can not be lost in a process that the normal work state of the touch screen is recovered, the problem of the failure of the touch screen can be quickly solved, and a situation that a user carries out forced reboot to cause invisible loss when the user waits too long can be avoided.

The invention provides an organic electroluminescence display device, a preparation method thereof and a display device. The organic electroluminescence display device comprises a light emitting area and a peripheral circuit area which surrounds the light emitting area. The light emitting area comprises a cathode, a light emitting layer, an anode and a pixel driving circuit. The peripheral circuit area comprises a first power supply line, a second power supply line and an array substrate line driving circuit. The cathode extends to the peripheral circuit area and is electrically connected with the first power supply line. The organic electroluminescence display device further comprises a protective layer which at least covers a connecting area between the cathode and the first power supply line. Through setting the protective layer, the organic electroluminescence display device, the preparation method thereof and the display device have advantages of effectively reducing cathode bonding resistance, reducing device power consumption, delaying cathode corrosion and improving packaging effect.

The invention discloses an energy dissipation type debris flow check dam combined draining and guiding and blocking. The check dam comprises a dam body foundation and a dam body main body arranged above the dam body foundation, wherein the dam body main body comprises a plurality of buttresses distributed at intervals, a horizontal grille is arranged between each two buttresses, the buttresses extend towards upstream compared with the horizontal grilles, and the height H of the horizontal grilles above ground is in the range of from 0.5 to 1.0 m. The horizontal grilles are hollow, and drain holes are formed in the horizontal grilles and provided with transverse beams and longitudinal beams for supporting. Compared with the prior art, the buttresses are used for supporting the dam body and blocking coarse grain; drain holes are used for draining and guiding water of debris flow passing through the check dam, destroying constitutive property of the debris flow, and avoiding clogging of constitutive property; the horizontal grilles are used for conducting energy dissipation type debris draining and guiding, improving discharge capacity of the dam body, enabling the whole check dam not prone to clogging, improving capacity of resisting secondary debris flow after debris flow discharging once, and meanwhile safety of downstream can be endangered.

The invention discloses a digital micromirror array coding flush three-dimensional imaging method and device. The device comprises a computer, a center controller, a pulse laser, a lighting lens, an imaging lens, a gating shutter, a shaping lens, a digital micromirror array, a coupling lens, an image sensor and a light absorbing board, wherein the center controller is used for generating a coding flash work timing sequence; the pulse laser is used for generating laser pulses; the lighting lens is used for lighting an imaging target in a field of view; the imaging lens is used for collecting a target echo signal formed by the imaging target subjected to irradiation of the laser pulses; the gating shutter is used for collecting and amplifying the target echo signal; the shaping lens is used for performing optical shaping on the target echo signal amplified by the gating shutter and coupling the target echo signal to the digital micromirror array which reflects a part of the target echo signal to the coupling lens and the rest of the target echo signal to the light absorbing board; the coupling lens is used for shaping the target echo signal reflected by the digital micromirror array and coupling the target echo signal to the image sensor which carries out imaging according to the received target echo signal; the light absorbing board is used for absorbing the target echo signal irradiated the light absorbing board.

The invention discloses an over-temperature protection terminal for control of hardware. The over-temperature protection terminal comprises a temperature detection unit, a DC-DC (direct current-direct current) power source chip and a control unit. The temperature detection unit is used for detecting temperature of a to-be-detected system, and converting the detected temperature of the to-be-detected system into a voltage signal. The DC-DC power source chip is used for supplying power for the to-be-detected system. The control unit is used for receiving the voltage signal output from the temperature detection unit and controlling whether to supply power for the to-be-detected system or not. The temperature detection unit, the control unit and the DC-DC power source chip are connected in sequence. The over-temperature protection terminal is used for control of pure hardware, can cut off a main power source of a system directly when the temperature is higher than a preset limit value so as to protect the hardware of the system, and can turn on the power source automatically when the temperature recovers to a reasonable range so that the system can be started to run smoothly and effectively.

The invention discloses an aquaculture feeding system and aims at providing the feeding system capable of effectively solving the problems that feed wastage is caused during feeding of a feeder and the feeder cannot work normally when the feed is damped. The aquaculture feeding system comprises a feed box. An isolating layer is arranged below the top surface of the chamber body of the feed box. A first vertical guide rod is arranged on the lower surface of the isolating layer. A baffle which can move along the first vertical guide rod is arranged below the isolating layer. The buoyancy force of the baffle is larger than gravity force. A plurality of upper discharge holes are arranged on the isolating layer. A plurality of lower discharge holes are arranged on the baffle. The upper discharge holes and the lower discharge holes are distributed in a staggered way. A motor is arranged at the middle part of the upper surface of the isolating layer. A vertical screw is arranged in the chamber body of the feed box. The vertical screw penetrates through the baffle and the isolating layer and is connected with the rotor of the motor. A nut is arranged at the middle part of the baffle and is sheathed on the vertical screw. A coaxial polished rod is arranged at the lower end of the vertical screw. An impeller is arranged at the lower part of the polished rod. A plurality of discharge holes are arranged on the side surface of the feed box relative to the impeller.

The invention discloses a synchronizer gear engagement process control method based on a unilateral pressure control system. On the premise of meeting the power requirement of a driver, according to the conditions of high requirement for matching precision of the synchronizer pressure control logic, differentiation of controlling different boxes through the same matching parameter and the complexity of the actual working conditions, the failure frequency of gear engagement of a synchronizer can be reduced, the working efficiency of the synchronizer is improved, gear engagement impact is small,no obvious noise is generated, the service life of the synchronizer is prolonged, and the method has good engineering practicality.

The invention discloses an autonomic barrier-crossing system for a wheel-track transformer station inspection robot and a control method thereof. The system includes a chassis and a control system. The chassis includes a robot control box body, a crawler belt running unit, a wheel running unit, a barrier-crossing supporting arm unit, and a drive motor set. The crawler belt running unit includes a left running crawler belt and a right running crawler belt. The left running crawler belt and the right running crawler belt are fixed at the two sides of the control box body respectively, and are separately connected to drive motors. The wheel running unit includes a left running wheel and a right running wheel. The running wheels are connected to supporting arm drive motors. The left running wheel and the right running wheel are fixed at the two sides of the control box body respectively. The control system includes an industrial control computer and a sensor set connected therewith. The industrial control computer is connected to multiple motor drivers, and each motor driver is connected to one corresponding drive motor. The autonomic barrier-crossing system can be automatically switched to a wheel type running mode or a crawler belt type running mode on the basis of needs, thereby satisfying inspection demands of a transformer station in different road conditions.

The invention discloses a mobile terminal touch screen firmware restoration method and device. The method includes when a touch screen firmware of a mobile terminal is failed to update, restarting the mobile terminal; reading a pre-stored identifier of the touch screen, and finding out a drive program matching with the touch screen from a drive program structure list according to the identifier; writing firmware data corresponding to the identifier in the drive program into the touch screen; loading the drive program to complete touch screen firmware restoration. Thus, when the mobile terminal is restarted, the touch screen with damaged firmwares can be restored automatically, repairing and returning of the firmwares caused by updating is eliminated, quality of products is improved, and great convenience is brought to users.

The invention discloses a sample pumping and filtering apparatus, which is used for providing a sample pumping and filtering apparatus for automatically removing silt aggregated on the filter blanket surface, and effectively solves the problems that the silts aggregate in the gaps of a filter blanket which are difficult to remove and may cause filter blanket failure. The invention comprises vacuum-pumping equipment, a liquid storage container, an adaptive floating bearing apparatus, and a sample storage cavity, a self-cleaning cavity and a vacuum-pumping cavity which are arranged in the liquid storage container from up to bottom in order; the liquid storage container is provided with an upper and a lower interlayer, and the upper interlayer separates the sample storage cavity and the self-cleaning cavity, and the lower interlayer separates the self-cleaning cavity and the vacuum-pumping cavity. The upper interlayer is provided with a first water through hole. The lower interlayer is provided with a second water through hole, which is internally provided with filter blankets. The vacuum-pumping equipment is communicated with the vacuum-pumping cavity by vacuum-pumping pipeline. The top of the lower interlayer is provided with a vertical drainage channel, and the lateral surface of the liquid storage container is provided with a water outlet channel which is communicated with the vertical drainage channel. The vertical drainage channel is provided with a cylindrical valve core.

A semiconductor device of the present invention comprises a semiconductor chip, metal layers formed on a first main surface of the semiconductor chip, a first conductive layer layered on a second main surface of the semiconductor chip, consisting of a plurality of conductive films, a second conductive layer layered on the metal layer, having a layered structure consisting of a plurality of conductive films formed in the same order as in the first conductive layer as viewed from the semiconductor chip and a third conductive layer layered on the metal layer, having a layered structure consisting of a plurality of conductive films formed in the same order as in the first conductive layer as viewed from the semiconductor chip. The plurality of conductive films comprise a nickel film and a low contact resistance conductive film having contact resistance with the semiconductor chip which is lower than that of the nickel film. The low contact resistance conductive film and the nickel film are formed in this order from the semiconductor chip. With such a structure, a semiconductor device ensuring simplification of its manufacturing process can be provided.

The invention provides a treating method and a treating system for compressor oil return pipeline faults of an air conditioning system. The treating method includes: arranging return oil temperature sensors at the positions, between capillary tubes and corresponding oil-gas separators, on compressor oil return pipelines so as to detect return oil temperature; judging the oil return pipeline faults according to difference value between detected return oil temperature and a system parameter. The treating method is simple, convenient and capable of accurately judging the compressor oil return pipeline faults of the air conditioning system and solving the problem of compressor failure caused by the fact that the oil return pipeline faults cannot be known and a user cannot be warned of inspection and maintenance; the return oil temperature sensors are arranged at the positions, between the capillary tubes and the corresponding oil-gas separators, on the compressor oil return pipelines, so that on one hand, each return oil temperature sensor is kept a distance from the corresponding oil-gas separator, and heat transfer caused by lubricating oil, in higher level, at the bottom of the oil-gas separators is prevented from resulting in an over-high detected value of the return oil temperature; on the other hand, the detected value of the return oil temperature is prevented from being affected by throttling effect of the capillary tubes, and the capillary tubes in different specifications can be adopted compatibly.

The invention provides a package of a shape memory alloy core structure, comprising a substrate, a chip arranged on the substrate, a plastic package material used for packing the chip on the substrate and a shape memory alloy embedded in the substrate. The package with the shape memory alloy embedded in the substrate improves the heat dispersion; due to the deformation of the shape memory alloy in the process of high temperature backflow in a packaging technology, the package can control the deformation direction to be opposite to the deformation directions of the substrate [such as a PCB (printed circuit board)] and the plastic package, thus at least partially restraining and / or offsetting the deformation of the substrate (such as the PCB) at a high temperature, and solving the problem of the packaging structure failure due to the deformation of the substrate and the plastic package at the high temperature.

The invention provides a DOA and frequency combined estimation method based on a structure least square method. The problem that DOA and frequency combined estimation with a traditional ESPRIT algorithm is disabled for coherent signals is solved. Different from a sampling covariance matrix used in the traditional ESPRIT algorithm, a front-and-back average covariance matrix is adopted in the DOA and frequency combined estimation method to replace the sampling covariance matrix, risks generated when the coherent signals are processed with the ESPRIT algorithm are avoided, and meanwhile the problem that the optimal time domain factor is difficult to obtain is solved. Errors of signal subspace are considered, then a rotation invariant equation is solved through an SLS, the signal subspace higher in accuracy is obtained, and robust estimation of the DOA and the frequency of signals is completed.

The invention discloses a reusable vehicle reentry section robust fault-tolerant guidance system and a working method, relates to the technical field of aerospace, can avoid the problems of partial failure, saturation and uncertainty of an actuator control surface in a reusable vehicle reentry gliding process, and has good robust fault-tolerant performance and control precision. According to the system and method, a nonlinear disturbance observer of an attitude angle loop and an angular rate loop and an improved prediction correction guidance law are adopted, the observer is based on the principle of a fast arc tangent tracking differentiator, and the prediction correction guidance law introduces a gain compensation term into a quasi-balanced gliding condition. Besides, an anti-saturationauxiliary structure suitable for a multiple-input-multiple-output system is adopted, variables in the auxiliary structure are introduced into a backstepping method to design a robust fault-tolerant control strategy, and finally closed-loop stability of the system is guaranteed through a Lyapunov method.