30results about How to "Solve the problem of low control accuracy" patented technology

The invention discloses an efficient and convenient and quick simple robot calibrating method, and relates to the field of robot zero position calibration. The robot calibrating method comprises the following steps that 1) keeping cuspidal points of measuring tools opposite all the time after the mounting is completed, manually teaching a robot, and recording corresponding joint data and joint axis data of N points; 2) constructing homogeneous matrices of various axes according to the joint axis data, and then multiplying the homogeneous matrices in sequence, thus obtaining an overall homogeneous matrix; 3) giving basic data, and constructing a positive movement homogeneous matrix based on the overall homogeneous matrix; and 4) adding the joint data to a given error parameter, thus obtaining a joint angle matrix, and substituting the joint angle matrix in the positive movement homogeneous matrix for optimizing, thus obtaining an error, and then compensating the error to a robot zero position, thus completing the calibration. The problem that the robot control precision is low due to the fact that a calibration instrument and software combined process adopted for existing zero position calibration is complicated in procedure and high in cost and the zero position calibration practicability of a calibration instrument and software is poor is solved, and the effects that zero position calibration by pure software is realized, the practicability is improved and precision control is realized are achieved.

The invention provides a measurement parsing method and apparatus of autonomous landing of an unmanned aerial vehicle, and a control method and apparatus of autonomous landing of an unmanned aerial vehicle. The measurement parsing method comprises: three-dimensional image information of a to-be-landed region is obtained; according to the three-dimensional image information of the to-be-landed region, relative position information is obtained, wherein the relative position information is information of relative positions of an unmanned aerial vehicle and a to-be-landed point at the to-be-landed region; and on the basis of the relative position information, a landing point of the unmanned aerial vehicle at the to-be-landed region is determined. With the methods and apparatuses, the landing control precision of an unmanned aerial vehicle is improved.

The invention discloses a valveless hydraulic servo synchronous system. Multiple oil paths are adopted, sensors are adopted on multiple branches to carry out data collection on the speed, the pressure and the displacement, and auxiliary controllers on the oil paths are used for analyzing the data and transmitting the data to a master controller. The master controller carries out the comparison and then feeds the data back to the auxiliary controllers. The auxiliary controllers act on servo motors and pumps, and generated desynchrony is adjusted. The valveless hydraulic servo synchronous system is high in control precision and efficiency.

The invention relates to a computer room environment control system. The system comprises a monitoring module, a computer room control module and an air conditioning unit. The monitoring module and the air conditioning unit are both connected with the computer room control module. The monitoring module is used for obtaining multiple computer room state parameters and sending the computer room state parameters to the computer room control module, wherein the computer room state parameters are parameters representing the running state of a computer room. The computer room control module is usedfor obtaining the computer room state parameters of the monitoring module and is further used for comprehensively evaluating the computer room state parameters, determining a demanded refrigerating amount for the computer room, generating a refrigerating control instruction for the demanded refrigerating amount, and sending the refrigerating control instruction to the air conditioning unit. The air conditioning unit is used for receiving the refrigerating control instruction of the computer room control module and regulating the refrigerating power according to the refrigerating instruction toregulate the indoor temperature of the computer room. By means of the system, the environment of the computer room can be precisely controlled.

The invention belongs to the field of low-temperature sterilizing devices, in particular to a multi-zone separately controlled plasma sterilizer which comprises two or more internal chambers and a vacuum system. Each internal chamber is connected with the vacuum chamber through a pipeline, and a connecting pipe between each internal chamber and the vacuum system is provided with a control valve. The invention overcomes the defect that the plasma sterilizer in the prior art can not meet the requirement of larger scale application, and has the advantages of low cost, convenient and flexible use and wide application range.

The invention discloses an uncertain system model predictive control parameter setting method based on machine learning. The method comprises the steps of 1) obtaining an m-dimensional output weight matrix Q and an n-dimensional input weight matrix R in a cost function of system model predictive control; (2) obtaining an output sequence and mn*L3 groups of performance indexes, wherein each group of performance indexes is a group of column vectors constructed by output overshoot and adjustment time, worst overshoot and worst adjustment time are respectively solved for each group Q and R, and then the solved worst overshoot and worst adjustment time are stored in a matrix F; 3) constructing an RBF neural network, and calculating an optimal performance index by using the established RBF neural network; 4) constructing a BP neural network, and solving a performance label by using the BP neural network; and 5) taking the performance label as an optimization basis, and adopting a PSO optimization algorithm to adjust the predictive control parameters of the uncertain system model, so that the method can more accurately set the predictive control parameters of the uncertain system model.

The invention discloses a sensing and heating method of high-magnetic induction oriented silicon steel, which belongs to the technical field of the heating of roll steel. The sensing and heating method comprises following steps that a high-magnetic induction oriented silicon steel plate blank is placed into a sensing and heating furnace to be controlled and heated in stages, basic voltage is set by an inverter on a starting heating stage, constant-voltage rapid heating is conducted, then a variation relation between the temperature of the plate blank and the voltage of the inverter is established, a temperature increase curve of the plate blank is set, closed-loop temperature increase is conducted by a temperature closed-loop controller according to the temperature increase curve, finally the closed-loop soaking control is conducted by adopting a variable-voltage temperature closed-loop controller, and the maximal soaking time is not greater than 30min. The stable and precise control of the temperature is fed back by a radiation high-temperature gauge through a temperature filter control technology in the heating process of the plate blank. Due to the adoption of the sensing and heating method, the problem that the control precision is not high under the temperature open-loop control mode and the control disturbance problem caused by the abnormal fluctuation of the temperature of the high temperature gauge occurred in the heating process can be effectively solved.

The invention relates to a vehicle carbon tank washing method and device and a vehicle which are provided for solving the problem that the control accuracy of carbon tank washing is not high in the related technology. The vehicle carbon tank washing method comprises the steps of detecting whether the concentration of oil vapor in a gas outlet pipe communicating with a gas outlet joint of a carbontank exceeds the preset value or not; determining that the vehicle is in a washing condition when the concentration of the oil vapor exceeds the preset value; and turning on a valve on the gas outletpipe to wash the carbon tank.

A position follow-up control method and system based on electromagnetic switch valves. The method comprises the steps that a position setting value S is set; the actual position value F of an actuating mechanism is detected in real time; a time cycle T1 and a time cycle T2 are set; the opening time t1 of the forward electromagnetic switch valve in T1 and the opening time t2 of the reverse electromagnetic switch valve in T2 are set; a switching control mode error variable E1 is set, a system control allowable error variable e is set, the position setting value S and the actual position value F of the actuating mechanism are received in real time, the difference value E=S-F between the position setting value S and the actual position value F of the actuating mechanism is calculated in real time, and a control instruction is sent out according to the plus or the minus of the difference value E and the magnitude of the absolute value of the difference value E; the control instruction is adopted for controlling the actuating mechanism to achieve the motion displacement. The system comprises a position setting device, a detection sensor, a controller and a control actuating device. Accurate control over positions is achieved, and the control oscillation phenomenon in the electromagnetic switch valve follow-up control technology is effectively avoided.

The invention discloses a control method and a control device for a two-stage gas replenishing and enthalpy increasing system. The control method comprises the following steps of acquiring a target gas replenishing temperature of the two-stage gas replenishing and enthalpy increasing system, wherein the target gas replenishing temperature is determined on the basis of evaporation temperature and condensation temperature of the two-stage gas replenishing and enthalpy increasing system and operation frequency of a compressor; and adjusting the opening degree of an electronic expansion valve of the two-stage gas replenishing and enthalpy increasing system based on the target gas replenishing temperature and current gas replenishing temperature of the two-stage gas replenishing and enthalpy increasing system. According to the control method and the control device disclosed by the invention, the technical problem of low control accuracy of the two-stage gas replenishing and enthalpy increasing system in the prior art is solved.

The present invention provides an intelligent sound control obstacle avoidance dolly based on a single-chip microcomputer and a control method thereof. The intelligent sound control obstacle avoidancedolly is formed by a dolly main controller and a sound control remote control. The sound control remote control receives an instruction emitted by an operator, performs corresponding identification,displays a speech identification result through a LCD display circuit, and sends the speech identification result to the dolly main controller through a wireless receiving and dispatching module. Thedolly main controller receives an instruction sent by the sound control remote control through the wireless receiving and dispatching module, corresponding operation is executed after determination, corresponding prompting is performed through a speech play module, a related instruction is sent to the sound control remote control through the wireless receiving and dispatching module, and the soundcontrol remote control controls a LCD display circuit to perform display of corresponding prompting information. The problems are solved that a traditional method is not high in control precision, easy to generate false action and misoperation, the intelligence degree is higher, interaction with the operator is achieved through speech and character display modes to allow the operator to enjoy happiness brought by the music when the operator performs cycle racing.

The invention discloses a damping type valveless hydraulic synchronous servo system, wherein a valveless system formed by combination of a servo motor and a variable pump is adopted to drive multiple hydraulic cylinders on a valveless hydraulic parallel synchronous loop, a sensor is adopted for each parallel branch to carry out data collection on speed, pressure and displacement, and a controller is used for carrying out contrastive analysis on data; in each parallel branch, a hydraulic cylinder on a first branch is a target cylinder, hydraulic cylinders on the rest branches are follow-up cylinders, frictional resistance devices are additionally arranged at the covers of the follow-up cylinders, and the movement speed of the output end of each cylinder is adjusted by the frictional resistance devices, so as to realize synchronization of displacement, speed and pressure. The system disclosed by the invention is environment-friendly and energy-saving, simple to operate and high in control precision.

The invention provides a method, device and system for controlling a transportation tool. The method comprises: a first signal is sent to a region in which a transportation tool is located; a second signal that is sent by a target object in the region in which the transportation tool is located by responding to the first signal is received, wherein the second signal carries feature information ofthe target object; according to the first signal and the second signal, first location information of the target object is obtained; and the driving of the transportation tool is controlled based on the first location information and the feature information. Therefore, a problem of low control precision of the transportation tool during automatic driving is solved; and thus an effect of improvingthe control precision of the transportation tool during automatic driving is realized.

The invention discloses a control method and a device for a two-stage gas-supplementing and enthalpy-increasing system. Wherein, the control method includes: obtaining the target air supplement temperature of the two-stage air supplement enthalpy increasing system, wherein the target air supplement temperature is determined based on the evaporation temperature, the condensation temperature and the operating frequency of the compressor of the two-stage air supplement enthalpy increasing system; The target air supply temperature and the current air supply temperature of the two-stage air supplement enthalpy increasing system are used to adjust the opening degree of the electronic expansion valve of the two-stage air supplement enthalpy increasing system. The invention solves the technical problem of low control precision of the two-stage air supplement enthalpy increasing system in the prior art.

The invention provides a hydraulic support pushing jack for a half-well cutting coal-mining process. The hydraulic support pushing jack for the half-well cutting coal-mining process comprises a commonfoundation and two jack sets mounted on the basis of the common foundation. Oil paths of the two jack sets are independent from each other, and the two jack sets extend towards the two ends by takingthe common foundation as the center and are arranged on one straight line. The far ends of the two jack sets are connecting lugs, and the two ends of the common foundation are constitution componentsof the two jack sets correspondingly. The hydraulic support pushing jack for the half-well cutting coal-mining process achieves half-travel pushing and full-stroke support pulling from the structurallevel, and remarkably improves the control precision.

The invention discloses a method for setting parameters for predictive control of uncertain system model based on machine learning, comprising the following steps: 1) obtaining an m-dimensional output weight matrix Q and an n-dimensional input weight matrix R in the cost function of the system model predictive control; 2) Obtain the output sequence and mn×L 3 Group performance indicators, in which each group of performance indicators is a set of column vectors constructed from the output overshoot and adjustment time. For each group Q and R, the worst overshoot and worst adjustment time are obtained respectively, and then the The worst overshoot and worst adjustment time taken are stored in the matrix F; 3) Build an RBF neural network, and then use the established RBF neural network to calculate the optimal performance index; 4) Build a BP neural network, and then use the BP neural network to find Take the performance label; 5) Using the performance label as the basis for optimization, the PSO optimization algorithm is used to adjust the model predictive control parameters of the uncertain system. This method can more accurately realize the setting of the model predictive control parameters of the uncertain system.

An accurate air-conditioner control module comprises a programmable digital direct controller, compressor refrigerating circle, electric heating PTC, electrode humidifier. Set a sole value in the programmable digital direct controller corresponding to a temperature, humidity and controllable accuracy. The temperature and humidity value from the sensor will be compared to the set value in the digital direct controller to calculate and output a PID. When the difference is small, the air-conditioner system will start heating and de-humidifying and low grade cooling. When the difference is big, the compressor starting times and numbers will be decided by the output value from the digital director controller.

The invention discloses a four-flexible-cable traction parallel actuator motion attitude control method based on rope length prediction, and the method comprises the steps: S1, obtaining the theoretical rope length of four ropes moving to a track coordinate point according to the track coordinate point of a parallel actuator and the coordinates of the traction parts of the four ropes; s2, obtaining a theoretical rope length set of the rope; s3, acquiring a rope length set in an actual tightening state corresponding to the theoretical rope length set; s4, acquiring actual track coordinate points of the parallel actuator; and S5, based on the actual track coordinate point of the parallel actuator, predicting the actual length of each rope corresponding to the next track coordinate point by using the rope length set in the actual tightening state. The method has the advantages that the error of the rope is fed back and compensated to prediction by predicting the length of the rope, and the actual length of the rope is corrected, so that the posture control is more accurate; the problem of low control precision caused by suspension is solved, and the target control precision is improved.

The invention relates to the technical field of material conveying, and proposes a horizontal material conveying device, including a material conveying platform and a pushing device arranged on one side of the material conveying platform, the pushing device is used to push materials on the material conveying platform, and the pushing device includes a The telescopic part on the support, the telescopic part includes several telescopic arms with different diameters, the telescopic arm with the largest diameter is the connecting arm, the telescopic arm with the smallest diameter is the push arm, and the other telescopic arms are the transmission arms, the first driving mechanism passes through the sprocket After driving the rigid chain to move, the encoder collects the rotation information of the sprocket, the rigid chain drives the push arm and the transmission arm to move in sequence, the rigid chain extends in the horizontal downward direction, and the brackets are rotated and set at the end of the telescopic direction of the telescopic arms at all levels , the rigid link is lapped on the bracket, and the push plate is arranged at the end of the push arm through a push-pull force sensor. The above technical solution solves the problem of low material position accuracy when the material is transported by the conveying device in the related art.

The invention discloses a sensing and heating method of high-magnetic induction oriented silicon steel, which belongs to the technical field of the heating of roll steel. The sensing and heating method comprises following steps that a high-magnetic induction oriented silicon steel plate blank is placed into a sensing and heating furnace to be controlled and heated in stages, basic voltage is set by an inverter on a starting heating stage, constant-voltage rapid heating is conducted, then a variation relation between the temperature of the plate blank and the voltage of the inverter is established, a temperature increase curve of the plate blank is set, closed-loop temperature increase is conducted by a temperature closed-loop controller according to the temperature increase curve, finally the closed-loop soaking control is conducted by adopting a variable-voltage temperature closed-loop controller, and the maximal soaking time is not greater than 30min. The stable and precise control of the temperature is fed back by a radiation high-temperature gauge through a temperature filter control technology in the heating process of the plate blank. Due to the adoption of the sensing and heating method, the problem that the control precision is not high under the temperature open-loop control mode and the control disturbance problem caused by the abnormal fluctuation of the temperature of the high temperature gauge occurred in the heating process can be effectively solved.

The invention discloses a damping type valveless hydraulic synchronous servo system, wherein a valveless system formed by combination of a servo motor and a variable pump is adopted to drive multiple hydraulic cylinders on a valveless hydraulic parallel synchronous loop, a sensor is adopted for each parallel branch to carry out data collection on speed, pressure and displacement, and a controller is used for carrying out contrastive analysis on data; in each parallel branch, a hydraulic cylinder on a first branch is a target cylinder, hydraulic cylinders on the rest branches are follow-up cylinders, frictional resistance devices are additionally arranged at the covers of the follow-up cylinders, and the movement speed of the output end of each cylinder is adjusted by the frictional resistance devices, so as to realize synchronization of displacement, speed and pressure. The system disclosed by the invention is environment-friendly and energy-saving, simple to operate and high in control precision.

A position follow-up control method and system based on electromagnetic switch valves. The method comprises the steps that a position setting value S is set; the actual position value F of an actuating mechanism is detected in real time; a time cycle T1 and a time cycle T2 are set; the opening time t1 of the forward electromagnetic switch valve in T1 and the opening time t2 of the reverse electromagnetic switch valve in T2 are set; a switching control mode error variable E1 is set, a system control allowable error variable e is set, the position setting value S and the actual position value F of the actuating mechanism are received in real time, the difference value E=S-F between the position setting value S and the actual position value F of the actuating mechanism is calculated in real time, and a control instruction is sent out according to the plus or the minus of the difference value E and the magnitude of the absolute value of the difference value E; the control instruction is adopted for controlling the actuating mechanism to achieve the motion displacement. The system comprises a position setting device, a detection sensor, a controller and a control actuating device. Accurate control over positions is achieved, and the control oscillation phenomenon in the electromagnetic switch valve follow-up control technology is effectively avoided.

The invention relates to a pan-tilt camera rotation control method, a pan-tilt camera and an electronic device. The working modes of the pan-tilt camera comprise a standard control mode and a program control mode. In the standard control mode, the allowable horizontal rotation range of the pan-tilt camera is a standard horizontal rotation range, and in the program control mode, the allowable horizontal rotation range is a preset horizontal rotation range. The control method comprises the following steps that in a standard control mode, the pan-tilt camera is controlled to horizontally rotate within a standard horizontal rotation range; the standard horizontal rotation range is smaller than or equal to 360 degrees; under the condition that the first switching information is received, the standard control mode is switched to the program control mode; and in the program control mode, the pan-tilt camera is controlled to horizontally rotate within a preset horizontal rotation range, and the preset horizontal rotation range is larger than 360 degrees. The problem that the control accuracy of the rotation of the pan-tilt camera is low is solved, and the control of the pan-tilt camera with large-angle rotation is realized.

The invention provides a measurement and analysis method and device for autonomous landing of an unmanned aerial vehicle, as well as a control method and device. The measurement and analysis method for the autonomous landing of the UAV includes: obtaining stereoscopic image information of the area to be landed; obtaining relative position information according to the stereoscopic image information of the area to be landed, wherein the relative position information is the UAV and the Information about the relative position of the to-be-landed point in the to-be-landed area; determining the landing point of the UAV in the to-be-landed area according to the relative position information. Through the invention, the landing control precision of the drone is improved.

The invention discloses an efficient and convenient simple robot calibration method, which relates to the field of robot zero calibration; it comprises the following steps: 1) After installation, always keep the point of the measurement tool facing each other, manually teach the robot, and record the joints corresponding to N points data and joint axis data; 2) Construct a homogeneous matrix of each axis according to the joint axis data and then multiply them in sequence to obtain the overall homogeneous matrix; 3) Given the basic data, construct a forward motion homogeneous matrix based on the overall homogeneous matrix; 4 ) by adding the given error parameters to the joint data to obtain the joint angle matrix, and substituting it into the positive motion homogeneous matrix to obtain the error, and compensating it to the zero position of the robot to complete the calibration; The combination of instruments and software is complicated and costly, which leads to poor practicability of zero calibration, which leads to the problem of low robot control accuracy. It achieves zero calibration with pure software, improves practicability and achieves precise control.

The invention discloses an accelerator motor control system closed-loop control parameter continuous continuation method, which comprises the following steps: based on an incremental PID closed-loop control algorithm, introducing a novel B-spline basis function, firstly, selecting representative valve opening and closing angles as typical nodes according to output characteristics of different motor control systems or different applications, and carrying out continuous continuation on the valve opening and closing angles; a plurality of corresponding discrete PID control parameters are obtained through a transfer function model and output error control of an accelerator motor control system, the PID control parameter is the PID control parameter of the ith node, a piecewise continuous PID function is obtained through a novel B-spline basis function, then the range interval of the typical working condition where the current working condition of the control system is located is determined, and the current working condition of the control system is determined. And determining the position of the function and obtaining corresponding closed-loop control P, I and D parameters so as to accurately control any working condition of the stepping motor. According to the method, the problem of low control precision caused by simplification of PID control parameters of a traditional accelerator motor stepping motor control system under all working conditions is effectively solved, and the accuracy and efficiency of PID control parameter fitting shape and curvature adjustment are improved.

The invention relates to an intelligent reversal control system and method based on a single-chip microcomputer. The system comprises the single-chip microcomputer having the SCI communication function, a power supply circuit, a crystal oscillator circuit, a reset circuit, an ultrasonic distance measuring sensor, a voice prompt circuit and an LCD display circuit, wherein the single-chip microcomputer having the SCI communication function is connected with the power supply circuit, the crystal oscillation circuit, the reset circuit, the ultrasonic distance measuring sensor, the voice prompt circuit and the LCD display circuit. The system is advantaged in that not only can a problem of low control precision of a traditional reversing control system be solved, but also the system has the higher intelligence degree, the closest distance from a vehicle body to an obstacle can be promptly indicated by means of voice and text display, moreover, functions of alarm and corresponding prompt fornext operation of a driver are further achieved.

The invention discloses a dual-three-phase permanent magnet synchronous motor control method for alternately executing sampling and control programs, and belongs to the technical field of power generation, power transformation or power distribution. By alternating the sampling time of the two sets of windings of the motor, the loading vector time and the reference value tracking time with half the sampling period, the present invention doubles the equivalent sampling frequency of the motor control system without changing the sampling frequency of a single set of three-phase windings. times, the control delay and prediction time span are halved. In addition, the present invention uses a two-layer model predictive control strategy to solve the problem of under-actuation in which the controlled dimension of the system is reduced to two dimensions and the control target is still four dimensions caused by the dual three-phase permanent magnet synchronous motor control method that alternately executes sampling and control programs . The dual-three-phase permanent magnet synchronous motor control method that alternately executes sampling and control programs provided by the invention effectively improves the steady-state and dynamic control performance of the dual-three-phase permanent magnet synchronous motor system, and reduces the calculation amount of the control algorithm.