11results about How to "Strongly nonlinear" patented technology

A three-terminal hybrid direct current transmission line protection method based on line mode power characteristics comprises the following steps: building a three-terminal hybrid direct current transmission model, and collecting direct current line mode voltage and line mode power signals by analyzing fault characteristics of different fault areas; calculating the line mode power break variable, the line mode power high-frequency energy and the voltage break variable of the measurement point during the fault as fault characteristic quantities; building a BiTCN network fault identification model, and carrying out offline training and online verification on the BiTCN network fault identification model; and taking the fault characteristic quantity as an input quantity of a BiTCN network fault identification model, taking the fault type as an output quantity, and constructing a line protection criterion based on the BiTCN network fault identification model. According to the method, the input characteristic quantity of the BiTCN network model is identified by analyzing the line mode power characteristics when the three-terminal hybrid direct current transmission line fails, and the difficulty of manual threshold setting can be avoided. And the output of the model can be more easily associated with the input sequence, so that the calculation efficiency is higher, and the protection speed is improved.

The invention discloses an underwater robot motion control method based on fuzzy active disturbance rejection control. As the basis of underwater robot motion control research, firstly, a kinetic model is established for an underwater robot; and then an active disturbance rejection controller is used as a basic controller. In order to avoid the problems of phase lag and long adjustment time caused by a tracking differentiator, the linear active disturbance rejection controller designed by the invention does not use the tracking differentiator (TD), and only keeps a linear extended state observer (LESO) and a linear state error feedback rate (LSEF). Finally, in order to adapt to the problem that the underwater robot faces control model change when executing different operation tasks, a fuzzy controller is added on the basis of the improved linear active-disturbance-rejection controller, parameters in the linear active-disturbance-rejection controller are dynamically adjusted through a fuzzy inference rule, and therefore the control model change is avoided. Therefore, optimal control parameters can be adjusted for robot motion control under different conditions.

The invention relates to a preparation method of an interskeletal fitting type stretchable knee pressure testing gasket, and belongs to the field of biomechanical measurement. According to the knee pressure testing gasket, the unique paper-cut conformal design is adopted, and the shape and the notch are specially designed, so that the gasket can be flexibly stretched during installation and perfectly fit the bone contour of a patient. By means of the design, the measurement precision and reliability are greatly improved, and guarantee is provided for the success rate of an operation. The method for designing the knee pressure measuring gasket in the operation through the paper-cut (Kirgami) conformal technology is an innovative method, and the fitness and flexibility of the gasket can be improved. According to the paper-cut technology, a structure capable of being unfolded and bent is formed through precise cutting in materials, and therefore the materials can better adapt to complex shapes. And finally, preparing the interosseous fitting type stretchable knee pressure testing gasket by combining paper-cut design with femtosecond laser-induced carbonization processing.

The invention discloses a three-phase electrode current preset time intelligent loop control method for an electric smelting furnace for magnesia, which specifically comprises the following steps: 1) selecting the electric smelting furnace for magnesia as a research object and analyzing the characteristics of equipment, and taking the electric smelting furnace as a representative as the production index of the smelting process of major energy-consuming equipment in the smelting process, namely the electric energy consumed by each ton of qualified products, namely the unit energy consumption; (2) controlled objects of a control system of the electrical smelting furnace for magnesium comprise unit energy consumption of the electrical smelting furnace for magnesium and three-phase electrode current of the electrical smelting furnace for magnesium, the controlled quantity is the rotating speed and direction of a three-phase dragging motor of the electrical smelting furnace for magnesium, and the unit energy consumption of a product is directly influenced by the magnitude and the stability degree of the three-phase electrode current value in the smelting process; and (3) analyzing the relationship between the three-phase electrode current of the electric smelting magnesium furnace and the rotating speed of the three-phase dragging motor, and calculating the rotating speed of the three-phase dragging motor according to the deviation between the actual three-phase electrode current value and the three-phase electrode current set value under the heating and melting working condition. A preset time consistency control algorithm based on self-adjusting gain is adopted to obtain the rotating speed and direction of the three-phase dragging motor under the heating and melting working condition; and (4) adjusting parameters of the preset time consistency control scheme in the step (3), performing preset time algorithm verification, and performing corresponding comparison with a PID algorithm of a traditional control method.

The present application belongs to the technical field of grinding processing, and discloses a control method of a point cloud polishing remote control system based on a sliding mode and adaptive control. The control method comprises the following steps: S1, establishing a dynamic equation of the remote control system to obtain control equations of a master robot and a slave robot; S2, performing point cloud scanning on a weld to be polished to obtain corresponding point cloud data, calculating the depth gradient, dexterity and stiffness of each point in the point cloud data, setting a starting point and an ending point of polishing, and planning an optimal polishing path; and S3, inputting the control equations obtained in step S1 and the optimal polishing path obtained in step S2 into a controller to control the slave robot to polish. Through the present application, the accuracy of the control algorithm and the optimization of the point cloud path search are combined, and the efficiency of remote operation control under polishing conditions is improved.

A wireless sensing system powered by a quasi-2D tension-compression mode piezoelectric energy harvester relates to the technical field of Internet of Things power system design. An elastic beam is horizontally fixed between the supports on both sides of the base, a mass unit is fixed at the center of the elastic beam, and piezoelectric composite units are symmetrically installed on the elastic beam at both sides of the mass unit. The piezoelectric composite unit includes two layers of cymbal structure and a piezoelectric ceramic sheet sandwiched and bonded therebetween. The piezoelectric composite unit is fixed between the fractures at the corresponding positions of the elastic beam in the tensile direction. The micro-energy management module rectifies and stores the AC power generated by the piezoelectric composite unit to provide power for the Internet of Things module, and the Internet of Things module performs wireless broadcasting. The piezoelectric composite unit is used as the main body to generate electrical energy during vibration and is integrated with wireless sensor technology to replace traditional batteries as power supply, which is conducive to improving space utilization and energy density.

The invention belongs to the technical field of power supply, and particularly relates to a self-adaptive dynamic partition type control method and system for an energy storage power supply bus. According to the bus voltage stability control requirement of an energy storage power supply system, actual compensation is carried out on bus current and voltage measurement values through an electrical parameter perturbation dynamic estimator, and a bus voltage control law v is designed by adopting a multi-state dynamic combination function, a softening factor rho and a switching gain function K; the optimal control parameters are adaptively optimized by adopting the softening factor characteristic partition controller g (rho) and the switching gain function characteristic partition controller j (K), so that the energy storage access power converter is ensured to be in the optimal working state, the stability and the anti-interference capability of the bus voltage are improved, and the method has the advantages of being adaptive, strong in robustness, high in stability, easy to implement and the like.

The present invention discloses a pneumatic vibration absorbing multi-energy-consuming breeze vibration suppression device for a cable or rod structure, comprising a bearing, a first rubber layer, a rubber gas spring, a dynamic vibration absorber and a spoiler. The bearing is fixed on the surface of the cable or rod structure, and the first rubber layer is fixed on the outer ring surface of the bearing along the circumferential direction of the bearing; the rubber gas spring is wrapped on the surface of the first rubber layer along the circumferential direction of the first rubber layer, the dynamic vibration absorber is fixed on the surface of the rubber gas spring along the annular direction of the rubber gas spring, and the spoiler is fixed on the outer ring surface of the dynamic vibration absorber along the radial direction.

The present invention discloses a method for estimating parameters of a cobalt removal process in a hydrometallurgical zinc smelting process based on UKF theory. The parameter estimation described in the method includes the following steps: 1) collecting data and preprocessing data; 2) establishing a model; 3) constituting a model parameter estimation algorithm for a cobalt removal process; 4) performing simulation to find the estimated optimal parameters; 5) according to the discretized state equation and measurement equation, adopting a proportional correction symmetric sampling strategy to obtain a UKF recursive formula for estimating unknown parameters; 6) verifying the validity of the parameter estimation model through numerical calculation and comparison with the corresponding output data in the actual production process. The present invention can accurately estimate the unknown parameters in the cobalt removal process model and predict the ion concentration. The prediction accuracy is high and the method is effective.

The invention discloses a grid-connected equipment harmonic disturbed emission iteration method and system based on small signal increment. The method comprises the following steps: listing a voltage and current relation equation required for calculating harmonic current; representing related data variables of an initial steady-state working point of a typical photovoltaic grid-connected inverter structure by using a steady-state component and a small signal component; substituting the steady-state component and the small signal component for representation to obtain a system small signal linearization equation; substituting the small signal component into a small signal linearization equation of the system to obtain an invariant equation set during small signal linearization; dividing background harmonic voltage in the power grid voltage into small disturbances of multiple stages, and determining the amplitude of Vgn; superposing a result into a steady-state component to update a steady-state working point to obtain a small signal linearization time-invariant equation set required for solving in the next stage; continuously updating the steady-state working point and the equation set until the applied background harmonic voltage is updated to be the same as the set target; and the amplitude and phase of each output current harmonic wave are obtained.

The present invention proposes a simulation method for a tracked vehicle on-board servo system considering torsion axis constraints. First, based on the RecurDyn simulation platform, a dynamic model of the vehicle body system during movement is established. Then, the dynamic model is used as the control subject, combined with the Matlab\Simulink algorithm module, to establish a tracked vehicle servo system model. Finally, a joint simulation is performed based on the established RecurDyn model and the Simulink tracked vehicle on-board servo system. The multi-body system dynamics model and the input and output interfaces of the tracked vehicle on-board servo system are jointly simulated, and a joint simulation model of the mechatronics of the tracked vehicle is established by combining the dynamic model and the tracked vehicle on-board servo system. This joint simulation model can provide a more realistic tracked vehicle operation condition. The controller designed based on this is more practical and has a wide range of usage scenarios.