986 results about "Angular velocity" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

The invention relates to the technical field of shot action recognition, and discloses a shot throwing action recognition method based on a single attitude sensor. The method comprises the following steps: acquiring a single attitude sensor original data stream in a shot throwing process, and extracting a three-axis acceleration sequence and a three-axis angular velocity sequence from the single attitude sensor original data stream; performing motion event segmentation processing on the two sequences, and generating a key action time period mark set comprising a preparation stage, a sliding step stage, a power generation stage and a release stage; based on the mark set, calling an attitude feature solution algorithm to perform spatial trajectory reconstruction on the original data stream to obtain a key attitude frame set containing a joint angle change curve and a centroid displacement trajectory; and inputting the key attitude frame set into an action recognition model for attitude mode matching, and outputting a shot throwing action classification result which comprises an action deviation parameter generated based on a standard action template library and a key frame correction identifier. According to the method, key attitude information is reconstructed, and support is provided for shot throwing action analysis and improvement.

The invention relates to the technical field of numerical control programming, in particular to a five-axis machining path planning method and system based on data driving, and the method comprises the following steps: obtaining real-time coordinates of each axis of a machine tool, calculating linear velocity and angular velocity components to construct a Jacobian matrix, executing singular value decomposition, and calculating a conditional number ratio by using maximum and minimum singular values; and inputting a nonlinear mapping function to calculate a dynamic penalty factor, generating a rotating shaft weighted item in combination with a rotating shaft identifier, constructing a weighted damping least square objective function, calculating a five-axis motion increment, and accumulating the five-axis motion increment with a real-time coordinate to generate a target absolute position coordinate. According to the method, the pose singularity degree is quantified by monitoring the machine tool pose condition number ratio and converted into the dynamic penalty factor to apply the self-adaptive constraint to the rotating shaft, the severe sudden change of the rotating shaft in the singularity area is inhibited, the tool nose track following error is minimized, and meanwhile smooth distribution of the motion increment is achieved; and the dynamic stability and the surface quality of five-axis linkage machining are improved.

The invention relates to the technical field of man-machine interaction, in particular to a multi-user-based ring pairing and left and right hand judgment method and system and a medium, and the method comprises the steps: firstly collecting azimuth angles, distances and historical tracks of a plurality of rings, and clustering the azimuth angles, the distances and the historical tracks into different user clusters; shoulder breadth geometric constraint, posture consistency, micro-motion synchronism and historical prior are fused in the cluster, paired scores are calculated, and paired rings are identified by using a greedy strategy; and then, calculating a judgment score to distinguish the left hand and the right hand by counting the rotation deviation of the angular velocity of the gyroscope on the horizontal plane projection and combining the spatial position score of the ring relative to the human body center line with the historical consistency. A steady-state mode and an event-driven wake-up mechanism are also introduced to balance power consumption. According to the invention, through multi-modal fusion, automatic ring pairing and accurate left and right hand judgment are realized.

The invention provides a low-power-consumption control method of a GPS module. Through data fusion of the gyroscope and the GPS, accurate perception of the motion state of the equipment is realized, and in combination with a dynamic frequency modulation technology and hardware-level power supply control, the power consumption of the system is remarkably reduced on the premise of ensuring the positioning accuracy and the real-time performance. The angular velocity change of the equipment is detected in real time through the gyroscope, and in combination with GPS position information, the equipment is judged to be in a moving, low-speed moving or static state. And dynamically adjusting the GPS sampling period according to the state division result. A sliding window algorithm is adopted to smooth rate fluctuation, a multi-threshold hysteresis mechanism is combined to avoid state misjudgment, a mathematical optimization model is constructed to carry out iterative optimization on control parameters, and balance between power consumption and performance is achieved. Through hardware-level power supply control, zero power consumption in a static state is realized, the average power consumption of the GPS module can be greatly reduced in long-endurance demand scenes such as Internet of Things equipment, wearable equipment, field animal research and the like, and meanwhile, relatively high positioning precision is maintained.

The invention provides an MEMS inertial three-dimensional displacement monitoring method and system, and relates to the technical field of MEMS sensors, and the method comprises the steps: obtaining acceleration and angular velocity signals of an inertial measurement unit, and generating a dynamic acceleration after attitude calculation, error compensation and gravity removal; updating a group of state variables containing position and speed information in real time through integral operation so as to obtain continuous first displacement information with drifting; under a preset condition, measuring the absolute position of the object by using an external acoustic positioning system so as to obtain accurate and drifting-free second displacement information; the state variable is corrected by a fusion process using a deviation between the first and second displacement information, and position information is extracted from the corrected state variable as a final output. The advantages of inertial measurement and external positioning are combined, integral drift is effectively inhibited, and the precision and reliability of long-term monitoring are remarkably improved.

The invention discloses a cylindrical roller trajectory tracking method and device, and the cylindrical roller trajectory tracking method comprises the following steps: obtaining an actual measurement displacement sequence of a key point on the end surface of a roller under a global coordinate system based on a multi-reference matching digital image correlation method; drawing a key point displacement curve about key points and time according to the actually measured displacement sequence; judging the motion state of a roller according to the shape characteristics of the key point displacement curve, dividing a smooth part in the key point displacement curve into a rolling area, and dividing a part with jumping or sharp points into a sliding area; calculating the actual revolution angular velocity and the actual rotation angular velocity of the roller based on the actually measured displacement sequence corresponding to the sliding area; according to the method and the device, the image matching precision can be improved, meanwhile, the rolling and sliding components of the roller are accurately distinguished, the precision of the track of the cylindrical roller is improved, and high-precision and visual experimental data are provided for existing dynamics and tribology models.

A heat balance optimal satellite sun orientation control method comprises the following steps: firstly, determining sun orientation target parameters according to a sun vector direction calculated by an orbit, using preset sun orientation target parameters when regular preset parameters are set, and then calculating a sun orientation target attitude angle and angular velocity by using a formula provided by the method, and finally, the sun orientation of the satellite to the target attitude angle and angular velocity is realized according to the measurement of the terahertz gyroscope and the plane control of the jet phase.

The invention belongs to the technical field of mechanical arm control, relates to a bionic mechanical arm elbow joint adjusting angular velocity control method, and solves the problem that an existing method is difficult to meet the collaborative requirements of smooth starting, smooth transition and quick response in bionic actions. Acquiring starting and target positions to generate a motion trail; deducing an expected angle sequence based on forward and reverse kinematics, calculating a target angular velocity, and collecting current angle and angular velocity information in real time; an angle error signal is constructed, an angular velocity control instruction is generated by using a position type PID controller, and PID parameters are dynamically set through an improved algorithm based on state optimization; and a control instruction is input into the elbow joint driving unit, and dynamic adjustment and closed-loop control of the angular speed are achieved. The effect of the method is verified through experiments, and the experiments prove that the precision, robustness and dynamic response capability of angular velocity control of the bionic mechanical arm can be remarkably improved through the method.

The invention belongs to the technical field of wind driven generator state monitoring, and discloses a millimeter wave and vision fused fan blade clearance monitoring system, which comprises a central processing unit, a wind driven generator, a millimeter wave radar sensor, a millimeter wave radar sensor and a millimeter wave radar sensor, and is characterized in that the central processing unit establishes a reference time difference according to blade transit timestamps acquired by the vision and millimeter wave radar sensor; during operation, a blade instantaneous angular velocity is determined by using visual data so as to correct a real-time timestamp, a comparison result of a dynamic time difference and a reference is calculated and is used as an initial diagnosis signal, and risk levels are discriminated by analyzing Doppler spectrum width characteristics of radar echoes in case of abnormality. According to the method, the fan master control system has the capability of distinguishing and recognizing the individual state abnormity of the single blade for the first time, the monitoring granularity is lowered to the component level from the complete machine level, and the improvement from passive response type control to predictive adaptability control is achieved.

The invention belongs to the technical field of ship course control, and discloses an unmanned sailboat sail-rudder cooperative active-disturbance-rejection course control method based on ESO, and the method comprises the following steps: building a nonlinear course motion mathematical model; designing a self-adaptive tracking differentiator to smooth the expected course; the course, the yawing angular velocity, the sail aerodynamic moment and the comprehensive disturbance are observed in real time through ESO; based on a nonlinear state error feedback control law, in combination with the output of the tracking differentiator and the observed value of the ESO, generating a rudder torque control quantity, performing constraint processing on the rudder torque control quantity, and outputting a rudder angle instruction; and a dynamic optimal sail angle is decided according to the lift-drag ratio parameter, the apparent wind speed and the relative wind angle of the sail aerodynamic model corrected in real time, and a sail angle instruction is generated after the dynamic optimal sail angle is compensated and constrained by combining the course deviation. The adaptive capacity to the time-varying wind field and the model uncertainty is enhanced, and the anti-interference performance and the energy efficiency of the system are improved through dynamic optimization and compensation of the sail angle.

This invention discloses a deep reinforcement learning guidance method based on the TD3 algorithm. It includes the following steps: (1) establishing a relative motion model between the missile and the target; (2) designing a Markov decision process; (3) constructing a network model for the deep reinforcement learning guidance method; training the constructed model offline, and then using the trained network model to output the normal acceleration; designing a Markov decision process, using the line-of-sight angular velocity as the state space and the normal acceleration as the action space, and then using the deterministic policy gradient principle to find the optimal neural network parameters, and then using the trained neural parameters to achieve a direct mapping from the line-of-sight angular velocity to the normal acceleration.

The invention relates to the technical field of trajectory measurement, discloses an underwater riprap particle motion trajectory measurement device and method, and aims to realize high-precision response tracking of stress and motion trajectory of riprap particles around a foundation under dynamic water scouring based on an underwater positioning unit sensing array and a high-frequency sampling particle motion and attitude detection technology. The technical problem that the motion characteristics of a single riprap particle cannot be observed in previous riprap protection research is solved. Through combined measurement of acceleration and angular velocity data collected by the inertial measurement unit and absolute position measured by the radio frequency unit, the three-dimensional motion condition, track and attitude process of a unit space as well as two-dimensional displacement images of a riprap surface and a vertical flow section are accurately reconstructed; and a centimeter-level-precision visual data support and a low-cost research means are provided for foundation scouring and coastal slope protection and riprap protection research, so that the engineering cost is saved.

The invention belongs to the field of wind tunnel experiments in a hypersonic flow field environment, and discloses a multi-degree-of-freedom high-frequency motion simulation device for an aircraft dynamic stability test and a calculation method for realizing an actuation angle. According to the technical method, calculation is carried out on the basis of an electromechanical coupling equation, determined by electrical parameters and mechanical parameters, of a piezoelectric material. Modeling can be carried out according to a piezoelectric equation to obtain a calculation method between the voltage applied by the piezoelectric actuator and the pitching and yawing actuation angles of the device, so that the excitation effect of the device in the ground test process can be accurately controlled and predicted. The method is not only suitable for pitching and yawing two-degree-of-freedom actuation calculation, but also can be used for calculating the actuation angle of a three-axis degree-of-freedom experimental device added with rolling drive through coordinate transformation under the condition of adding parameters such as rolling angular velocity and the like in the face of the three-axis degree-of-freedom experimental device added with rolling drive. At present, according to a calculation method based on the device, calculation is carried out only by considering the degree of freedom of the pitching axis and the yawing axis.

The invention relates to the technical field of angular velocity measurement, and discloses a drilling tool rotating body angular velocity measurement method, system and device and a storage medium, and the method comprises the steps: generating a compensation database of the incidence relation between temperature gradient data and angular velocity deviation data; an asymmetric elastic supporting structure is installed, and energy dissipation parameters are generated; establishing an association rule of the temperature gradient data and the energy dissipation parameters, and generating a dynamic compensation rule under the combined action of temperature and vibration; decomposing the angular velocity deviation data according to a dynamic compensation rule to generate a dynamic compensation amount, and adjusting weight distribution of temperature and vibration intensity in the dynamic compensation amount through an acquired accelerometer feedback signal; and continuously injecting the adjusted dynamic compensation amount into a drift correction loop to enable the corrected gyroscope output signal and the accelerometer feedback signal to form closed-loop control, and maintaining stable output of the angular velocity measurement value of the rotary body through autonomous iterative optimization of a dynamic compensation rule. According to the invention, the angular velocity measurement precision and stability can be improved.

The invention discloses an inertial navigation temperature drift compensation method based on multi-dimensional modeling, and relates to the field of inertial navigation. Comprising the following steps: S1, collecting temperature, three-axis acceleration and three-axis angular velocity data through a constant temperature control system in a range of-40 DEG C to 80 DEG C, and constructing a time-aligned multivariable characteristic matrix; s2, after standardization and rotation transformation, a Chebyshev polynomial is utilized to construct a five-order nonlinear coupling function group, an orthogonal tensor model is established, and L1 constraint is applied; s3, constructing a drift response curve group based on the heating and cooling experiment data to obtain a 6 * 1 drift sensitivity matrix; s4, removing abnormal samples through mahalanobis distance analysis, and extracting a high-confidence training subset; s5, constructing a multi-channel modeling network containing a thermal coding module, a convolution channel and an attention mechanism, and carrying out cross-axis modeling; s6, training the network and generating a steady-state compensation tensor; s7, new data are input into the model, regular six-axis output is maintained one by one, and temperature drift active compensation is completed. The method has the beneficial effects that the cross-temperature-zone navigation precision and the compensation robustness are improved.

The invention discloses an input-limited and coupled-output-limited quadrotor unmanned aerial vehicle motion control method and system based on an extended state observer, and the method comprises the steps: building a quadrotor unmanned aerial vehicle kinetic model, and carrying out the modeling and decoupling of lumped disturbance. And designing an extended state observer to estimate the position, speed and lumped disturbance of the unmanned aerial vehicle. Coupling output constraint is converted into time-varying non-coupling constraint through the rotation matrix, and tracking errors are defined accordingly. And designing a position controller and an attitude controller based on the error and an estimated value of the observer, and generating expected thrust and expected angular velocity. An input limited function and an auxiliary variable are introduced, and the saturation problem of the controller is solved. The system comprises a dynamic modeling and disturbance decoupling module, a state estimation module, an output constraint processing module, a position control and attitude control module and an input saturation compensation module. According to the invention, the trajectory tracking precision, robustness and constraint processing capability of the unmanned aerial vehicle are significantly improved.

The invention relates to an all-angle hemispherical gyroscope delay and damping asymmetric error joint compensation method, which belongs to the technical field of inertial navigation, and comprises the following steps: S1, obtaining a self-precession excitation signal and an angular velocity measurement value signal output by a gyroscope; s2, preliminarily estimating the time delay of the gyroscope by adopting a maximum likelihood weighted cross-correlation time delay estimation method; s3, estimating the damping asymmetry error of the gyroscope through a recursive least square method by utilizing the estimated time delay; s4, re-estimating the time delay of the gyroscope by using the estimated damping asymmetric error to obtain the updated estimated time delay; judging whether the updated estimated delay is converged or not; if not, returning to the step S3, and re-estimating the damping asymmetric error of the gyroscope through the recursive least square method by utilizing the updated estimated delay; if the time delay is converged, the finally estimated time delay is obtained; and S5, compensating the finally estimated delay and damping asymmetric error into a control system of the gyroscope. According to the invention, the measurement precision and long-term stability of the gyroscope are improved.

The invention relates to the technical field of industrial water treatment equipment, and discloses an intelligent flushing self-cleaning filter system for industrial water treatment. A dynamic suspended matter monitoring module of the system collects three-dimensional distribution data of deposits on the surface of a filtering medium in real time, and mixed deposition characteristics of suspended solids and oil stains are recognized through a multispectral imaging technology; the differential pressure trigger control module establishes a mapping relation between sediment thickness and fluid resistance according to the three-dimensional distribution data, and generates a cleaning trigger instruction when the real-time differential pressure data reaches a dynamic threshold interval; the spiral trajectory planning module analyzes the cleaning trigger instruction, and generates a composite motion trajectory containing a rotation angular velocity and an axial displacement rate in combination with the current position of a suction nozzle and a filter screen topological structure; the multi-mode flushing execution module synchronously adjusts torque output of a hydraulic motor and linear displacement of a piston cylinder based on the composite motion trail, so that a suction nozzle covers the whole effective filtering area of a filter screen along a spiral path.

The invention relates to a self-adaptive wind load passive slowing-down design method based on threshold triggering. The method comprises the steps that aerodynamic parameters during non-load-shedding are calculated according to a nominal program angle; calculating an initial load shedding program angle ideal value; when the flight Mach number is within the allowable load shedding range and the qalpha value exceeds the current amplitude limiting value, load shedding is carried out; only the part exceeding the qalpha amplitude limiting value is subjected to load shedding; and carrying out amplitude limiting processing on the angle correction of the load shedding program in combination with the dynamic characteristics and maneuverability of the rocket body. According to the method, the load shedding opportunity is triggered through the qalpha amplitude limiting value, amplitude limiting processing is carried out on the load shedding program angle and the angular velocity correction amount, the structural strength of a rocket body can be fully utilized, the dynamic lag characteristic and the actual control capacity of the rocket are considered, the rocket body can track the corrected program angle with high precision, and the method has high application value in engineering.

The invention provides an OBD message analysis and attitude rendering method and system based on a vehicle dynamics model, and belongs to the field of vehicle electronics and control. The method comprises the steps that a message is analyzed through an OBD interface, and vehicle operation parameters are obtained; establishing a unified time base and carrying out resampling and synchronous processing on the data of each channel; constructing a fifteen-degree-of-freedom vehicle dynamics model comprising a vehicle body six-degree-of-freedom pose, a vehicle body angular velocity, a four-wheel rotation angular velocity and unsprung mass vertical displacement for state prediction; designing an observation function to map a model state to an OBD observation space, and adopting an observability enhancement strategy; predicting and observing data are fused by using a nonlinear filter, and abnormal observation gating is carried out based on a mahalanobis distance and an amplitude threshold value; compensating system time delay and adaptively adjusting observation noise; and performing three-dimensional real-time rendering on the attitude information. According to the method, high-precision and high-robustness vehicle attitude estimation can be realized only by depending on the OBD message, and the system cost is effectively reduced.

The invention discloses an IMU attitude calculation method, device and equipment and a storage medium, and the method comprises the steps: obtaining IMU original data which comprises a three-axis acceleration measurement value and a three-axis angular velocity measurement value; dynamically updating gain parameters of a Mahony complementary filtering algorithm based on the three-axis acceleration measurement value, the gain parameters including a proportional gain parameter and an integral gain parameter; based on the gain parameter, correcting the triaxial angular velocity measurement value to obtain a target triaxial angular velocity value; and calculating body attitude information based on the three-axis acceleration measurement value and the target three-axis angular velocity value. Compared with a traditional Mahony algorithm adopting fixed gain parameters, the method can reduce error fluctuation of the airframe under rapid movement and improve the accuracy of attitude calculation.

The invention discloses a singularity-avoiding trajectory planning method for a free floating space mechanical arm, and belongs to the technical field of robot trajectory planning. The method comprises the steps that the expected whole-course tail end position track and posture track of the mechanical arm are obtained; setting a control period and circularly executing; at each control moment, a generalized Jacobian matrix and system singularity measurement are calculated, and whether the system is close to singularity or not is judged; traversing all the possible values of the base postures if the base postures are close to singularity, calculating joint angle states and corresponding singularity measurement which do not change the tail end postures, and searching a system configuration corresponding to the maximum singularity measurement; then, the state of the mechanical arm is reconstructed, and the mechanical arm is made to move to the maximum singularity measurement configuration to be separated from singularity; and calculating the inverse of the generalized Jacobian matrix to obtain velocity inverse kinematics, and further calculating the joint angular velocity and the joint angle at the next moment. According to the method, an accurate trajectory planning effect without introducing any theoretical error is realized while the singularity avoidance capability is ensured.

The invention provides a one-key alignment method for heavy-load equipment in multiple scenes, which comprises the following steps of: acquiring a gravity direction component of an equipment body, and establishing a magnetic attitude reference coordinate of the equipment body by combining the reading of a tilt angle sensor and a horizontal reference plane of an optical ranging unit and a calibration point. Capturing the spatial distribution information of the mark points, calculating the offset of the current attitude of the equipment relative to the horizontal reference plane according to the geometric constraint among the mark points, and generating an initial attitude mapping matrix; and reading the angular velocity and the acceleration of the inertial navigation system, determining the deviation between the inertial attitude and the visual attitude, and generating a combined attitude calculation result. The hydraulic cylinder and the rotating table are driven to be synchronously adjusted according to the deviation value between the current attitude of the equipment and the target mounting point, the change trend of the attitude angle is monitored, and suppression feedback is triggered to adjust the fusion weight of the sensor. And calling a micro-motion mechanism to execute a fine pose adjustment instruction, monitoring a pose error in real time, and generating a pose locking report when the pose error is within a tolerance range.

The invention discloses a three-axis differential implementation method based on cross symmetry of double inertial sensors, and the method comprises the following steps: S1, a sensor is an MEMS inertial measurement unit, i.e., an IMU, the IMU uses a right-hand Cartesian coordinate system to define the directions of three sensitive axes of the IMU, and the IMU is used for defining the positive direction of an angular velocity and also used for defining the positive direction of a linear acceleration; s2, in order to realize three-axis difference, rotating the sensor around the y axis by 180 degrees; s3, a result obtained in the step S2 is rotated by 90 degrees around the z axis; and S4, after the step S3, realizing symmetry of the x axis and the y axis through crossing, and realizing three-axis difference through double IMUs by applying a three-axis symmetry principle of an inertial sensor.

The invention provides a method and a system for realizing a weak measurement enhanced chip-level microcavity gyroscope. The method comprises the following steps of: 1, providing a coherent state input by a system by using a single-frequency laser; 2, the output of the single-frequency laser is switched between a first path and a second path through an optical switch, the laser beam is transmitted to the first path in the first half part of the period, and the laser beam is transmitted to the second path in the second half part of the period; 3, the light transmitted along the first path and the second path respectively passes through an optical resonant cavity to sense the rotation angular speed, and a weak value amplification effect is achieved by setting front and back selection states; and step 4, weak measurement enhanced output results transmitted along the first path and the second path are respectively received by a photoelectric detector, and the value of the rotation angular velocity is demodulated according to the obtained output results. According to the invention, the optical microcavity is used as a sensing unit of the gyroscope, the sensing performance of the integrated optical gyroscope is greatly enhanced through a weak measurement technology, and the whole set of system can realize chip-level integration.

The invention provides an anti-swing closed-loop control method and system for a grab bucket, and relates to the technical field of grab bucket remote control. According to the method, the swing angle, real-time space coordinates and swing posture data of the grab bucket, the operation speed of a portal crane hoisting mechanism, the angular speed of a swing mechanism, the material grabbing weight and the operation parameters of a luffing mechanism are collected; the method comprises the following steps: dividing stages according to an operation process and removing invalid data to obtain a grab bucket anti-swing evaluation data set; converting coordinates based on scanner data to obtain a collaborative data set, and associating the evaluation data set to obtain grab bucket comprehensive motion data; a multi-body three-dimensional model is established in combination with a slice analysis extraction rule, and mechanical analysis is carried out to obtain swing parameters; and the speed compensation amount is calculated to obtain a control signal, the grab bucket is inhibited from swinging in the preset swinging period, swinging of the grab bucket can be effectively inhibited, and the precision and stability of automatic operation of the portal crane are guaranteed.

The invention discloses a single-phase phase-locked loop system capable of intelligently adjusting parameters, and the system comprises a spectrum analysis unit which outputs a fundamental wave frequency fc, a fundamental wave angular velocity omega c, and a cascade delay signal elimination parameter ni; the self-adaptive single-phase phase-locked loop unit comprises a third-order generalized integrator, a dq converter, a cascade delay signal canceller CDSC, a PI controller, an integrator and a modulus taking device, and the cascade delay signal canceller CDSC takes a fundamental wave frequency fc as a reference frequency and takes a fundamental wave angular velocity omega c as a reference angular velocity of an input end of the integrator; an angular velocity increment delta omega output by the PI controller and a fundamental wave angular velocity omega c are added to jointly determine a phase locking angle theta, and a proportionality coefficient kp and an integral coefficient ki of the PI controller are refreshed online from the outside and take effect immediately; and the control parameter intelligent optimization unit is used for iteratively solving the optimal [kp, ki] based on a mirage search optimization algorithm MSO and writing the optimal [kp, ki] into the nonvolatile memory. According to the single-phase phase-locked loop system capable of intelligently adjusting the parameters, manual parameter adjustment is avoided, and phase locking is rapid, accurate and stable for a long time.

The invention provides a riding navigation blind area track correction method and system based on stopwatch inertial navigation, electronic equipment and a storage medium, and the method comprises the steps: obtaining the angular velocity and acceleration information of a stopwatch and the direction information of an earth magnetic field, and carrying out the calculation to obtain a riding course angle and a real-time riding speed; when it is detected that a satellite positioning signal is interrupted, the last credible satellite positioning coordinate before interruption serves as an estimated coordinate point of a first operation period, and in each operation period, a relative displacement vector is calculated by combining the course angle of the current period, the real-time riding speed and the time interval of the operation period; iteratively determining the estimated coordinate point of the current period by taking the estimated coordinate point of the previous period as a reference, and forming a continuous extension track; and finally, matching the extended continuous coordinate points with a road network of a preset digital map, calculating and accumulating the distance between adjacent coordinate points based on the matched real road coordinates, and completing accurate correction of the track and the distance.

The invention relates to the technical field of mechanical arm vibration suppression, in particular to a mechanical arm tail end active vibration suppression method and system based on predictive compensation, and the method comprises the following steps: S1, collecting the three-axis acceleration, angular velocity and vibration spectrum data of a mechanical arm in real time through a high-frequency IMU sensor; monitoring a rolling angle, a pitch angle and a yaw angle of a base attitude through an auxiliary IMU sensor, and fusing double IMU data through a Kalman filtering algorithm; s2, generating a pre-compensation torque based on the fused data, optimizing a model gain coefficient in combination with a real-time deviation between a frequency spectrum actually measured by a high-frequency IMU sensor and a model prediction frequency spectrum, and correcting and outputting the pre-compensation torque in real time; and S3, the corrected compensation torque is injected into a feed-forward channel of a joint motor control loop, vibration suppression torque is output to a joint execution mechanism through a high-gain controller, and residual vibration at the tail end of the mechanical arm is counteracted in real time. According to the invention, an active vibration suppression system can be constructed to solve the problem of real-time vibration suppression under multi-source disturbance coupling.