144 results about "Compensation strategy" patented technology

The invention discloses a force sense feedback control method for an intelligent mechanical arm, which comprises the following steps of: 1, acquiring data through a multi-modal sensor and fusing the data to obtain a multi-dimensional perception vector; 3, calculating a force sense tracking error and a change rate and triggering an event-driven control decision mechanism; 4, designing a nonlinear compensation control rule and outputting a control torque instruction, wherein a control system comprises a multi-mode sensing module, a dynamic prediction module, an event-driven control module and a cooperative calculation module; according to the method, multi-mode sensing information is fused with the lifting force sense representation capacity, advanced adjustment is achieved in combination with a dynamic force sense prediction mechanism, event-driven control is used for reducing calculation redundancy, robustness to complex interference is enhanced through a nonlinear compensation strategy, and finally high-precision and low-delay force sense control of the mechanical arm in a dynamic interaction scene is achieved.

The invention relates to a machining path planning system, in particular to the technical field of intelligent manufacturing and numerical control machining, and overcomes the defect that a thermal coupling effect is ignored in traditional geometric planning by constructing an evolution model fused with a physical law. A dynamic decoupling algorithm is utilized to extract a real cutting load from multi-source data and reconstruct a rigidity field changing along with material removal in real time, the problem that a physical boundary is difficult to perceive under a complex working condition is solved, and the system effectively eliminates size out-of-tolerance caused by heat accumulation through transient deformation advanced prediction. According to the method, the non-linear error is actively counteracted in cooperation with a reverse compensation strategy based on sensitivity analysis, the machining precision and surface quality of the thin-wall weak-rigidity part are remarkably improved, the rejection rate and trial cutting cost are reduced, and intelligent closed-loop control over the manufacturing process is achieved.

According to the springback prediction compensation method in the precise stamping process of the high-pitch panel, the stamping force, the die temperature and the material thickness tolerance are collected through the multi-channel sensor, and the data quality is improved by combining standardization and abnormal value elimination; realizing parameter dimension reduction by adopting principal component analysis, obtaining working condition feature representation, quantifying working condition similarity by utilizing a weighted Euclidean-Mahalanobis distance, judging unseen working conditions in real time, and automatically triggering meta-learning model compensation; through model-independent element learning, rapid adaptive error prediction based on newest stamping data, and combination of confidence evaluation and dynamic adjustment compensation strategies, efficient prediction and robust compensation of springback errors are realized, and model parameters are continuously optimized in follow-up combination with actual compensation feedback. According to the method, the self-adaptive capacity and the forming precision to unknown stamping working conditions are improved.

The invention discloses a hydropower station signal source side data anti-interference acquisition method and system. The method comprises the following steps: constructing a multi-source interference feature recognition network according to an environment state of a hydropower station, obtaining an interference source distribution feature spectrum, and obtaining an original signal through space-frequency domain joint filtering preprocessing based on the spectrum; performing recursion processing on the original signal by adopting an adaptive Kalman filtering algorithm to obtain a high-fidelity target signal; processing the high-fidelity target signal based on a multi-scale feature extraction and verification mechanism to obtain a credibility quantitative purification signal; and processing the credibility quantitative purification signal based on a compensation strategy to obtain a high-reliability output signal. According to the method, the influence of interference signals is gradually removed from interference source identification, filtering processing, signal reconstruction and quality evaluation to signal compensation, and finally, a result subjected to multiple anti-interference processing is obtained, so that various interferences in a complex environment of a hydropower station can be effectively resisted, and high-reliability data acquisition is realized.

The invention discloses a geometric error identification and compensation system and method for a numerical control machine tool, and belongs to the technical field of numerical control machine tools, and the method comprises the steps: collecting the position, temperature and cutting force data of the machine tool in real time, and calculating the components of a position error, a thermally induced equivalent error and a force induced equivalent error to construct a multi-dimensional state vector; according to the method, a compensation value is calculated through a dynamic compensation model, the core of the method is that a dynamic modulation factor is introduced, the factor integrates the heat effect, the force effect and the multi-axis coupling effect to dynamically adjust the compensation weight, in addition, a grading trigger compensation strategy based on comprehensive error amplitude evaluation is designed, and the compensation accuracy is improved. The reconstruction compensation can update model parameters on line to cope with long-term changes of the system, intelligent distribution of compensation resources and self-adaptive adjustment of system changes are achieved, time-varying errors are effectively restrained, and precision, efficiency and robustness are taken into consideration.

The invention relates to a ship assembly carrying docking precision control method, device and equipment and a storage medium. According to the method, the whole-process precision control in the ship assembly and carrying process can be realized by constructing the digital twin, collecting the data of the multi-source sensor, establishing the virtual-real mapping relation and combining deep learning prediction and real-time compensation, the butt joint state of the ship block can be monitored in real time, thermal deformation caused by welding can be predicted in advance, and the welding quality can be improved. And dynamic adjustment is conducted through a compensation strategy, it is guaranteed that the final welding precision reaches the standard, and therefore rework is reduced, the precision of butt joint errors can be greatly improved, the rework rate is effectively reduced, and the quality and efficiency of ship building are remarkably improved.

The invention relates to the technical field of semiconductor test equipment, in particular to a full-automatic high-precision probe station, which utilizes multi-physics field coupling sensing and compensation to remarkably improve the positioning precision: by comprehensively collecting multi-physics field data such as a temperature field and a stress field and combining a coupling algorithm to optimize a compensation strategy, multi-factor interference is effectively counteracted, and the accuracy of the probe station is improved. The positioning repetition precision can reach + / -0.05 [mu] m, and the test requirement of the advanced semiconductor technology is met; a dynamic three-dimensional modeling technology and dynamic adaptability enhancement are achieved, a dynamic three-dimensional modeling system with the size affected by multi-physical field data can update the form of a test target in real time, test deviation caused by target deviation or surface fluctuation is avoided, and the adaptability of equipment to a complex test scene is improved. The automation degree is high, the testing efficiency is improved, the whole process of data acquisition, modeling, compensation and testing can be completed without manual intervention, the calibration process is simplified, the testing period is shortened, and the method is suitable for batch detection scenes.

The invention discloses a springback compensation control system for a metal stamping part, and belongs to the technical field of metal plate forming. The system comprises a stress memory prediction module, a fractal compensation analysis module, a phase change compensation regulation and control module, a compensation decision fusion module and an execution feedback optimization module. The stress memory prediction module extracts stress evolution characteristics of the stamping process through a multi-scale memory network and a time decay attention mechanism; the fractal compensation analysis module adaptively adjusts the compensation grid density based on the fractal dimension to realize optimal configuration of computing resources; the phase change compensation regulation and control module predicts the phase change behavior of the material through the thermal-mechanical coupling constitutive model and calculates the compensation correction amount caused by phase change; the compensation decision fusion module intelligently fuses three compensation strategies by adopting Bayesian reasoning and a spatial modulation function; and the execution feedback optimization module realizes continuous optimization of the system through online learning. According to the method, the influence of three dimensions of stress history, geometric complexity and material phase change is comprehensively considered, accurate prediction and compensation of the springback behavior are achieved, and the forming precision and production efficiency of the metal stamping part are remarkably improved.

The invention discloses a multi-unmanned aerial vehicle cluster stochastic prediction control method and device based on anti-saturation and packet loss compensation, and the method comprises the steps: building a closed-loop control model of a stochastic system based on a pilot-following multi-unmanned aerial vehicle cluster architecture; through a Markov chain modeling data transmission packet loss process, a forgetting factor is introduced to design a packet loss compensation strategy after random data is randomly lost so as to correct a closed-loop control model of a random system; aiming at the corrected closed-loop control model of the following stochastic system, constructing an anti-actuator saturation control law through convex representation of a saturation function, and further constructing a saturation-limited following stochastic augmentation prediction model; solving a predictive control problem on line based on a random augmentation predictive model; and the control performance index is controlled through rolling optimization, the gain of the feedback controller is updated, and anti-saturation random prediction control following with random following in a packet loss environment is realized. According to the method, the coupling influence of data transmission packet loss and actuator saturation can be effectively solved, and the system performance weakness caused by single problem processing is avoided.

The invention relates to the technical field of numerical control machine tools, and discloses a thermal error dynamic modeling and compensation method for a numerical control machine tool. The method comprises the following steps: continuously collecting heat state original data through a temperature sensing device arranged at a key part of a numerical control machine tool; real-time preprocessing is carried out on the thermal state original data to eliminate noise and abnormal values, and a standardized thermal data sequence is generated; key thermal characteristic parameters are extracted from the standardized thermal data sequence, and the key thermal characteristic parameters are input into a self-adaptive thermal error prediction module to output a current thermal error prediction value; comparing the current thermal error predicted value with a preset thermal error threshold value to generate a thermal error state indication signal; starting a compensation strategy selection mechanism when the thermal error state indication signal indicates abnormity; the compensation strategy selection mechanism retrieves a compensation scheme library according to the thermal error state indication signal to determine an adaptive compensation instruction; and executing the adaptive compensation instruction to drive the numerical control machine tool to adjust processing parameters for thermal error correction.

The invention relates to the technical field of numerically-controlled machine tool monitoring, in particular to a numerically-controlled machine tool monitoring method and system, terminal equipment and a storage medium, and the numerically-controlled machine tool monitoring method comprises the following steps: based on key parts of a numerically-controlled machine tool, monitoring tiny wear or deformation by adopting a time domain reflection method and a frequency domain reflection method; and the collected ultrasonic signals are analyzed in combination with a convolutional neural network, phase changes and abnormal features in the signals are identified, data fusion processing is carried out, and wear identification indexes are generated. According to the method, the advanced monitoring and analysis technology is adopted, comprehensive optimization of the performance of the numerical control machine tool is achieved, the time domain reflection method and the frequency domain reflection method are combined with convolutional neural network analysis, the detection precision of tiny abrasion or deformation is improved, dynamic optimization is achieved on clamping force adjustment through fuzzy logic control, the method adapts to different machining conditions, and the machining precision of the numerical control machine tool is improved. Workpiece damage is reduced, the machining quality is improved, and the machining precision is improved through deep diagnosis and dynamic compensation strategies of multi-axis synchronous errors.

The invention discloses a bus voltage fluctuation prediction and dynamic reactive compensation method based on a generative adversarial network, and the method comprises the steps: collecting the historical operation data and real-time monitoring data of a high-voltage bus, and carrying out the data preprocessing, and obtaining a training sample set; training a pre-constructed generative adversarial network according to the training sample set, and generating a bus voltage fluctuation prediction model; training a pre-constructed deep learning model according to the training sample set, and generating an optimal compensation strategy; inputting historical window data collected in real time into the bus voltage fluctuation prediction model, and outputting a bus voltage fluctuation prediction value; and based on the bus voltage fluctuation prediction value and the historical window data, inputting to the optimal compensation strategy, and generating an action instruction of dynamic reactive compensation.

The invention provides a semi-asynchronous satellite federated learning model training method and system based on old control. The method comprises the steps of 1, inputting space-based computing power constellation parameters; 2, broadcasting the global model to a visible satellite; step 3, the satellite receiving the global model is trained by using a local data set; 4, the trained satellite which is visible to the ground uploads the local model obtained through training to a ground parameter server; 5, the ground parameter server selects the optimal aggregation number of the round and judges whether the number of the local models reaches the optimal aggregation number or not, if not, the second step is executed, and if not, the sixth step is executed; 6, the ground parameter server adopts a gradient compensation strategy to carry out aggregation updating on the global model; and 7, judging whether the global model converges or not, if not, returning to the step 2, and otherwise, ending training. The method has the advantages that the problems that a synchronization method is limited by a satellite-ground communication window, and an asynchronous method is unstable in convergence and low in accuracy are solved.

The embodiment of the invention relates to the technical field of intelligent compensation control, and provides an energy storage converter compensation control method and system based on electric energy quality assessment, and the method comprises the steps: firstly carrying out the comprehensive quantitative assessment of the electric energy quality of a grid-connected point, and precisely recognizing the severity of voltage deviation, harmonic waves, imbalance and other problems; then, on the basis of a multi-attribute utility theory, converting each electric energy quality index and an active task demand into a dynamic weight so as to scientifically quantify real-time urgency of different compensation tasks; and finally, carrying out optimal allocation on the limited capacity of the energy storage converter according to the dynamic weight system. Through the method, a compensation strategy can be converted from a fixed priority mode to a dynamic self-adaptive mode, and it is ensured that when the capacity of the energy storage converter is limited, the current most urgent electric energy quality problem is preferentially processed, so that the comprehensive compensation effect and the power grid supporting capacity of the energy storage system under the complex working condition are remarkably improved.

The invention discloses an order anomaly detection and compensation method based on a message queue, and relates to the technical field of order processing, and the method comprises the steps: obtaining the operation time sequence data of a target downstream service associated with an abnormal order; generating order processing success probability distribution of the target downstream service through a time sequence prediction model; calculating the optimal retry time of the abnormal order through a target function in combination with a preset business constraint condition; delivering to a message queue for delayed retry; key events and corresponding attributes in the abnormal order processing process are obtained, and an abnormal track event sequence is constructed; mapping the abnormal trajectory event sequence into an abnormal trajectory fingerprint vector with a fixed dimension in response to the abnormal order reaching a compensation triggering condition; and performing matching in a preset abnormal mode library, and executing a corresponding compensation strategy according to a matching result. According to the invention, through prediction driving scheduling of the order abnormity retry time and automatic selection of the compensation strategy, the accuracy and stability of order abnormity processing are improved.

The invention discloses a smooth transition method and system for sensorless field directional control, and relates to the technical field of permanent magnet synchronous motor sensorless control. According to the method, an error between an I-f starting virtual synchronous reference coordinate system and a sensorless observer estimation coordinate system is eliminated through a dual-core mechanism of a robust transition strategy and a position error compensation strategy, and then rotor position deviation caused by non-ideal factors is corrected through an exclusive compensation module; the system constructs a multi-stage switching control framework based on the method, and seamless transition from I-f open-loop starting to sensorless FOC closed-loop control is achieved. Complex parameter adjustment is not needed, transition is fast and stable, torque magnetic flux control precision can be optimized, copper loss is reduced, system efficiency and robustness are improved, and the method is suitable for industrial driving scenes such as air conditioner compressors.

The invention discloses a communication control method and device, electronic equipment and a computer readable storage medium, and relates to the technical field of communication, and the method comprises the steps: receiving CEC communication data, and carrying out the non-standard type recognition of the CEC communication data through a type recognition model if a non-standard behavior of the CEC communication data is detected, thereby obtaining a target non-standard type, and determining a non-standard compensation strategy according to the target non-standard type, and responding to the CEC communication data according to the non-standard compensation strategy to obtain a communication result. The effective period of the non-standard behavior analysis and compensation strategy is shortened, the non-standard behavior response efficiency is improved, the recognition and compensation of the novel non-standard behaviors are improved, and the user experience is improved.

The invention relates to the technical field of gas turbine control, in particular to a gas turbine multi-parameter cooperative control and dynamic safety adjusting system and method. According to the system, PID outputs of high-pressure compressor rotating speed tracking, power turbine rotating speed tracking, active power tracking and parameter limit control loops are generated in parallel through a multi-parameter cooperative control module, and a minimum fuel demand signal is selected as a control reference based on competitive logic; through a dynamic safety adjusting module, a dynamic threshold curve linked with the inlet air temperature is preset, action allowance is superposed, and active intervention before parameter overrun is achieved; and through the fault tolerance module, the operation is maintained by adopting historical data fitting and an online compensation strategy when the sensor has a fault. According to the method, the problems of single parameter control response delay, insufficient limit protection, poor fault tolerance and the like are solved, and the control precision, response speed and operation reliability of the gas turbine under variable load, extreme environment and sensor abnormal working conditions are improved.

The invention discloses a dynamic evaluation and intelligent compensation system and method for contact rigidity of a machine tool joint part. The system comprises a digital twin and multi-source data interface module, a contact interface multi-scale morphology acquisition and characterization module, a joint part contact mechanical state online simulation module, a contact rigidity dynamic calculation model library, a performance evaluation and intelligent compensation decision-making unit and a compensation strategy execution and feedback module. According to the method, dynamic and high-precision contact stiffness analysis is achieved, the problem that a traditional static model is insufficient in precision is solved by deeply fusing microstructure measured data, a macrostructure model and a dynamic working condition load, and the time-varying characteristic of the joint part under the complex working condition can be reflected more truly. A perception-evaluation-compensation active control closed loop is constructed, and the digitization level of machine tool design and operation is improved. According to the method, the contact state of the joint part is actively optimized, so that the dynamic and static performance and machining quality of the machine tool are improved.

The invention discloses a fixed wing patrol aircraft flight attitude control method, and belongs to the technical field of unmanned aerial vehicles. Aiming at the technical contradiction that high-speed flight maneuverability and weapon shooting stability cannot be compatible, the method achieves breakthrough through the following innovative schemes that a four-wing propeller collaborative framework is designed, and each propeller is provided with a horizontal linear driver to achieve front-back telescopic displacement in the axial direction of a fuselage; in the horizontal flight stage, based on the feedback of a gyro stabilizer, pitching / rolling double-axis attitude accurate control is realized through the cooperative adjustment of propeller position stretching and rotation speed difference; triggering a layered compensation strategy by an ignition event, and synchronously adjusting the horizontal position and the rotating speed of a propeller according to the recoil force direction; and the tail vane intervenes in fine adjustment only when the yaw is out of tolerance. By combining the seamless conversion design of the vertical take-off and landing stage, the three technical problems of height loss without initial-speed deployment, low aerodynamic efficiency of high-speed flight and insufficient shooting precision are solved.

The invention provides a reactive compensation method and system, electronic equipment and a storage medium, and relates to the technical field of reactive compensation, and the method comprises the steps: calculating the power factor of each phase in a power grid, and obtaining a three-phase power factor; calculating the duration when the power factor of each phase is less than a preset input threshold power factor; when the duration time reaches a preset input delay time, searching a target matching split compensation type capacitor according to a split compensation strategy, and inputting the target matching split compensation type capacitor to perform reactive compensation; respectively recording the moment when the target matching separate compensation type capacitor is put into each phase and the current power factor to obtain a three-phase separate compensation input moment and a three-phase previous power factor; and when the maximum input time difference in the three-phase separate compensation input moments is smaller than the preset proportion of the preset input delay time, switching to a common compensation strategy, taking the latest moment in the three-phase separate compensation input moments as a starting point, and searching a target matching common compensation type capacitor for reactive compensation based on the three-phase pre-power factor after the preset input delay time is up. Therefore, the reactive compensation effect is optimized.

The application discloses a temperature compensation method based on thermal imaging of a machine tool ram, and relates to the technical field of machine tool thermal error compensation; the method comprises the following steps: installing a temperature measurement thermal imager and establishing a thermal distribution model, calculating thermal deformation amounts in three directions, obtaining a deformation correction error sequence, constructing a compensation error prediction model, determining an error compensation opportunity, and executing a progressive compensation strategy; two-dimensional temperature distribution data is obtained by the thermal imager, high-precision temperature distribution fields are generated by combining three-dimensional mapping technology, the theoretical deformation amounts in each direction are quantified based on an integral method, and dynamic analysis of multidimensional thermal deformation amounts is realized; meanwhile, an error correction amount is predicted in advance based on a time sequence prediction model of an LSTM network, combined with working condition parameters such as an environmental temperature and a spindle speed, active compensation is realized, a multi-condition triggering mechanism and a priority are set at the same time, and compensation at a suitable opportunity is ensured; a progressive compensation strategy avoids overcompensation or undercompensation, and a threshold alarm mechanism is combined to improve the robustness of the system.

The invention discloses a face gear on-machine measurement comprehensive error compensation method based on sequential decoupling. Specifically, a sequential decoupling compensation strategy is provided for solving the problem that the measurement precision is limited due to mutual coupling of a measuring head pre-stroke error and a workpiece installation coordinate system error in the prior art. The method comprises the following steps: firstly, establishing a measuring head pre-stroke error model through standard ball calibration, and performing anisotropic compensation on a tooth surface measuring point by utilizing Delou inner triangulation and a weighted interpolation method; secondly, based on the compensated data, the outer cylindrical surface and the tooth top plane of the face gear are accurately fitted through an iterative optimization algorithm, an accurate measurement coordinate system is established, and the initial phase of the C axis is optimized; and finally, reconstructing an actual tooth surface by adopting a two-stage NURBS curved surface fitting method, and calculating a normal deviation. According to the method, an error propagation chain is effectively cut off through a strict execution sequence, the overall precision and reliability of on-machine measurement are remarkably improved, and a key technical support is provided for face gear closed-loop manufacturing.

This invention relates to the field of workpiece fastening technology, and particularly to an intelligent detection and automatic reset control method for fastening defects based on displacement sensing. The method includes: analyzing fastening depth signals at multiple scales to extract abrupt and steady-state features, providing a comprehensive and crucial data foundation for defect identification; generating feature vectors reflecting the fastening process state by identifying fastening stages and rationally fusing features, thus improving the reliability of defect judgment; identifying multiple fastening defect types by employing models and attention mechanisms, thereby improving the accuracy and comprehensiveness of defect detection; controlling the electric screwdriver's actions by generating a reverse compensation strategy based on steady-state offset features, ensuring fastening quality; determining a reasonable screw removal mode by comprehensively analyzing abrupt energy characteristics and monitoring and judging screw loosening in real time, achieving efficient handling and refeeding of stripped thread defects; and verifying reset results in real time and triggering intervention by accumulating failure counts, ensuring a stable and reliable fastening process.

The invention belongs to the technical field of car coupler unhooking, and particularly relates to a car coupler unhooking robot operation self-adaptive control method under multiple working conditions, which comprises the following steps: acquiring a car coupler unhooking original data set of a time dimension and an action stage dimension and carrying out standardization processing; performing multi-modal analysis on the standardized data set, and constructing an execution parameter feature set of the trajectory response parameter, the force feedback parameter and the visual identification parameter; integrating and aligning the execution parameter feature set based on time and action stage dimensions, and generating an execution action feature set; comparing the execution action feature set with a preset ideal strategy parameter set to obtain a simulation deviation data set, and generating a compensation strategy based on the deviation degree and the deviation direction data; adjusting and executing the action feature set through parameter compensation to form an adjusted action parameter set; and a driving instruction is generated through the adjusted action parameter set, the robot is driven to execute unhooking action according to an updated track and a force control and visual following strategy, and self-adaptive adjustment and control precision improvement under multiple working conditions are achieved.

This application belongs to the field of heating station heat load prediction technology, and particularly relates to a method, system, equipment, and medium for dynamic compensation prediction of heating stations under extreme weather conditions. The method includes: acquiring current multi-source real-time meteorological data; analyzing the multi-source real-time meteorological data based on an early warning algorithm; determining whether an extreme weather warning has been triggered based on the analysis results; if the determination result indicates that an extreme weather warning has been triggered, calculating the building thermal inertia correction factor for the target heating area; obtaining historical compensation strategies based on a historical similar scenario matching mechanism; calculating a dynamic compensation coefficient by combining the weather warning level, the building thermal inertia correction factor, and the historical compensation strategy; and correcting the basic heat load prediction value based on the dynamic compensation coefficient to generate a final heating load prediction result; and sending the final heating load prediction result to the heating control system to adjust the heating output. This application improves heating quality.

This invention discloses a method and system for controlling the side mold stroke of a casting equipment. The method includes: acquiring real-time position data of the side mold, pressure data of the hydraulic system, and temperature data of the mold contact surface through a multi-sensor fusion module; constructing a dynamic friction and thermal deformation coupling model during the side mold movement based on the real-time position data, pressure data, and temperature data, and predicting the position deviation trend in the current stroke stage; generating a dynamic compensation strategy for the side mold stroke based on fuzzy adaptive PID according to the position deviation trend and the preset mold closing accuracy requirements; executing the dynamic compensation strategy by adjusting the hydraulic cylinder flow and pressure in real time through a high-frequency servo valve group, and completing the position closed-loop correction within one stroke cycle. Using this invention, real-time prediction and accurate compensation of complex disturbances in the side mold stroke can be achieved, improving mold closing accuracy and stability, while ensuring the reliability of the equipment and the consistency of casting quality under high-speed continuous production.

The present application relates to a kind of gear forming tool wear online compensation and life prediction method and system, by constructing the multi-dimensional digital twin mechanism model of gear forming tool, real-time acquisition multi-source sensing signal, extract dominant feature and with implicit feature and mechanism parameter coding vector fusion;Again based on the fusion feature construction graph neural network classification model, realize the online accurate discrimination of tool wear grade;Using reinforcement learning algorithm trains optimal compensation strategy, real-time adjustment processing parameter, forms " prediction-compensation-feedback " closed loop control;Establish the residual life prediction method of multi-model integration, and realize intelligent tool change decision optimization based on prediction result.The present application realizes the integrated management of gear forming tool wear feature extraction, condition monitoring, dynamic compensation and life prediction, improves the intelligent level of gear machining process and tool life.

The invention belongs to the technical field of robot motion control, and discloses a quadruped robot gait self-adaptive control method based on active anti-interference, which comprises the following steps of: realizing a fixed track of a landing point through a swing phase landing point compensation strategy; then an improved EID estimator is introduced to estimate system disturbance in real time and obtain compensation dosage to supporting phase plantar force meeting the constraint condition of the quadruped robot, so that the anti-interference capacity of the quadruped robot in the state that the landing point is fixed is improved, and it is ensured that the posture of a machine body is stable; only when the disturbance exceeds the redundancy bearing range of the robot body, the landing point follow-up mode is temporarily switched to guarantee the safety of the whole robot, and finally stable and high-precision motion control of the quadruped robot in the extreme operation scene is achieved.

The invention relates to the technical field of computers, and particularly provides an intelligent compensation method and device for a distributed system interface, and the method comprises the following steps: S1, a business party carries out the persistent storage according to an interface configuration code after compensating a call interface configuration page, configuring call parameters and receiving the configuration parameters; s2, the service system initiates a request through the proxy interface, transmits an interface configuration code value, obtains interface configuration parameters according to a code after receiving a call request of the service system, and then calls a configured interface URL (Uniform Resource Locator); s3, receiving a result returned by the calling interface, and entering fault mode detection and compensation based on the returned result; s4, based on the fault modes classified in the step S3, corresponding compensation strategies are executed for different modes; and S5, if the compensation strategy is executed completely and the compensation calling still fails, carrying out manual intervention. Compared with the prior art, the system compatibility can be adaptively improved, the misjudgment rate is reduced through accurate fault recognition, and resource waste is reduced through a differentiation strategy.