395245 results about "Control theory" patented technology

The invention discloses a target recognition and grabbing posture planning system for a collaborative robot, and belongs to the technical field of mechanical arms. According to material posture information provided by a sensing module, the optimal grabbing posture is intelligently matched from a preset grabbing strategy library by fusing mechanical arm movement track parameters and target material physical characteristics; the initial accuracy of the grabbing scheme is ensured, in the grabbing process, the camera continuously collects the material poses in real time, and the offset is accurately calculated by comparing the real-time poses with the expected poses. Once material deviation is detected, a visual and force closed-loop adjusting mechanism is triggered immediately, a force-position hybrid control model is utilized, position deviation is synchronously corrected, and grabbing force parameters are dynamically adjusted, so that the grabbing stability and precision are remarkably improved, the grabbing failure rate is effectively reduced, manual intervention and reset time are greatly shortened, and the grabbing efficiency is improved. Therefore, the production efficiency is comprehensively improved.

An electric motor based system includes an electric motor; an electric motor power controller for controlling the electric motor; a first control unit, adapted to provide first control signals for the electric motor power controller; an electric power storage device adapted to power the electric motor power controller; a first sensor adapted to determine information related to power exchange between the electric power storage device and the electric motor power controller; and a second control unit, wherein the second control unit is adapted to pass the first control signals, received from the first control unit, to the electric motor power controller in a first mode and adapted to provide second control signals for the electric motor power controller in a second mode; and the second control unit inputs and exploits the information.

The invention discloses a load flow calculation and simulation control method and system for a digital twin power grid, and relates to the technical field of digital twin simulation control, and the method comprises the following steps: constructing a digital twin power grid model, and carrying out the dynamic topology optimization processing of the digital twin power grid model based on remote signaling credibility weighting; according to the optimized digital twin power grid model, identifying the power grid operation risk based on an integrated learning model; according to the risk identification result, generating a transfer path control strategy based on an analytic hierarchy process and a fuzzy comprehensive evaluation method; mapping the transfer path control strategy into a control action instruction set, and simulating execution and establishing a feedback correction mechanism on the digital twin power grid model; by generating the optimal path control strategy and performing control strategy analog simulation and self-adaptive feedback correction based on the digital twin power grid model, the problem of lack of intelligent path control strategy selection and simulation verification based on state dynamic identification in the prior art is solved.

The invention discloses a high-precision voltage measurement method and system based on multi-parameter adaptive compensation, and relates to the technical field of intelligent voltage measurement. The high-precision voltage measurement method and system based on multi-parameter adaptive compensation comprises the steps that S1, voltage signal data and disturbance source characteristic data are collected, preprocessing is completed, and an analysis basis is constructed; s2, analyzing voltage excursion in combination with disturbance current characteristics, and dynamically adjusting a compensation path; s3, evaluating a compensation correction effect, and driving a compensation output strategy in real time; and S4, comprehensively analyzing the offset characteristics and the correction result, judging an abnormal section and triggering adaptive adjustment. The problems that disturbance components cannot be comprehensively extracted from multiple parameters such as PWM modulation frequency, wire harness impedance and working condition load change and a compensation function cannot be reversely constructed in an existing method, and a measured value does not have stability are solved.

Disclosed in the present invention are a method and system for small-signal stability analysis of a power plant containing grid-forming converters. The method comprises: establishing a grid-following converter impedance model; establishing a grid-forming converter impedance model; constructing a new energy power plant grid-connected system model containing grid-following converters and grid-forming converters; establishing a simplified equivalent circuit of a power plant grid-connected system; establishing a small-signal stability Nyquist criterion for a grid-connected new energy power plant containing grid-forming converters; and using a Nyquist plot to analyze the small-signal stability characteristics of the power plant grid-connected system. According to the present invention, the problem in the prior art of lacking quantitative and effective analysis of small-signal stability in new energy power plants containing grid-following converters and grid-forming converters is solved, and establishing a small-signal stability criterion for the power plants on the basis of established small-signal models enables quantitative analysis of the small-signal stability characteristics of a new energy power plant containing grid-forming converters under low grid strength conditions, and compared with conventional impedance modeling methods for new energy power plants, the impact of grid-forming converter integration on the small-signal stability of the new energy power plants is better reflected.

The invention provides a single-tube boost PFC circuit control method and system for single-cycle control, and relates to the technical field of data processing, and the method comprises the steps: generating a self-adaptive PWM control signal according to a duty ratio adjustment amount and a frequency compensation factor, and dynamically limiting the pulse current amplitude of a power switch tube through a peak current prediction algorithm, a load current change rate is generated based on the real-time relevance between the pulse current amplitude and the load current; setting a first monitoring point in a dynamic duty ratio change path of the PWM control signal, and extracting a duty ratio change rate and a switching frequency fluctuation parameter in real time; setting a second monitoring point in a feedback path of a load current change rate, and extracting a load current slope characteristic and a transient change amplitude in real time; and based on the parameters of the first monitoring point and the second monitoring point, generating a correction factor through a dynamic response correlation model. According to the invention, a high power factor can be realized under wide input voltage and load fluctuation.

The invention relates to the technical field of vehicle motors, in particular to a vehicle motor stator and rotor life prediction method and system, and the method comprises the steps: obtaining temperature distribution data, vibration spectrum data and current harmonic characteristic data during the operation of a stator and a rotor; performing time-frequency domain fusion analysis based on the temperature distribution data and the vibration spectrum data to obtain thermal coupling degradation characteristics, and obtaining electromagnetic performance degradation characteristics based on the current harmonic characteristic data; training to obtain a life prediction model based on a mapping relation between historical degradation characteristics and a failure threshold value, inputting the thermal coupling degradation characteristics and the electromagnetic performance degradation characteristics into the life prediction model, and outputting a residual life prediction value of the stator and the rotor; and dynamically adjusting operation parameters of the motor according to the residual life prediction value. According to the method, the problems that the life prediction precision is low and the operation strategy cannot be dynamically optimized due to the fact that the collaborative degradation effect of the stator and the rotor of the vehicle motor under the multi-physical field coupling effect is difficult to quantify in real time are effectively solved.

The invention provides an optical storage and charging cooperative control method and system based on multi-energy complementation. The method comprises the following sub-steps: respectively establishing a photovoltaic power generation model, an energy storage system model and a charging load model; acquiring historical illumination information, charging information and electricity price information, constructing a prediction model based on a neural network, and predicting and outputting illumination intensity, charging load demand power and electricity price in a future time period; constructing a target optimization function by taking the annual net cost and the power deviation rate as optimization targets; according to the method, the cooperative optimization control of the photovoltaic power generation, energy storage and charging system is realized, the annual net cost is reduced, the power deviation is reduced, the energy storage and charging cooperative control strategy is established, the target optimization function is solved by adopting the improved whale optimization algorithm, and the charging and discharging power sequence is generated according to the optimal solution obtained by solving and is input to the system for execution. And the operation efficiency and reliability of the whole system are improved.

The present application relates to the technical field of power plant optimization, and discloses a thermal power plant auxiliary power system optimized dispatching method and system considering a wind-solar-storage system, and a device and a storage medium. The method specifically comprises: collecting thermal power plant auxiliary power system data, and establishing an auxiliary power system multi-objective function on the basis of the thermal power plant auxiliary power system data and a wind-solar power generation cluster model in an auxiliary power system; introducing constraint penalties and constraint conditions to the auxiliary power system multi-objective function, and constructing a thermal power plant auxiliary power system optimized dispatching model; and processing the thermal power plant auxiliary power system optimized dispatching model by using a dynamic learning factor-based particle swarm algorithm to obtain an optimized dispatching result, and completing thermal power plant auxiliary power system optimized dispatching on the basis of the optimized dispatching result. According to the present application, the optimal interactive output among wind turbine units, photovoltaic units, energy storage units, and a generating set can be determined on the basis of the optimized dispatching result, auxiliary power system low-carbon optimized dispatching is implemented, and the problem in the prior art of lacking dispatching in which new energy and thermal power plant auxiliary loads are integrated for analysis is solved.

The invention discloses an electrical cabinet condensation defense method and system based on environmental parameter monitoring. The method comprises the following steps: acquiring temperature and humidity information of multiple points in an electrical cabinet and outside the cabinet in real time; calculating a dew point temperature and a condensation risk index in the cabinet; predicting the lowest temperature and humidity change rate in the cabinet in the next time period in the control period; based on the minimum temperature and humidity change rate prediction value in the cabinet and the current condensation risk index, whether the electrical cabinet meets the condensation risk trend criterion is judged, if yes, the electrical cabinet enters a condensation risk suppression linkage control mode, and if not, the electrical cabinet enters a condensation risk defense self-adaptive mode; and in the condensation risk suppression linkage control process, when the current condensation risk index of the electrical cabinet is lower than a condensation risk index threshold value, entering a condensation risk defense self-adaptive mode, and otherwise, entering a next control period. Data acquisition is comprehensive and accurate, the dew point temperature can be accurately calculated, the control strategy is intelligent and flexible, equipment can operate according to needs, condensation is effectively prevented, and the energy-saving effect is remarkable.

A system to transport infant children is provided. The system includes a base configured to be secured to a portion of an automobile; a chassis independent from the base; a first release mechanism releasably coupling the chassis to the base; an infant car seat independent from the base and the chassis; a second release mechanism releasably coupling the infant car seat to the chassis; wherein the chassis and the infant car seat are releasable from the base as a combined unit upon operation of the first release mechanism; and wherein the infant car seat is releasable from the combined unit of the base and chassis upon operation of the second release mechanism.

A dual-motor mixed-hybrid powertrain system, by performing pulse modulation control, i.e., series-hybrid intelligent start-stop control or parallel-hybrid intelligent power switching control, on the instantaneous power time-varying functions of an engine and a battery pack, can convert the surface working condition of an analog electric control engine into a simpler line working condition of a digital pulse control (DPC) engine, either a pre-determined high-state line working condition in the high-efficiency combustion area or a pre-determined non-combustion low-state line working condition with zero fuel consumption and zero pollutant emissions multiplexed in time. The traditional fixed one-to-one bidirectional mapping between an engine working condition and a vehicle working condition is converted into a dynamically adjustable many-to-many bidirectional mapping to achieve the full coverage of any overall vehicle working condition, achieving decoupling between a DPC engine working condition and the overall vehicle working condition and decoupling between software and hardware of a hybrid powertrain.

A seating unit includes: a frame having a pair of arms, wherein each of the arms includes a cutaway portion in a lower rear area thereof, the cutaway portion configured to receive a tread and a riser of a riser arrangement; a backrest; a seat; a first footrest; a reclining mechanism; and a linear actuator. The reclining mechanism is connected between the backrest, seat, and first footrest, the reclining mechanism comprising a series of pivotally interconnected links and configured to move the seating unit between: (a) an upright position, in which the backrest is disposed at a first generally upright backrest angle relative to the seat, the seat is disposed at a first generally horizontal seat angle and at a first longitudinal position, and the first footrest is retracted below a forward portion of the seat; and (b) a fully reclined position, in which the backrest is disposed at a second backrest angle relative to horizontal that is shallower than the first backrest angle, the first footrest is extended in front of the seat, the seat has a second seat angle that is deeper relative to horizontal than the first seat angle, and the seat has a second longitudinal position that is rearward of the first longitudinal position. The reclining mechanism includes a footrest mechanism attached to the first footrest, the footrest mechanism configured to control relative movement of the first footrest relative to the seat. The linear actuator is attached to the reclining mechanism and the footrest linkage and configured to move the backrest, seat and first footrest between the upright and fully reclined positions. The linear actuator and the footrest linkage reside entirely below a front portion of the seat and in front of the cutaway portion of the arms.

A method for controlling a robot. The method includes determining, for each robotic pose of a plurality of predetermined robot trajectories, a respective embedding in an embedding space having the structure of a hyperbolic manifold by searching an optimum of an objective function which incites, for each of the predetermined robot trajectories, the embeddings of the robotic poses of the predetermined robot trajectory to follow pre-defined dynamics of the embedding space, determining, for a starting pose from which the robot is to be controlled, a start embedding in the embedding space (, and, for a desired end pose, an end embedding in the embedding space and a geodesic between the start embedding and the end embedding according to a pullback metric of the embedding space and controlling the robot according to a sequence of robotic poses given by the determined geodesic.

The present invention relates to the technical field of proton exchange membrane fuel cells. Disclosed are a fuel cell parameter identification method and apparatus, and a device and a storage medium. The method comprises the following steps: constructing a semi-empirical model for a proton exchange membrane fuel cell; calculating a theoretical value of an output voltage of the semi-empirical model, and constructing an objective function by means of a mean square error between the theoretical value and an actual value of the output voltage of the semi-empirical model; on the basis of the semi-empirical model, determining a plurality of parameters to be identified, and using said plurality of parameters as decision variables to construct a plurality of constraint conditions for the objective function; on the basis of the plurality of constraint conditions, constructing an optimization model for the proton exchange membrane fuel cell by using the minimization of the objective function as an optimization objective and using said plurality of parameters as variables to be solved; and solving the optimization model by means of a multi-policy sparrow search optimization algorithm, so as to obtain a plurality of optimal parameters to be identified. In the multi-policy sparrow search optimization algorithm in the present invention, Tent chaotic mapping is introduced to initialize a population, the number of populations is increased, and then the two populations are merged. An adaptive feedback mechanism is added in a follower position update stage and a vigilant position update stage, thereby reducing the convergence accuracy under a limited number of iterations. A DE / best / 1 mutation policy and a dynamic scaling factor sf are used to update the position of a sparrow. The global optimization capability and the local optimization capability of an algorithm are improved, thereby also improving the accuracy of fuel cell parameter identification.

The invention discloses a self-generating and self-using distributed photovoltaic power station power anti-countercurrent control method and system, and relates to the technical field of photovoltaic anti-countercurrent control, and the method comprises the steps: obtaining the real-time load power of a grid-connected point of a power grid and the output power of a photovoltaic inverter, and calculating the net load power deviation; when the net load power deviation is smaller than a preset countercurrent risk threshold value, it is judged that a countercurrent risk exists, and an anti-countercurrent adjusting instruction is generated; in response to the anti-countercurrent regulation instruction, dynamically correcting the maximum output power limit value of the photovoltaic inverter, and synchronously activating the charge and discharge compensation mode of the energy storage system; an anti-countercurrent control coefficient is calculated, and the power reduction proportion of the photovoltaic inverter and the compensation power of the energy storage system are synchronously adjusted based on the anti-countercurrent control coefficient, so that the power flow of the grid-connected point of the power grid is kept to be zero or forward flow; according to the method, dynamic and accurate cooperation of photovoltaic reduction and energy storage compensation power in time and magnitude is realized, and the efficiency of a self-generating and self-using distributed photovoltaic power station is improved.

The invention relates to the technical field of unmanned aerial vehicle track control, in particular to an unmanned aerial vehicle track control method and system. The method comprises the following steps: firstly, acquiring flight braking parameters and distribution task data of an unmanned aerial vehicle, and extracting low-altitude distribution meteorological condition feature data; then, flight state simulation is carried out based on flight braking parameters and task data, simulation quantification is carried out on flight attitude instability in combination with meteorological conditions, and then trajectory avoidance behavior control learning is carried out; and finally, constructing a trajectory control model by applying a strategy gradient algorithm, and sending the trajectory control model to an unmanned aerial vehicle control center to execute trajectory control. According to the invention, the unmanned aerial vehicle trajectory control technology is optimized, so that the unmanned aerial vehicle trajectory control technology is more perfect.

The invention relates to the technical field of charging pile group load intelligent regulation and control, and particularly discloses a charging pile group load intelligent regulation and control method and system based on dynamic power equalization, and the method comprises the steps: collecting the oil temperature of a transformer in real time, calculating a total output power threshold value, and correcting the actual output power of a charging pile through combining the line loss and the equipment aging degree; a multi-dimensional load regulation and control decision matrix including user priority, equipment health degree and power regulation sensitivity is established, a dynamic power strategy is allocated through matrix weight, power allocation is inclined to high-priority users and health equipment, emergency power allocation and progressive readjustment during newly-added demands are supported, and the power regulation and control efficiency is improved. Impact of sudden power change on a power grid is avoided, system stability is ensured when newly added loads are accessed, refined intelligent regulation and control of loads of the charging pile group are finally realized, transformer safety, charging efficiency and user experience are improved, and power grid stability and resource optimization configuration are ensured.

The invention discloses a self-adaptive filtering and intelligent separation method for a multi-mode partial discharge signal, and relates to the technical field of insulation state monitoring and signal processing of power equipment, and the method comprises the following steps: S1, collecting the partial discharge signal of the power equipment in real time, and synchronously obtaining an equipment operation parameter and an environment noise signal; according to the adaptive filtering and intelligent separation method for the multi-modal partial discharge signal, the problems of modal aliasing and feature distortion caused by signal and noise time-frequency coupling in a dynamic noise environment in a traditional method are effectively solved through a cooperative mechanism of dynamic coupling degree modeling and dual-channel adversarial decoupling. The dynamic coupling path sensing module quantifies interaction characteristics of noise and signals in real time, and realizes accurate suppression of high-frequency transient interference and low-frequency periodic noise in combination with a double-channel architecture of complex field phase sensitive filtering and vibration trajectory matched filtering.

A powered chair comprises a chair framework, which includes a pair of oppositely disposed armrests, a chair seat frame which is fixedly connected to the pair of armrests, a footrest, a backrest, a first linear actuator mounted upon the pair of armrests and operatively connected to the footrest, and a second linear actuator mounted upon the armrests and operatively connected to the backrest. When the first and second linear actuators are actuated, they can respectfully actuate or move the footrest and backrest, however, in view of the fact that the first and second linear actuators are not operatively connected to the chair seat frame, and in view of the additional fact that the chair seat frame is fixedly mounted upon the pair of armrests, the chair seat frame will remain stationary despite movements of the footrest and backrest, to any one of their multiple positions, as a result of the actuation of the first and second linear actuators.

The invention relates to the technical field of equipment control, and provides an autonomous tracking anti-interference control method and system.The confidence coefficient of a sensor is determined by combining the historical precision of the sensor and the current signal quality through a sensing recognition module, and the fusion weight is dynamically adjusted based on the confidence coefficient, so that the target tracking state can accurately reflect the actual motion characteristics of a target; the trajectory planning module takes an interference type, an interference degree and a target tracking state as input parameters cooperatively, and combines an extended state space and a reward function containing an anti-interference reward, so that an explored tracking trajectory can actively adapt to an interference scene; meanwhile, the predicted collision probability is compared with a probability threshold value, so that the global updating triggering opportunity is ensured to be accurate, and the collision risk caused by an unreasonable track is effectively avoided; and the control optimization module generates a targeted feed-forward compensation amount according to the interference type and the interference degree, and generates a control instruction after superposing the basic control amount, thereby realizing cooperation of anti-interference compensation and trajectory tracking control.

The invention discloses a V2G-based dynamic discharge power optimization control method, and belongs to the field of smart power grid and electric vehicle cooperative control, and the method comprises the following steps: collecting the battery state information of an electric vehicle and the load demand data of a power grid in real time; determining a demand response priority through a multi-objective optimization algorithm based on the battery state information of the electric vehicle and the load demand data of the power grid; calculating a power distribution strategy scheme based on the response priority; when the power distribution strategy scheme does not meet the battery health constraint, a safe discharge power range is adjusted based on a battery state evaluation result; generating a correction parameter based on the adjusted discharge power range and the environment variable; and monitoring the operation state of bidirectional energy flow in real time, and when the operation state of bidirectional energy flow does not achieve the response effect, adaptively adjusting the power distribution strategy based on the correction parameter and updating the execution parameter.

The invention relates to the technical field of battery management systems, in particular to a distributed battery state estimation and compensation method based on voltage and current sampling, which comprises the following steps: constructing an original characteristic matrix by synchronously acquiring voltage and current waveforms and extracting ripple characteristics and slope abrupt change points, and generating a characteristic tensor with environment correction through a coupling compensator; then constructing a state parameter space based on adaptive particle injection and an electrochemical-thermodynamic coupling model; adopting a multi-source data fusion engine to realize distributed collaborative estimation of a health state index and a charge state confidence interval, and completing SOC, SOH and temperature trend prediction and residual compensation correction through a multi-state dynamic prediction model; and based on the prediction result and the uncertainty boundary, constructing an energy compensation optimization model, and searching a Pareto optimal compensation strategy. The method can be widely applied to intelligent management and control in the fields of battery energy storage systems and electric power equipment.

The invention discloses an accurate flow control method and system for a two-phase cold plate cooling data center, and relates to the technical field of two-phase cold plate cooling, and the method comprises the following steps: S1, collecting multi-mode operation monitoring data in real time, and carrying out the data preprocessing; s2, constructing a multivariable short-time-sequence prediction model, predicting the cooling demand, and performing optimization regulation and control on a cooling demand prediction result; s3, the target regulation and control flow of the cooling liquid is predicted, and flow and cooling execution measures are taken according to the target regulation and control flow prediction result; the opening degree of the valve is accurately adjusted and evaluated in real time, and accurate flow control is achieved; s4, integrating multi-mode operation monitoring data, a cooling demand prediction result, a target regulation and control flow prediction result and a valve opening accurate regulation evaluation result, and constructing a parameter optimization and safety fault-tolerant mechanism; the problems of chip safety and energy consumption risks caused by cold plate temperature overshoot and cooling capacity regulation lag under high-load fluctuation of the server are solved.

Disclosed in the present invention are a railway vehicle-track-bridge system dynamic response prediction method and system, and a medium. The method comprises: inputting vehicle speed samples and track irregularity samples into a vehicle-track-bridge system coupled random distribution physical model to obtain corresponding bridge dynamic responses and effective loads of the vehicle-track-bridge system, and extracting a global stiffness matrix of the vehicle-track-bridge system; constructing a training sample set; constructing a fitness function considering the effective loads, and then on the basis of the training sample set, using a genetic algorithm to optimize parameters of a BP neural network prediction model and training same to obtain a bridge dynamic response prediction model; and using the bridge dynamic response prediction model to carry out bridge dynamic response prediction. By introducing effective loads in a vehicle-track-bridge system into a fitness function in a genetic algorithm, a neural network model and a vehicle-track-bridge physical model are organically combined, thereby improving the prediction precision.

The invention discloses an energy-saving control method and system for a water chilling unit, and relates to the technical field of energy-saving control. During operation of the system, a data set is synchronously collected from a water chilling unit system through a multi-channel asynchronous sampling mechanism, time sequence compression and redundancy removal are carried out, an embedded perturbation calculation mechanism is used for calculating and generating a non-dominant control core coefficient, and the non-dominant control core coefficient is used for controlling the energy-saving control of the water chilling unit; a three-dimensional coefficient space is converted and output through an entropy state change structure and is used for constructing a state balance atlas, comprehensively calculating a control state index SEEI, evaluating the current energy state offset degree of a system, determining whether intervention is carried out or not, carrying out rule search and nonlinear modeling based on the control state index SEEI value, generating an adjustment matrix, and carrying out state balance analysis. And starting a data reconstruction micro-strategy of a short-time historical window, receiving an adjustment matrix, converting the adjustment matrix into a device-level instruction, executing an action through an edge controller, feeding back a response error epsilon (t) in real time, and predicting a potential performance degradation trend based on long-time system operation data.

An electrified fire fighting vehicle includes a chassis, a front axle coupled to the chassis, a rear axle coupled to the chassis, a water pump, an energy storage system, an engine, an electric motor coupled to the engine and the energy storage system, and a power divider positioned between the electric motor, the water pump, and the rear axle. The power divider facilitates selectively driving the water pump and the rear axle with the engine and the electric motor.

An electric vehicle battery pack with a reinforced cover to better support vehicle cabin loads such as seat submerge loads, seat pitch loads, and the like. The cover has a number of reinforcing members affixed thereto and positioned over cross members of the battery pack frame. Loads imposed by the cabin are thus transferred to the reinforcing members and then to the rigid cross members. In this manner, battery packs of embodiments of the disclosure better support cabin loads applied thereto, improving their strength and better protecting more delicate components within the battery pack.

The invention relates to the technical field of inclination angle measurement sensors, and provides a calibration method and system for a high-precision inclination angle measurement sensor, and the method comprises the steps: obtaining the original output data of the high-precision inclination angle measurement sensor at a plurality of known attitude angles, so as to construct a multi-dimensional attitude mapping table, carrying out the error gravity center vector analysis of the multi-dimensional attitude mapping table, and carrying out the calibration of the high-precision inclination angle measurement sensor. After an error mapping graph is generated, boundary deviation suppression is carried out, after a correction graph is obtained, an inclination angle residual error regulation and control mapping relation is constructed, multi-dimensional partition adjustment and optimization are carried out on the inclination angle residual error regulation and control mapping relation, a residual error calibration function set is constructed, and output data of the high-precision inclination angle measurement sensor are calibrated based on the residual error calibration function set. The calibration precision of the inclination angle measurement sensor is improved from multiple dimensions, the influence of static errors and dynamic errors is effectively eliminated, the use reliability and applicability of the sensor are enhanced, and the problems that in a high-precision scene, error modeling is not accurate enough and the anti-interference capability is insufficient in the prior art are solved.

The invention discloses an unmanned aerial vehicle-mechanical arm system cooperative control method for precise spraying. According to the method, through a depth camera and a point cloud reconstruction algorithm, three-dimensional modeling of a target surface and semantic recognition of a spraying area are achieved, and a spraying path and spraying posture data are generated. Based on spraying task requirements, a spraying film thickness experience estimation model is established, and path point-level spraying parameters are obtained. Load mass change, mechanical arm mass center change and spraying reaction force of each path point are calculated, and a coupling dynamic model is constructed in combination with the system state. And dynamic compensation control input is generated by using an adaptive sliding mode control algorithm. After spraying is completed, the actual spraying effect is collected through image and point cloud detection, color, film thickness and texture features are extracted and compared with task requirements, error feedback is generated, and control parameters are adjusted online. According to the method, the problems of dynamic change and error compensation in the spraying process are effectively solved, and the method is suitable for a high-precision spraying task in a complex environment.