39 results about "Direct feedback" patented technology

The invention relates to the technical field of bridge construction, and discloses a bridge steel member welding parameter self-adjustment control system and method.The bridge steel member welding parameter self-adjustment control system comprises an acoustic sensing module used for simultaneously obtaining real-time feedback data reflecting the geometric morphology of a current molten pool and feedforward data reflecting disturbance in front of a welding path; the feedback calculation module is used for calculating a feedback adjustment amount according to the deviation between the feedback data and a preset target; and the feed-forward calculation module is used for calculating a feed-forward adjustment amount according to the feed-forward data so as to suppress disturbance in advance. By combining direct feedback control of geometric morphology in a molten pool, predictive feedforward control of front disturbance and online self-adaptive updating of a control model, accurate closed-loop control over key indexes such as penetration depth can be achieved, meanwhile, sudden disturbance such as groove change is actively coped with, material characteristic change in the welding process is adapted, and the welding quality is improved. Therefore, the welding quality and stability of the bridge steel member under the complex dynamic working condition are remarkably improved.

The invention relates to the technical field of tactile feedback, in particular to a wearable tactile feedback device for badminton training, which comprises a motion parameter extraction module, an action analysis module, a time sequence comparison module, a tactile signal generation module and a feedback execution module. According to the invention, through gaits and racket swinging actions captured by wrist and ankle sensors, the ability of capturing action details of athletes is significantly improved, and different from a conventional tactile feedback technology, the scheme enables the athletes to accurately grasp core parameters of actions such as step length, speed and angle through real-time data capture; the control ability of exercise details is improved, through deep analysis of data, an athlete can obtain direct feedback about action optimization in real time, rapid adjustment is carried out to achieve ideal exercise performance, the individuation and adaptability of exercise training are effectively enhanced, and the exercise training efficiency is improved. And it is ensured that the training scheme of each athlete can accurately meet the actual performance and improvement requirements of the athlete.

A method for transmitting information on a sidelink and a communication apparatus. A comparison result between a measurement result of a plurality of reference signals (i.e., a plurality of beams) and a threshold is fed back within the same time unit, or whether a measurement result of a plurality of reference signals satisfies a condition is fed back, instead of directly feeding back the measurement result of the plurality of reference signals. Different reference signals correspond to different beam directions (different reference signals are sent by using different beams). A measurement result of a reference signal (beam) comprises at least one of RSRP, RSRQ, SNR, BLER, or SINR. The comparison result between the measurement result and the threshold may comprise, for example, a difference, a difference range, or a difference interval. The information length used for indicating whether the comparison result or the measurement result satisfies the condition is less than the information length used for directly indicating the measurement result, so that the amount of data that must be fed back may be effectively reduced, decreasing the length of feedback information and communication resources required by the feedback information.

The invention discloses a quarter-rate eight-phase sampling and decision feedback equalizer circuit and a quarter-rate eight-phase sampling and decision feedback equalizer method, and relates to the technical field of circuit design and digital information transmission. The multi-tap time-interleaved decision feedback equalizer circuit can be realized only by switching two adder circuits through the MUX switch, and meanwhile, the use of the MUX switch on a first-stage tap feedback path is avoided through a connection mode of directly feeding back the outputs of two time-interleaved samplers to the input end of the adder, so that the feedback delay time is effectively shortened, and the service life of the multi-tap time-interleaved decision feedback equalizer circuit is prolonged. And the working speed of the decision feedback equalizer is improved. By adopting a low-speed clock with a quarter rate, the area and the power consumption of a receiver circuit can be effectively reduced, the delay time of a feedback path is reduced, and a higher transmission rate is obtained under the condition of limited power consumption.

A stove valve body with a firepower feedback function comprises a valve shell, a valve element is rotationally installed in the valve shell and connected with a valve rod, a handle is arranged on the valve rod, and when the handle rotates, the valve element is driven by the valve rod to rotate so as to control combustion of a stove. The valve element or the valve rod is further connected with a fire feedback device, and the fire feedback device outputs corresponding control electric signals according to the position of the valve element. The gas stove valve body has the advantages that a traditional gas stove valve body lacks direct feedback on the firepower, and the firepower feedback device is installed on the valve element or the valve rod, so that corresponding control electric signals can be output according to the position of the valve element. The function is matched with a main control system, so that a user can accurately adjust the firepower, the uncertainty of judging the firepower according to experience is avoided, and the accuracy and consistency of cooking are improved.

Provided in the present application are a channel information feedback method, a channel information receiving method, and related apparatuses. The channel information feedback method provided in the present application comprises: a terminal device receiving first indication information, wherein the first indication information is used for indicating M space-frequency units for which the terminal device feeds back channel information, M being an integer greater than or equal to 1; and then, on the basis of the first indication information, the terminal device sending the channel information of the M space-frequency units, wherein the channel information of the M space-frequency units is obtained by means of measuring a first reference signal, the first reference signal is carried on N space-frequency units, and the M space-frequency units are some or all of the N space-frequency units, with N being an integer greater than or equal to 1. Therefore, a network device can conveniently perform inference on the basis of the channel information of the M space-frequency units, so as to obtain channel information of the N space-frequency units. A terminal device directly feeds back channel information of some space-frequency units, without the need to perform eigenvalue decomposition and DFT calculation on a downlink measurement channel so as to obtain a precoding matrix. Therefore, the terminal complexity is reduced.

The application relates to the technical field of bridge construction, and discloses a bridge steel member welding parameter self-adjusting control system and method, which comprises an acoustic sensing module, which is used for simultaneously acquiring real-time feedback data reflecting the current molten pool geometric shape and feedforward data reflecting disturbance in front of a welding path; a feedback calculation module, which calculates a feedback adjustment amount according to the deviation of the feedback data from a preset target; and a feedforward calculation module, which calculates a feedforward adjustment amount according to the feedforward data to suppress the disturbance in advance. By combining direct feedback control of the molten pool internal geometric shape, predictive feedforward control of the front disturbance and online self-adaptive updating of the control model, accurate closed-loop control of key indexes such as the penetration depth can be realized, sudden disturbances such as changes in the groove can be actively responded to, and changes in material properties in the welding process can be adapted, so that the welding quality and stability of the bridge steel member under complex dynamic working conditions are significantly improved.

A method of decision feedback equalization includes receiving symbols at a first rate, converting the symbols into first bits and second bits using a first slicer and a second slicer, respectively, wherein each of the first and second slicers operates at a second rate approximately equal to half the first rate, alternately sampling the first bits using a first latch and a second latch, wherein each of the first and second latches operates at a third rate approximately equal to a quarter of the first rate, alternately sampling the second bits using a third latch and a fourth latch, wherein each of the third and fourth latches operates at the third rate, alternately coupling the first latch and the second latch to a feedback input of the second slicer, and alternately coupling the third latch and the fourth latch to a feedback input of the first slicer.

The invention discloses a sound detection system and method using a convolutional neural network technology, and the system comprises an edge calculation control module and a sound collection sensor, and the sound collection sensor is disposed on the edge calculation control module. The beneficial effects of the invention are that the sound acquisition sensor is directly connected with the edge calculation control module, when other auxiliary devices are not accessed and sound analog signals are transmitted into the edge calculation module to produce a spectrogram, the built-in identification model can identify and judge the spectrogram, and meanwhile, the edge calculation control module is internally provided with the buzzer, so that the sound acquisition sensor can be directly connected with the edge calculation control module. Different buzzing frequencies can be given according to different sound recognition results, the system can directly communicate with a three-color lamp, direct acousto-optic feedback is achieved, collected sound information is judged from multiple aspects, recognition of multiple judgment factors is achieved through the use of a recognition model, and therefore the applicability is wider.

The utility model discloses a termite cave detector which comprises a shell, two protective sleeves are arranged on the outer wall of the shell, and each protective sleeve is of an internal hollow structure. A central cylinder is arranged in the shell, a spring detection structure is arranged at the bottom end of the central cylinder, and a detection needle head is arranged at the bottom end of the spring detection structure; the detection needle head of the spring detection structure is used for sensing soil resistance mutation (the density of the ant cave area is reduced), mechanical signals are directly fed back, the detection result of the ant cave area is obtained, the cotton thread sensing structure is used for triggering the indicating rod by means of sinking of the gravity block after moisture absorption, humidity changes are synchronously reflected, and through humidity changes of soil near the ant cave area, the ant cave area is detected. In the detection process, electronic elements or external energy sources are not needed, and therefore the termite cave detection device is suitable for long-term use.

A method of decision feedback equalization includes receiving symbols at a first rate, converting the symbols into first bits and second bits using a first slicer and a second slicer, respectively, wherein each of the first and second slicers operates at a second rate approximately equal to half the first rate, alternately sampling the first bits using a first latch and a second latch, wherein each of the first and second latches operates at a third rate approximately equal to a quarter of the first rate, alternately sampling the second bits using a third latch and a fourth latch, wherein each of the third and fourth latches operates at the third rate, alternately coupling the first latch and the second latch to a feedback input of the second slicer, and alternately coupling the third latch and the fourth latch to a feedback input of the first slicer.

Method and systems for obtaining direct feedback from a payment card by using energy received from a radio frequency identification (RFID) card reader is provided. The method is implemented by a processor that is embedded in the payment card. The method includes: receiving, from the RFID card reader, a radio frequency (RF) signal that relates to a proposed transaction; transmitting, to the RFID card reader, account information that relates to the proposed transaction; and causing an actuator that is embedded in the payment card to actuate a feedback action based on the RF signal. The actuator may include a haptic device that generates a vibration that is detectable by a touch of a user of the payment card.

The invention discloses a laser power attenuator and method based on load end full-closed loop feedback, and the attenuator comprises a fixed frame, and a drive unit, a polarization rotation element, a polarization detection unit, an angle measurement unit and a controller which are integrated on the fixed frame. The angle measuring unit is used for directly measuring the actual angle of the polarization rotating element rotating around the optical axis of the polarization rotating element, and the controller is configured to carry out closed-loop control on the driving unit according to the fed-back actual angle and drive through synchronous belt transmission. The polarization rotating element and the transmission driven wheel are rigidly connected to form an integrated rotating mechanism, a measuring part of the angle measuring unit is directly mounted on a rotating shaft of the mechanism, and the polarization analyzing unit adopts a Brewster diaphragm. According to the invention, direct feedback is carried out through the load end, the influence of mechanical transmission chain errors on the control precision is eliminated, and the precision, repeatability, dynamic response speed and long-term working stability of laser power regulation and control are remarkably improved.

The present invention discloses a quarter-rate 8-phase sampling and decision feedback equalizer circuit and method, relating to the field of circuit design and digital information transmission technology. Four groups of data signals and four groups of edge signals are sampled using eight quarter-rate clock phases. Only two adder circuits, switched by a multiplexer (MUX) switch, are required to implement a multi-tap time-interleaved decision feedback equalizer circuit. Furthermore, the outputs of the two time-interleaved samplers are directly fed back to the adder inputs, eliminating the need for a MUX switch in the first-stage tap feedback path. This effectively shortens feedback delay and increases the operating rate of the decision feedback equalizer. By using a quarter-rate low-speed clock, the area and power consumption of the receiver circuit can be effectively reduced, the delay time of the feedback path can be reduced, and a higher transmission rate can be achieved under limited power consumption conditions.

The invention relates to a space remote sensing linear form amplitude-frequency detection and self-adaptive flutter suppression system and a simulation system, and belongs to the technical field of spacecraft micro-vibration suppression. The space remote sensing linear form amplitude-frequency detection and self-adaptive flutter suppression system comprises a self-adaptive flutter suppression system and a form amplitude-frequency detection system; the TDI-CCD camera is installed on the self-adaptive flutter suppression system, the TDI-CCD camera images a target, the form amplitude-frequency detection system calculates flutter amplitude-frequency information according to a target image, calculates a negative stiffness value required by the self-adaptive vibration isolation system according to the flutter amplitude-frequency information and outputs a control signal corresponding to the negative stiffness value to the motor, the motor drives the eccentric wheel to rotate, and the self-adaptive vibration isolation system is driven by the eccentric wheel to rotate. Therefore, the inclination angle of the inclined spring is adjusted, and the self-adaptive flutter suppression system is in a quasi-zero stiffness interval. According to the invention, self-adaptive closed-loop control of flutter suppression is realized by utilizing direct image feedback, an additional sensor is not needed, and the method has the advantages of high universality, high adaptability and the like.

The utility model relates to the technical field of metal slag removal, and discloses a slag removal device for waste metal recovery, which comprises a case, the top of the case is provided with a first sliding chute and two second sliding chutes, a first sliding block is slidably mounted in the first sliding chute, the top of the first sliding block is fixedly provided with a fixing block, and the top of the fixing block is fixedly provided with a second sliding chute. An L-shaped rod is fixedly installed on the right side of the fixing block, and the outer surface of the third sliding groove is sleeved with a clamping block in a threaded mode. According to the steel grinding device, the rotating disc is rotated, the rotating disc drives the threaded rod to rotate, the threaded rod drives the L-shaped rod and the clamping block to move backwards together, and therefore the steel grinding precision of the grinding roller is adjusted. The direct feedback mechanism ensures that the polishing precision is greatly improved, the situation that resources are wasted due to uneven polishing caused by manual judgment or mechanical errors is reduced, and the machining quality of products and the resource recovery rate are greatly improved.

The application relates to the technical field of freight handling equipment and discloses a control method for a single gate closing cylinder of a truck tailboard, which specifically comprises the following steps: S11: manually sending a motion instruction to a vehicle-mounted system; the vehicle-mounted system receives and identifies the current instruction and sends the instruction to the truck tailboard for motion execution; S12: if there is no motion execution, the vehicle-mounted system directly feeds back a completion state judgment; S13: if there is motion execution, the truck tailboard executes and then feeds back a stroke switch group motion signal to the vehicle-mounted system; S14: the vehicle-mounted system identifies the feedback signal and judges whether there is motion execution; if there is motion execution, the motion execution is completed, the motion instruction is manually sent to the vehicle-mounted system again; and S15: if there is no motion execution, the vehicle-mounted system directly feeds back a completion state judgment and carries out relevant voice prompting. The stroke switch group is arranged to realize state detection and motion limitation of the truck tailboard, so that the damage of the truck tailboard caused by over-limit motion is effectively prevented.

The present application belongs to the technical field of analog integrated circuit, and particularly relates to a CTDSM circuit capable of compensating for an arbitrary period overshoot loop delay. The present application introduces a direct feedback loop at each output end of an m-channel TI ADC, sorts the code words generated by each channel from high to low in terms of quantization degree, and then selectively feeds back the code words to the input end of the TI ADC through unit period delay from m to 1, so as to compensate for the overshoot loop delay. This method can compensate for the arbitrary period overshoot loop delay in the CTDSM with the TI ADC as a quantizer, and breaks through the limitation that the existing scheme can only compensate for one period of overshoot loop delay. The present application is applicable to the case that the TI ADC with an arbitrary number of channels is used as a CTDSM quantizer, improves the stability of the CTDSM circuit, and provides support for the development of the CTDSM in the high-speed and high-precision field.

A method for equalizing a data signal includes: providing a data signal to a pair of input transistors providing an output signal; contributing a first current or voltage to the output signal using a first decision feedback circuit, the first current or voltage having a magnitude determined by the first weighted feedback signal, the first decision feedback circuit comprises a first pull-up circuit coupled to the drain electrode of the first input transistor and a first pull-down circuit coupled to the drain electrode of the first input transistor; and contributing a second current or voltage to the output signal using a second decision feedback circuit, the second current or voltage having a magnitude determined by a second weighted feedback signal, the second decision feedback circuit includes a second pull-up circuit coupled between the drain of the second input transistor and the first voltage rail and a second pull-down circuit coupled between the drain of the second input transistor and the second voltage rail.

The application provides a feedback method and device of orthogonal time frequency space (OTFS) and communication equipment, and relates to the technical field of wireless communication. The feedback method of the orthogonal time frequency space (OTFS) is applied to a first communication equipment, and the method comprises the following steps: receiving a first OTFS signal sent by a second communication equipment; obtaining a time domain symbol number change condition according to the first OTFS signal; the time domain symbol number change condition is a change condition of a first time domain symbol number corresponding to the first OTFS signal relative to a second time domain symbol number; the second time domain symbol number is a preconfigured initial time domain symbol number or a time domain symbol number corresponding to a second OTFS signal; and the time domain symbol number change condition is fed back to the second communication equipment. Compared with the existing direct feedback time domain symbol number mode, the feedback mode of the time domain symbol number change condition fed back to the first communication equipment in the application does not have redundancy, can reduce the overhead, and can make the overhead not affected by the range of the time domain symbol number.

A machine learning-based proxy model may be generated to determine a quality of user experience in a vehicle-based communication network in the absence of direct feedback from a user regarding the user experience. The machine learning-based proxy model may include supervised and / or unsupervised machine learning models, including, for example, k-means clustering algorithms and / or artificial neural networks. Once generated, the proxy model may be applied to observed operating parameters of the vehicle-based communication network to quantify a user experience of any user for any duration of the vehicle-based communication network.

The invention provides a head warping monitoring method of a photovoltaic cleaning robot and the robot. Head warping is monitored by acquiring the resistance moment of the wheel end of a walking wheel in real time. The wheel end resistance moment directly reflects the contact friction state of the walking wheel and the photovoltaic module frame, the moment is stable during normal contact, the resistance moment can be rapidly reduced if contact separation is caused by head warping, the real-time performance of monitoring is ensured through direct feedback of mechanical contact, the state change can be rapidly captured at the initial stage of head warping, and the real-time monitoring effect is achieved. And risk aggravation caused by monitoring delay is avoided. The attitude data is determined through the resistance torque difference of each walking wheel, and a precise action basis is provided for a head upwarp suppression system. And when head warping is monitored, the suppression system is driven to perform active intervention based on the attitude data, head warping is suppressed in a short time, the derailment risk is effectively avoided, and the running stability of the robot and the reliability of cleaning operation are remarkably improved.

This application provides a channel information feedback method, a channel information reception method, and related apparatus. The method includes: a terminal device measuring a first reference signal to obtain channel information for N space-frequency units, where the first reference signal carries the N space-frequency units, and N is an integer greater than or equal to 1. Then, the terminal device sends first indication information and channel information for M space-frequency units. The first indication information indicates the M space-frequency units, where the M space-frequency units are some or all of the N space-frequency units, and M is an integer greater than or equal to 1. A network device infers the channel information for the N space-frequency units based on the channel information of these partial space-frequency units. The terminal device does not need to perform eigenvalue decomposition and DFT calculation on the precoding matrix; instead, it directly feeds back the channel information of a partial space-frequency unit, thereby reducing terminal complexity.

The present invention relates to the technical field of tactile feedback, and specifically provides a wearable tactile feedback device for badminton training, which includes a motion parameter extraction module, an action analysis module, a timing comparison module, a tactile signal generation module, and a feedback execution module. In the present invention, the gait and swing actions captured by the wrist and ankle sensors significantly improve the ability to capture the details of athletes' actions. Different from conventional tactile feedback technologies, the solution enables athletes to accurately master the core parameters of actions such as step length, speed, and angle through real-time data capture, improving the ability to control the details of the movement. Through in-depth analysis of the data, athletes can immediately obtain direct feedback on action optimization and quickly adjust to achieve ideal sports performance, effectively enhancing the personalization and adaptability of sports training and ensuring that the training plan for each athlete can accurately match their actual performance and improvement needs.

The invention discloses ultrasonic transducer pre-tightening force intelligent assembling equipment and method based on piezoelectric feedback, belongs to the technical field of intelligent manufacturing, and constructs a direct feedback closed-loop control system with a piezoelectric ceramic crystal pile as a force sensing element. A multi-stage self-adaptive control strategy is adopted, idle stroke feeding is sequentially executed to quickly eliminate the assembly clearance, an electrical seating point is accurately judged to serve as a loading starting point by synchronously monitoring piezoelectric voltage and real-time torque, then linear loading is conducted, the torque rate is calculated in real time to monitor the process state, when the piezoelectric voltage is close to a target value, low-speed micro-feeding is conducted, and when the torque rate is close to the target value, low-speed micro-feeding is conducted. And finally, the hardware comparator triggers hardware interruption at the moment that the voltage reaches a preset threshold value, and the control unit is driven to realize millisecond-level sudden stop, so that overshoot is completely eradicated fundamentally. The technical transition from indirect torque control to direct force feedback control is achieved, the pre-tightening force control precision is improved, meanwhile, the consistency and reliability of high-end ultrasonic transducer products are guaranteed, and the production efficiency is greatly improved.

This application provides a precise direct power control device for a dual active bridge converter, relating to the field of power control technology. The device includes: a signal processing module for acquiring real-time electrical signal sequences and performing sampling interference correction; a power calculation module for constructing a dual active bridge power calculation model and obtaining instantaneous transmitted power by inputting a reliable electrical signal sequence; a feedback adjustment module for determining the power error signal and performing direct feedback adjustment; and a parameter determination module for dynamically optimizing the dual active bridge adjustment candidate space based on the dynamic accompanying risk mechanism of the dual active bridge to obtain the dual active bridge adjustment parameters. This application solves the technical problem in the prior art where power control only focuses on power tracking during dynamic adjustment and ignores transient safety risks, leading to potential safety hazards during load changes and thus affecting the operating efficiency of the dual active bridge converter. It effectively suppresses dynamic risks while achieving precise power control, thereby improving the operating efficiency of the dual active bridge converter.

This application provides a channel information feedback method, a channel information receiving method, and related apparatus. The method includes: a terminal device receiving first indication information, which instructs the terminal device to feed back M space-frequency units (SQUs) of channel information, where M is an integer greater than or equal to 1; then, the terminal device transmits the channel information of the M SQUs according to the first indication information. The channel information of the M SQUs is obtained by measuring a first reference signal, which is carried by N SQUs. The M SQUs are some or all of the N SQUs, where N is an integer greater than or equal to 1. This facilitates network devices inferring the channel information of the N SQUs based on the channel information of the M SQUs. The terminal device does not need to perform eigenvalue decomposition and DFT calculation on the downlink measurement channel to obtain a precoding matrix, but directly feeds back the channel information of a portion of the SQUs, thereby reducing terminal complexity.

The invention discloses a hydraulic feedback type self-adaptive fan-shaped modular multidirectional precise irrigation gate which comprises at least one fan-shaped modular unit, a unit shell is provided with a mortise and tenon joint structure, and a fan-shaped body flow channel and a deformable gate body composed of an elastic film are arranged in the unit shell. A hydraulic cavity is formed in the upper portion of the gate and communicated with a floater box arranged in the field through a hydraulic pipeline, the elastic film is driven to deform by utilizing field water level changes sensed by a floater, and therefore overflowing gaps are automatically adjusted, and precise irrigation is achieved. And a plurality of units can be spliced to form a multidirectional water outlet structure. A water pump unit is further arranged and used for assisting in water pumping when the water level of the channel is low. The system realizes direct feedback and self-adaptive precise control of field water level without external power, solves the problems of low automation degree, high multidirectional water distribution cost, incapability of irrigation at low water level and the like in last-stage channel irrigation, and has the advantages of modularization, easiness in deployment and no maintenance.

This utility model discloses a detection mechanism for limiting the loading device of a dry quenching coke, including a track support and a trolley track. This utility model employs mechanical mechanisms such as a limit sensing base plate and a track limit switch. In actual use, the entire device is installed at the furnace opening of the dry quenching furnace. The limit support is welded to the base below the trolley track where the rear wheels of the loading trolley are located when the furnace cover is fully open. During subsequent operations, the loading trolley can be pushed by an electro-hydraulic actuator, causing it to move along the trolley track. The track limit detection device of this utility model is installed on the trolley track, providing direct feedback on the actual position of the furnace cover opening. Furthermore, the track limit switch uses magnetic induction to limit the loading device via the limit sensing base plate on the trolley, combining with the stroke limit of the electro-hydraulic actuator to achieve double insurance for limiting the loading device of the dry quenching coke, completely preventing accidents caused by the hoist misjudging the opening position of the loading device.

The invention relates to the technical field of precision optical instruments and photoelectricity, in particular to a piezoelectric driving image motion compensating mirror device and a control method. The invention provides a piezoelectric driving image motion compensating mirror device. The piezoelectric driving image motion compensating mirror device comprises a connecting bottom plate, the bearing seat is fixedly arranged on the connecting bottom plate; the reflecting mirror is rotatably mounted on the bearing seat and is used for receiving and reflecting the optical light beam; the actuator assembly is used for driving the reflecting mirror to deflect around a preset axis so as to realize image motion compensation; wherein the actuator assembly adopts a driving structure based on strain direct feedback, the actual deflection displacement of the reflecting mirror is indirectly obtained by detecting the strain change of a driving part of the actuator assembly, and closed-loop control is formed based on displacement feedback. According to the invention, the deflection displacement of the reflector is indirectly obtained by detecting the strain of the driving part of the actuator assembly through the actuator assembly, high-precision image motion compensation is realized, and the device is more compact in structure and higher in reliability.