1151 results about "Error signal" patented technology

The invention provides an automatic energy-saving control method and device for a ring cooling fan based on load feedback, relates to the field of ring cooling fans, and solves the technical problem of delay of regulation and control in an energy-saving working state. The method comprises the steps that working condition data are input into a preset powder box model, and a feed-forward air volume instruction is obtained through calculation; and inputting the working condition data into a state observer to obtain an optimal estimated temperature value. And the deviation between the optimal estimated temperature value and a preset temperature set value is calculated, and a feedback air volume compensation instruction is obtained through calculation of a feedback controller according to the deviation. And fusing the feed-forward air volume instruction and the feedback air volume compensation instruction to obtain a final air volume control instruction, and issuing the final air volume control instruction to a fan frequency converter for execution. And continuously monitoring the numerical value and the change trend of the feedback air volume compensation instruction, taking the feedback air volume compensation instruction as a prediction error signal of the powder box model, and adaptively adjusting key thermal parameters in the powder box model. The method is used in the control process of the ring cooling fan.

The invention relates to an intelligent customer service self-learning method and system, and the method comprises the steps: collecting the interaction data of a user and an intelligent customer service, and forming a multi-dimensional data set; based on a PID (Proportion Integration Differentiation) controller, processing the performance indexes in the multi-dimensional data set, calculating a current error signal, and generating a corresponding control instruction according to the current error signal so as to adjust the response behavior of the intelligent customer service system in real time; evaluating the system performance data adjusted by the control instruction to obtain evaluation feedback; and according to the evaluation feedback, dynamically adjusting the parameters of the PID controller through a self-adaptive control strategy, and feeding back the adjusted parameters to the PID controller in the step S2. According to the invention, by introducing a closed-loop feedback mechanism based on the PID controller and a parameter adaptive optimization strategy, real-time regulation and control of the response behavior of the intelligent customer service system are realized, and the stability, the response speed and the user satisfaction of the system are remarkably improved.

The invention discloses a grid-connected inverter control method based on second-order linear active disturbance rejection, and particularly relates to the field of grid-connected inverter control. Voltage and frequency error signals between the output side of the inverter and the power grid are obtained, a pre-synchronization control model is constructed, and voltage amplitude and frequency synchronization is achieved; a second-order linear active-disturbance-rejection controller is introduced in the frequency synchronization control process, an extended state observer is adopted to estimate the output frequency, the frequency change rate and a disturbance term, and a state error feedback control law is combined to generate a frequency regulation control quantity, so that accurate frequency control is realized; after grid connection, a dual-channel LADRC power regulation controller is constructed, and decoupling tracking control is carried out on active power and reactive power; meanwhile, on the basis of fast Fourier transform processing as a stable grid-connected state criterion, the method has the advantages of being high in control precision, high in anti-interference capability, good in current waveform quality, high in adaptability and the like, and is suitable for various grid-connected application scenes.

The invention relates to the technical field of wireless communication, and discloses a communication equipment command and dispatch system based on artificial intelligence, the system maps the state of communication equipment into a standardized carrier phase disturbance mode, and after the disturbance mode is adaptively adjusted in combination with channel noise perception and conflict arbitration logic, the communication equipment is commanded and dispatched. Controlling the radio frequency front end to carry out injection; the adjacent communication equipment directly detects the disturbance mode to trigger the cooperative scheduling action by monitoring the physical error signal of the carrier synchronization loop of the adjacent communication equipment, and the implicit cooperative mode based on the physical layer beacon is constructed, so that the complex high-level signaling interaction required by the traditional scheduling is avoided, and the scheduling efficiency is improved. According to the method, the millisecond level, determined by a software protocol, of the collaborative response time between the devices is substituted into the microsecond level determined by the hardware physical layer response entscheid, the system can still maintain reliable transmission of scheduling instructions when facing high-density concurrent conflicts and strong channel noise, and a technical implementation path is provided for ultra-low-delay and high-reliability communication.

The invention provides an aluminum material shearing machine pressure self-adjusting feeding system based on synchronous rollers, relates to the technical field of aluminum material shearing machines, and adopts three synchronous rollers to be mounted in a mounting groove in the surface of a turntable through a movable block, a pneumatic telescopic rod and a pressure sensor in a combined manner to form multi-point support and tension control on an aluminum material. The console collects an extrusion force signal output by the pressure sensor in real time, calculates an actual pressure value in the horizontal direction through a pressure decomposition algorithm in combination with a turntable angle output by the angle sensor, compares the actual pressure value with a preset tension threshold value to generate an error signal, and drives the pneumatic telescopic rod to dynamically adjust the position of the synchronous roller; and when the error exceeds a set range, the servo motor can be controlled to adjust the angle of the turntable, and the wrapping angle of the synchronous roller is changed to realize tension compensation. The conveying tension of the aluminum material under the complex working condition is kept stable, the conditions of loosening, wrinkling, deviation and too tight snapping are avoided, and therefore the stability of the aluminum material in the conveying process and the follow-up shearing precision are improved.

A control device for a switching voltage regulator includes: a first detector of a first measurement signal indicative of a current flowing in a first side of the regulator, and providing a first comparison signal as a function of a first threshold; a second detector of a second measurement signal indicative of a current flowing in a second side of the regulator, and providing a second comparison signal as a function of a second threshold; a driving-signal generation circuit which generates a switching control signal from the first comparison signal to drive the switching circuit; a calibration circuit which receives an alert signal indicative of the first threshold, compares the alert signal and the second comparison signal, and provides a calibration signal in response; and a feedback circuit which provides a control signal as a function of an error signal and of the calibration signal.

The invention discloses a laser frequency stabilization system based on Faraday anomalous dispersion atomic filtering, which is used for carrying out frequency stabilization on phase modulation multi-sideband laser, and comprises a frequency doubling laser unit which is configured to comprise a fundamental frequency seed light source, an electro-optical modulator, a fundamental frequency amplifier and a frequency doubling crystal; the light splitting module unit is configured to split the frequency doubling light into a main output light path and a monitoring light path; the atomic optical rotation filter is located on the monitoring light path and is configured to maintain the purity of the frequency-stabilized laser spectrum through purification treatment under the control of the axial magnetic field and the temperature; the frequency stabilization unit is configured to be a frequency stabilization light path and a servo system, and the frequency stabilization light path is used for obtaining laser frequency information and generating an error signal; the servo system is used for controlling the frequency of the fundamental frequency seed light source according to the error signal feedback. According to the laser frequency stabilization system provided by the invention, the spectrum purification and frequency stabilization precision can be improved, so that high-frequency stability locking is realized.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle accurate attitude control method fusing multiple sensors and a flight controller thereof. The method comprises the following steps: acquiring the position and attribute characteristic data of an unmanned aerial vehicle through multiple sensors; determining the offset degree of the statistical period and the offset direction of the unmanned aerial vehicle according to the position difference between the unmanned aerial vehicle position and the planned route in the previous statistical period, the unmanned aerial vehicle direction and the planned route angle; attitude angles are obtained through attitude calculation, the attitude angles form a fluctuation curve, the fluctuation degree is analyzed, and the attitude stability degree of the unmanned aerial vehicle is obtained; the deviation of the unmanned aerial vehicle relative to the initial position is obtained according to the fluctuation curve slope of the yaw angle; comparing the direction with the offset direction to determine a correction angle; and calculating a three-axis error signal through the correction angle, and inputting the three-axis error signal into a PID (Proportion Integration Differentiation) controller for control. A more accurate attitude angle is obtained, so that the control precision is improved.

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

A DC / DC converter includes a converter stage to receive an input voltage and to provide an output voltage from the input voltage in accordance with a modulated drive signal. The converter stage further provides a feedback voltage representing the output voltage. A controller circuit includes an error amplifier to receive the feedback voltage and a reference voltage and to provide an error signal based on the feedback voltage and the reference voltage. A PWM modulator receives a clock signal and the error signal and generates a modulated signal based on the clock signal and the error signal, and a logic circuit receives the modulated signal and generates the drive signal for the converter stage based on the modulated signal so that the drive signal has the same duty cycle as the modulated signal, when the duty cycle of the modulated signal is not smaller than a minimum duty cycle value.

The invention discloses a wide-dynamic-range diamond NV color center magnetic sensing method and system, and the method comprises the steps: (1) calibrating the initial resonant frequency and magnetic sensing coefficient of a diamond NV color center in an initial magnetic field environment; (2) in a to-be-measured magnetic field environment, a microwave generator applies frequency-modulated microwaves to the diamond NV color center with the current resonant frequency as the center frequency; demodulating the fluorescence signal in real time by using a phase-locked detection technology to obtain an error signal; calculating the detuning amount of the center frequency in real time according to the error signal and the magnetic sensing coefficient, and further calculating the variable quantity of the magnetic field intensity; meanwhile, the detuning amount is fed back to a microwave generator to track the resonance frequency of the diamond NV color center; and (3) continuously and repeatedly executing the step (2) to realize wide-dynamic-range magnetic field measurement. The method has the advantages of wide dynamic range, high detection capability on strong and weak field mixed signals in a complex application scene and the like while giving consideration to the magnetic sensing sensitivity.

The invention discloses a fault detection method for a ship power condenser system based on multi-scale feature fusion, relates to the fault detection method for the ship power condenser system based on the multi-scale feature fusion, and belongs to the field of fault diagnosis and safety monitoring of ship power systems. The objective of the invention is to solve the problems of insufficient detection precision and high false alarm rate of a traditional fault diagnosis method. The method comprises the following steps: step 1, acquiring input and output information of a condenser system; 2, constructing a multi-scale feature extraction model; 3, obtaining a trained multi-scale feature extraction model and parameters; 4, inputting online data of the condenser system into the trained multi-scale feature extraction model, and outputting predicted values of the liquid level and the vacuum degree of the condenser by the trained multi-scale feature extraction model; the residual generator obtains an online prediction error signal based on the prediction value; and step 5, performing fault diagnosis based on the online prediction error.

The invention discloses a charge control method and circuit applied to a resonant conversion circuit, and electronic equipment. The charge control method comprises the following steps: acquiring an input voltage and an output voltage of the resonant conversion circuit; an adjustment output signal is obtained by using an error signal between the output voltage and the benchmark reference voltage; acquiring the amplitude change rate of the input voltage; obtaining a slope compensation slope by using the amplitude change rate; performing slope compensation on the adjustment output signal by adopting the slope compensation slope to obtain a feedback adjustment signal; generating a driving control signal by using the feedback regulation signal; and the driving control signal is sent to the resonant conversion circuit to adjust the on-off state of the resonant conversion circuit so as to adjust the output voltage. Through the above mode, the charge control method provided by the invention effectively improves the dynamic performance, avoids subharmonic oscillation under extreme conditions, dynamically adjusts the slope compensation slope in real time, and further ensures the stability in a relatively wide input voltage range.

The invention discloses a permanent magnet synchronous motor sensorless control method based on a dynamic position error. A transition stage is provided, per-unit estimation position errors between a first position error signal obtained based on a high-frequency signal injection method and a second position error signal obtained based on a sliding mode observer are compared, an optimal switching speed point is dynamically determined, smooth fusion is carried out on the two position errors by using a nonlinear weighting function, and the optimal switching speed point is obtained. And finally, the estimated position and rotating speed are obtained through a phase-locked loop. And finally, position tracking is carried out by adopting different error signals according to the estimated rotating speed. According to the method, the problem of estimation value pulsation and jump caused by the fact that a traditional method depends on fixed experience switching points is solved, smooth and self-adaptive switching of the two estimation methods in the full-speed domain range is achieved, the control precision and operation stability of the system are remarkably improved, the structure is simple, and engineering implementation is easy.

The invention provides an ultrafast laser drilling method for a carbon fiber composite material, and relates to the technical field of laser machining.The ultrafast laser drilling method comprises the steps that a material removal image and a plasma light intensity signal in the laser drilling process are obtained in real time, whether a fiber sputtering effect occurs in the material removal image or not is recognized, and if the fiber sputtering effect does not occur, the material removal image is recognized; if so, determining a hole-making influence area, and acquiring temperature distribution data of the hole-making influence area; analyzing to set a first revolution-rotation speed adjusting rule, and adjusting the revolution speed and the rotation speed of the laser based on the first revolution-rotation speed adjusting rule; and if the fiber sputtering effect occurs, quantifying the fiber sputtering effect to construct a rotation error signal, performing periodic analysis on the plasma light intensity signal to construct a revolution error signal, setting a second revolution-rotation speed adjustment rule, and adjusting the revolution speed and the rotation speed of the laser based on the second revolution-rotation speed adjustment rule.

The invention relates to a self-calibration atomic wavelength meter. The self-calibration atomic wavelength meter comprises a saturated absorption spectrum light path for locking a detection laser frequency on a cesium atom energy level transition line based on a saturated absorption spectrum; the double-peak spectrum light path scans the frequency of a coupled laser after the frequency of the detection laser is locked by a saturated absorption spectrum, and when the detection laser and the coupled laser jointly act on alkali metal atoms and are subjected to resonance excitation, an electromagnetic induced transparency effect is generated; when the detection laser is detuned, the detection laser and the combined laser jointly act on the alkali metal atoms to generate non-resonance excitation, a double-peak EIT spectrum with Doppler frequency shift is generated, and the wavelength measurement of the current detection laser can be completed based on the linear relation between the double-peak spectrum interval and the detuning amount of the detection laser. In addition, the double-peak spectrum interval is compared with the atomic energy level transition frequency, the difference between the double-peak spectrum interval and the atomic energy level transition frequency serves as an error signal to be fed back to the control end of the detection laser, the frequency of the detection laser is tuned to the reference frequency standard, and calibration of the wavemeter can be achieved.

The invention discloses an integrated management and traceability method for a non-perpetual industry chain, and relates to the technical field of information management and data traceability, and the method comprises the steps: S100, building a uniform time mark baseline of a whole link, carrying out the nanosecond alignment of all write-in channels, extracting and solidifying the time sequence features of each piece of business data, and forming a time sequence fingerprint as a structured reference basis; and S200, constructing a ghosting detection chain based on the structured reference basis, collecting delay distribution and a phase difference track in a high-concurrency writing process, and identifying a potential region of a retention copy and positioning an abnormal point in combination with a delay distribution entropy. According to the method, the nanosecond time fingerprint, the ghost detection chain, the anti-fact playback mechanism and the causal residual spectrum are constructed to realize accurate identification and dynamic control of the whole writing process of the non-perpetual data, and an error frequency signal and a time reversal rearrangement mechanism are introduced to effectively prevent repeated curing and ensure the uniqueness and credibility of the data.

The invention relates to the technical field of telephone communication, and discloses a robust recursive least square adaptive filter based on inverse QR decomposition and a storage medium, and the method comprises the steps: calculating an inner product of an adaptive weight vector at a moment and an input signal vector, and obtaining an output signal at the moment of the adaptive filter; calculating a difference value between the expected signal and the output signal at the moment, obtaining an estimation error signal, and constructing a nonlinear weighting function; recursively updating and acquiring an inverse correlation matrix of the moment input signal vector based on the moment input signal vector and transpose thereof, a nonlinear weighting function, the inverse correlation matrix of the input signal vector and the covariance of the estimated error signal, and constructing a block matrix containing the inverse correlation matrix of the moment input signal vector; inverse QR matrix decomposition and unitary rotation operation are sequentially carried out on the block matrix, an array before inverse QR decomposition and an array after inverse QR decomposition at the moment are obtained, a gain vector at the moment is constructed, and a self-adaptive weight vector at the moment is updated and obtained.

A computerised method of generating a first trainable transform arranged to be used in localisation of an entity, the transform being arranged to transform a first representation of an environment to a second, different, representation of the environment, the method comprising processing a plurality of first training representations of an environment using the first trainable transform to generate a transformed first training representation; performing at least one of: i)) running at least one known process on the first training representation and a modified version of the first training representation to generate an error signal where in the process is selected such that the first trainable transform is arranged to enhance features within the first training representation; and ii) running at least one known process on a second training representation, corresponding to the first training representation, but under a different lighting condition, and on the modified version of the first training representation to generate an error signal wherein the process is selected such that the first trainable transform is arranged to enhance features within the first training representation; and; c) using the error signal to train the first transform.

The invention relates to a permanent magnet synchronous motor improved fractional order sliding mode active-disturbance-rejection control method based on an improved fractional order super-spiral sliding mode observer, and the method specifically comprises the steps: firstly, building a mathematical model of a PMSM in an alpha-beta and d-q coordinate system, designing an improved fractional order super-spiral sliding mode disturbance observer, and estimating the unknown disturbance in a system in real time; and finally, optimizing a steepest function and designing a fractional order tracking differentiator in combination with a fractional order calculus principle. A nonlinear state error feedback law is constructed, nonlinear calculation is carried out on the proportion, differential and integral of an error signal, and the anti-interference capability, the response speed and the control precision of the controller are improved; and combining a fractional order tracking differentiator, a fractional order state observer and a nonlinear feedback control law, and designing a fractional order sliding mode active-disturbance-rejection controller. According to the method, system buffeting is effectively weakened while the convergence speed is increased, and the robustness of the controller under load disturbance is effectively improved.

The invention relates to the technical field of laser system control, and discloses a laser frequency locking system multistage PID parameter regulation and control method based on deep learning, and the method comprises the steps: obtaining an error signal time sequence of a PDH laser frequency locking system; outputting a frequency locking state score and a fast and slow double-loop PID parameter through a deep learning model; judging whether the frequency locking state score and the fast and slow double-loop PID parameters meet corresponding preset conditions or not; if the frequency locking state score and the fast and slow double-loop PID parameters do not meet the corresponding preset conditions, iteratively optimizing the deep learning model until the frequency locking state score and the fast and slow double-loop PID parameters meet the corresponding preset conditions; and the optimized deep learning model outputs fast and slow double-loop PID parameters. According to the invention, online adaptive reasoning and closed-loop optimization of fast and slow double-loop multistage PID control parameters can be realized, and the intelligent level and the capability of adapting to complex working conditions of a PDH laser frequency locking system are improved.

The invention discloses a periodic disturbance compensation method and device for an input time delay system, equipment and a medium, and relates to the field of disturbance control, and the method comprises the steps: obtaining a state-space equation of the input time delay system; according to the state-space equation of the input time-delay system, converting the input time-delay system into a non-input time-delay system by adopting a time-delay compensation method; based on the error signal of the no-input time delay system, estimating the value of the to-be-determined parameter by adopting an internal model principle and a linear regression method to obtain an estimated value of the to-be-determined parameter; and determining a control input signal of the zero-input time-delay system by adopting the feedback controller according to an output signal of the zero-input time-delay system and the to-be-determined parameter estimation value so as to perform periodic disturbance compensation on the zero-input time-delay system. The feedback controller is adopted to perform feedback control on the control input signal according to the output signal of the system, and compensation of unknown time-varying periodic disturbance of the input time delay system can be realized.

The invention provides a control method and a control system for building an independent acoustic space of an automobile cabin, which are applied to the technical field of sound field control of the automobile cabin, and are used for inputting a multi-channel vibration signal acquired in real time into a deep learning noise prediction model to obtain an in-automobile background noise prediction value at a future moment; the prediction noise is filtered by the secondary path estimation model and then is used as a feedforward reference signal for active noise reduction, and the prediction noise and a residual signal collected by a bright area error microphone are jointly used for weight updating of an adaptive filter; the updated filter generates a reverse-phase noise elimination signal and the reverse-phase noise elimination signal is played by a secondary loudspeaker in real time so as to counteract background noise of the bright area; and closed-loop adjustment of the noise reduction effect is formed based on the sound pressure level contrast ratio of the bright and dark areas, so that the independent acoustic space is kept stable in the time-varying environment of vehicle driving. According to the method, the low noise of the bright area and the isolated sound field of the dark area in the vehicle are realized by fusing deep learning noise prediction and active noise control, and the personalized auditory experience in the vehicle can be remarkably improved.

The invention discloses a noise reduction processing method and device, a vehicle and a storage medium, and relates to the technical field of intelligent cabins, and the method comprises the steps: carrying out the recognition based on an error signal and an accelerometer signal of the vehicle, and obtaining a noise scene where the vehicle is located; decomposing the accelerometer signal into a plurality of sub-band signals which are not overlapped with one another; for each sub-band signal, determining a noise reduction processing parameter corresponding to each sub-band signal based on the energy analysis and noise scene of the sub-band signal; based on the noise reduction processing parameter corresponding to each sub-band signal, performing adaptive filtering on each sub-band signal in combination with the error signal to obtain a noise reduction signal corresponding to each sub-band signal; and carrying out fusion reconstruction on the noise reduction signals corresponding to the plurality of sub-band signals to obtain a full-band noise reduction signal. According to the invention, adaptive filtering and noise reduction are carried out on each sub-band signal based on the noise scene where the sub-band signal is located, efficient division and treatment and response can be carried out on complex and multi-spectral structure noise, the noise reduction effect is improved, and the vehicle use experience feeling of a user is further improved.

The invention provides a flying robot control method and device based on force feedback and a medium, and the method comprises the steps: deploying a six-dimensional force torque sensor at an operation end effector of a flying robot, and obtaining and screening effective torque data in real time to obtain a force error signal; a compensation layer based on the Lyapunov self-adaptive law is utilized, the total disturbance is cooperatively estimated in combination with double observers, and the disturbance serves as a feed-forward quantity to be injected into an attitude controller; and calculating the adjustment amount according to the target impedance model and the force error, and generating an execution mechanism control instruction. According to the technical scheme provided by the invention, stable control of air interaction operation can be realized, and the anti-disturbance capability and interaction force control precision of the flying robot are effectively improved.

The invention discloses a multi-axis synchronous control system based on a VPX bus, and the system comprises a control platform initialization module which is used for generating a system initialization parameter set; the timing pulse synchronization module is used for forming a timing interrupt signal set; the state acquisition and error write-in module is used for acquiring an axial state, calculating an error signal and writing the error signal into the private area and the broadcast area; the distributed deviation coupling module is used for constructing a state synchronization data set; the sliding mode surface construction and state judgment module is used for constructing a non-singular fast terminal sliding mode surface; the sliding mode control output generation module is used for executing a distributed sliding mode control strategy; the optical signal conversion and data stream generation module is used for generating an optical signal control data stream; and the actuating mechanism driving module is used for converting the optical signal control data stream into an analog driving signal. According to the invention, a distributed sliding mode control and VPX high-speed synchronization mechanism is adopted, and multi-axis high-precision cooperative servo control is realized.

The present disclosure describes a method of detecting failures in a semiconductor processing system. The method includes monitoring a pressure in a common conduit, stopping a first flow of a first fluid from a first conduit into the common conduit, monitoring the common conduit pressure for a first delay period after stopping the first flow, stopping a second flow of a second fluid from a second conduit into the common conduit, monitoring the common conduit pressure for a second delay period after stopping the second flow, closing a port of the common conduit, downstream of the first conduit and the second conduit, and monitoring the pressure in the common conduit after closing the port of the common conduit for a third delay period, and creating an error signal if the pressure in the common conduit does not reach a steady state within the first, second, or third delay period.

The invention discloses a chip dynamic temperature adjusting method based on a PID control algorithm, and the method comprises the following steps: S1, collecting and processing multi-point temperature data, and obtaining a unified temperature vector; s2, performing thermal mode extraction, and calculating a target temperature deviation to generate an error signal; s3, constructing a segmented polymorphic PI D controller, and performing mode switching to calculate a proportional item; s4, generating an integral term for each thermal mode, and performing change rate processing to generate a differential term; s5, the proportion, the integral and the differential are combined, and the distributor outputs an actuator instruction; and S6, issuing an executor instruction, and executing amplitude limiting and slope constraint to complete adjustment. According to the invention, through segmented multi-state PI D control and a mode perception distributor, rapid response and stable adjustment of the chip temperature are realized.

According to an embodiment, a phased-locked loop (PLL) circuit, within a gyroscope system, generates demodulation signals. It includes a phase frequency detector receiving gyroscope output, which compares a reference signal with a feedback signal to produce an error signal. A charge pump then converts this error into a first analog control signal. A programmable clamp circuit refines this into a second analog control signal. A voltage-controlled oscillator uses the second signal to produce an output signal at a controlled frequency determined by the clamp circuit. A frequency divider sends a comparison frequency signal back to the detector, completing the loop.

The invention discloses a transverse error calibration method and a related device, and the method comprises the steps: determining a low-frequency error signal and a high-frequency error signal under the condition that the current transverse error of a target vehicle is greater than a preset transverse error, and carrying out the alignment processing of the low-frequency error signal and the high-frequency error signal, and obtaining a first signal corresponding to the low-frequency error signal and a second signal corresponding to the high-frequency error signal at the same moment, and further determining a target transverse error for calibrating the target vehicle according to the first signal and the second signal. Thus, according to the embodiment of the invention, the error signals (namely the low-frequency error signal and the high-frequency error signal) of different dimensions are determined, then the error signals of different dimensions are aligned at the same moment, and the target transverse error is determined through the first signal and the second signal at the same moment. The error signals of different dimensions are fused, and the accuracy and reliability of the transverse error are improved.