127 results about "Gain correction" patented technology

The invention provides an underwater multi-robot distributed elastic positioning method and system, and relates to the field of underwater robots. Establishing a kinematic model of the target robot and a measurement model of monitoring node fusion distance, depth and attitude information; when the state variation of the target robot exceeds a preset threshold value, communication is triggered; identifying a random delay state of a measurement signal by adopting a binary indicative function, dividing a scene according to a relationship between the current moment and the total time length of a task, and converting random delay information into a non-delay equivalent sequence; on the basis of the kinematic model, the measurement model and the non-delay equivalent sequence, delay channels are selected in different scenes to execute state prediction and elastic gain correction, and a state estimation value of the target robot is obtained; wherein the tight upper bound of the positioning error covariance matrix is constructed, and the optimal positioning gain is solved to iteratively optimize the elastic gain. By adapting time-varying delay and optimizing gain control errors, efficient cooperative positioning in a complex environment is ensured, and reliable pose information is provided for underwater tasks.

The invention relates to the technical field of electron microscope sample pretreatment, and discloses a critical point drying control method and device based on online near-infrared monitoring, and the method comprises the steps: obtaining infrared spectrum data, and unmixing the spectrum data to obtain a feature data set of a solvent; outputting a to-be-corrected signal according to the feature data set, correcting the to-be-corrected signal with preset data, and determining a signal feature of the solvent; carrying out dynamic correction on the signal characteristics and a preset characteristic matrix, outputting concentration time sequence data of the solvent, carrying out steady state judgment by combining a preset convergence threshold value, and determining a critical state of the solvent; acquiring control strategy data according to the critical state, analyzing the control strategy data into execution response characteristics, performing multi-channel mapping and correction processing, and outputting a process control signal; and performing control gain correction on the process control signal to finish closed-loop feedback control of the final drying process. The method is based on multi-solvent spectrum sensing and concentration dynamic analysis, and self-adaptive closed-loop control of the critical point drying process is achieved.

According to the assembly robot applied to the industrial production line, workpiece position, vibration frequency and contact force change data are synchronously obtained through an object detection unit, and a high-precision displacement vector is generated in combination with a parallel processing technology; the parameter adjusting unit dynamically calculates a gain correction coefficient based on a sliding mode controller, so that nonlinear fluctuation of workpiece displacement is effectively dealt with, and the robustness of the system is remarkably improved; the path prediction unit analyzes and predicts a future displacement track of a workpiece through historical data, provides a control instruction for the robot, and reduces operation errors caused by lag; the abnormity processing unit monitors a displacement threshold value in real time, triggers a production line to pause and a standby robot to reset, forms a closed-loop emergency mechanism, guarantees equipment safety and production line continuity, and further solves the problems that when an existing industrial robot displaces due to vibration or conveyor belt errors, the robot cannot adjust grabbing or assembling actions in real time, and the working efficiency is high. And the task failure or fault is caused.

The invention relates to the technical field of intelligent control, and discloses an intelligent control method for an etching process of a PCB (Printed Circuit Board), which comprises the following steps of: acquiring an image of an object to be processed, generating a discretized virtual load sequence, establishing a virtual shift register synchronized with a feedback pulse trigger clock of a transmission device encoder, driving the virtual load sequence to execute logic displacement of physical displacement phase locking; comparing the theoretical torque with the actual torque to obtain a torque residual error; a dynamic gain correction coefficient is calculated based on the torque residual error, the basic feed-forward gain is weighted and modulated in real time, and a control instruction is generated, and a time sequence error caused by transmission speed fluctuation is avoided by constructing a rigid space-time synchronization architecture based on a virtual shift register; a torque residual error is used as a non-intrusive observation variable, and a gain scheduling mechanism is combined, so that self-adaptive compensation for impedance drift of a controlled medium under the condition of no physical sensor is realized.

The invention belongs to the technical field of power electronics, and particularly relates to a current gain diagnosis method, a computer storage medium, a device and a controller. A first bias judgment step / unit approves a bias value of a current sensor (002) to be judged to ensure a precondition of a processing process, and a second fault diagnosis step / unit compares a current measured value with a value of an injection current (059) after data conversion under a static working condition. A phase current gain correction sequence (080) is obtained, and a UVW phase diagnosis indication switching value (010) can be obtained according to a preset precision coefficient (019) A, so that quantitative diagnosis of a current gain G (Gain) fault is realized; if necessary, the corrected current sequence (090) can be used for replacing the actually measured signal for current closed-loop control; according to the method and the product, the fault diagnosis coverage rate of the current sensor of the electric driving system under the static working condition can be improved, the complicated maintenance process can be replaced by software upgrading under the existing hardware structure, and the reliability and the safe operation level of the electric control system are improved.

The invention relates to the technical field of gas station safety risk assessment, in particular to a gas station safety risk assessment method and system. The gas station global infrared image is acquired in real time by deploying the multi-band infrared imaging array, dark current compensation, gain correction and atmospheric transmittance calibration are combined, the oil gas concentration detection precision is remarkably improved, and based on the homography matrix dynamic coordinate alignment technology, the oil gas concentration detection precision is greatly improved by utilizing mark point re-projection error optimization and feature point optical flow tracking. The problem of coordinate drifting caused by thermal deformation is solved, it is ensured that the space positioning error is continuously lower than 2 pixels, and by combining time sequence concentration field construction and a hybrid prediction model, precise deduction of an oil gas concentration field at any moment in the future is achieved, real-time monitoring of a gas station is achieved, and fire blast accidents caused by detection lag are eradicated from the source; the technical problem that potential safety risks are difficult to discover in time through an existing method for monitoring the oil gas concentration of the gas station is solved.

The invention discloses a pressure stabilizer upper end socket nozzle ultrasonic detection test block and detection method, the detection test block comprises a TCG curve reference test block, the TCG curve reference test block comprises a body, a first surfacing layer and a simulation notch groove part; the inner fillet simulation body test block comprises a pipe body, a second surfacing layer and a crescent groove part; according to the invention, the first surfacing layer and the simulated notch groove part are processed on the outer surface of the TCG curve reference test block, so that the shape of the outer surface of the inner fillet area of the nozzle of the upper sealing head of the voltage stabilizer can be effectively simulated, the coupling state of the ultrasonic probe is tested, and the ultrasonic inspection result is more reliable; a second surfacing layer is processed on the inner surface of the inner fillet simulation body test block, so that the form of the inner surface of the inner fillet area of the upper end socket nozzle of the voltage stabilizer can be effectively simulated, the sound beam covering effect of an ultrasonic probe is tested, and the ultrasonic inspection result is more reliable; by processing a crescent groove part in the inner fillet simulation body test block, ultrasonic time-gain correction of a TCG curve and scanning sensitivity calibration can be effectively carried out.

The invention provides an intelligent control system and method for an industrial dust collector, and relates to the technical field of industrial automation. According to the system, real-time operation data of a pipe network and an execution mechanism are obtained through an on-site sensing and collecting module, a safe operation envelope boundary of a current working condition is dynamically calculated through a multi-dimensional safety situation evaluation module, and a performance degradation trend is analyzed through an equipment health decline compensation module to generate an aging drift compensation coefficient. The distributed intelligent control module calculates a basic control quantity in combination with a target process parameter, performs gain correction by using an aging coefficient, and performs forced amplitude limiting according to a safety boundary to generate a composite speed regulation control signal. And finally, the frequency conversion execution module receives the signal and drives the negative pressure fan motor to accurately operate in the corrected safety interval. The problems that in the prior art, a safety protection mechanism is rigid, the self-adaptive compensation capability for equipment performance degradation is lacked, and the multi-dimensional data cooperative control level is low are solved.

A circuit includes a bias current generator, a temperature compensation circuit, and a Hall effect sensor. The bias current generator has a first input, a second input, a first terminal, and a second terminal. The bias current generator includes a resistor circuit having a first terminal and a second terminal coupled to the first terminal and the second terminal of the bias current generator respectively. The temperature compensation circuit has a first input, a second input coupled to the first input of the bias current generator, and an output coupled to the second input of the bias current generator. The Hall effect sensor has a first terminal coupled to the first terminal of the bias current generator, a second terminal, a third terminal, and a fourth terminal.

The invention discloses a permanent magnet synchronous motor control method of a discrete self-adaptive complex coefficient observer, and the method comprises the following steps: S10) taking collected motor stator current and motor stator voltage as the input of a sliding-mode observer; on this basis, a sliding mode area integral parameter, a sliding mode integral gain parameter, a sliding mode integral gain correction parameter and a sliding mode switching boundary parameter are set, a discrete adaptive complex coefficient sliding mode observer is established, and an extended counter electromotive force observation value is obtained; s20) taking the extended back electromotive force observation value as the input of a self-adaptive vector phase-locked loop, and extracting the estimated values of the electric angular speed and angle of the motor rotor; s30) taking the estimated value of the electrical angular velocity as a model correction variable of the sliding-mode observer, and feeding back and inputting the estimated value into the sliding-mode observer for closed-loop observation; high-rotating-speed non-inductive closed-loop control of the motor under the working condition that the carrier wave ratio is smaller than 10 can be achieved, and the requirement for the computing power of a processor in a high-rotating-speed operation occasion is effectively lowered.

A signal processing circuit of a current sensor has: a voltage detection circuit which detects a common mode voltage obtained by combining voltages of first signals respectively outputted from the pair of first output terminals; a differential amplifier circuit which outputs a signal obtained by amplifying each of the first signals with a predetermined gain, when the common mode voltage is equal to or lower than a predetermined threshold voltage, and which outputs a signal obtained by amplifying each of the first signals with a gain lower than a predetermined gain, when the common mode voltage exceeds the predetermined threshold voltage; and a correction circuit which corrects an output signal of the differential amplifier circuit, and the signal processing circuit derives a current value of the current flowing through the conductor, based on the output signal corrected by the correction circuit.

The invention relates to the technical field of constant temperature device control, in particular to an electric tracing band output power intelligent control method and system. The method comprises the following steps: firstly, acquiring temperature data, and further acquiring temperature variation trend uniformity according to the variation trend of the temperature data of all monitoring points; further segmenting the monitoring point, and obtaining a constant-temperature recovery coefficient of the pipeline at the current moment according to the change of the number of the monitoring point segments at adjacent moments; further obtaining a proportional gain correction coefficient at the current moment according to the delay synchronous change of the temperature data of the two adjacent monitoring points in combination with the temperature change trend uniformity and the constant-temperature recovery coefficient; and finally, adjusting the initial proportional gain coefficient at the current moment according to the proportional gain correction coefficient to control the output power of the electric tracing band, thereby realizing accurate regulation and control of the output power of the electric tracing band, and improving temperature uniformity, response speed and energy efficiency.

The invention discloses an exoskeleton robot control parameter determination method and system, and particularly relates to the technical field of robot control, and the method comprises the steps: synchronously collecting rigid joint torque, flexible cable tension and inertia signals, generating a dual-channel response spectrum through Fourier transform, and obtaining a frequency ratio vector; a kinetic energy coupling index and a viscosity lag index are calculated, and a bandwidth difference index is generated through the cooperation phase model in combination with the inertia-damping signature vector; a rigid gain matrix and a flexible gain matrix are obtained in a self-adaptive mode under the energy consumption constraint through sparse Bayesian optimization; constructing a weighting function according to the motion prediction phase and the energy consumption constraint, and synthesizing the two gain matrixes into a composite control instruction stream; and expected and actually measured moment residual errors are monitored, a gain increment is generated according to gradient perception when the threshold is exceeded, and a coupling feature extraction unit is written back, so that millisecond-level gain correction is realized, and the problem that coupling oscillation is caused by unified gain mismatch due to the fact that energy mutual feedback and phase delay cannot be accurately quantified in the prior art is solved.

Provided is an infrared imaging device capable of uniformly correcting signals obtained from an infrared imaging element to accurately measure absolute temperature. [Solution] The device includes an internal temperature correction unit 23 and an environmental temperature correction unit 24 which estimate and correct the convergence value of the sensor internal temperature from the temporal changes in the sensor internal temperature and the environmental temperature, an offset correction table acquisition unit 25 which acquires an offset correction table for each temperature based on the estimated value of the sensor internal temperature, a sensor output value acquisition unit 22 which acquires the output value output from the infrared image sensor unit 3, an offset / gain correction unit 26 which performs offset correction for each of the imaging elements based on the output value based on the offset correction table and corrects the gain variation of each of the imaging elements, and a thermal image data acquisition unit 28 which acquires two-dimensional thermal image data representing the absolute temperature of the heat source measurement object 14.

The present application relates to the technical field of power system stability control, and particularly relates to a high-proportion wind power access system wide-frequency oscillation suppression method based on impedance shaping. The content comprises: constructing a frequency domain output impedance matrix, extracting a dominant wide-frequency oscillation coupling mode frequency band, introducing a mode suppression driven impedance shaping compensation mechanism, constructing a mode suppression driving quantity based on the mode direction in the dominant wide-frequency oscillation coupling mode, and performing local impedance shaping on the output impedance; based on the mode suppression driving quantity, quantifying the mode interference sensitivity between wind power converters, and introducing an impedance shaping gain correction mechanism based on the mode interference sensitivity, to correct the target output impedance after local shaping. The problems that the shaping process cannot effectively adjust dynamically according to the equipment capacity of the wind power converter and the frequency risk, resulting in no difference shaping and excessive compensation, and the problems that the interference coupling between the wind power converters cannot be effectively suppressed, resulting in excessive oscillation or suppression are solved.

The present invention belongs to the general technical field of radar, and relates to an RCS measurement method based on amplitude smoothing and beam gain correction. Based on the radar equation, the present invention proposes an RCS measurement formula that is easy to implement in engineering, and the bandwidth, pulse width, pulse formation and working frequency parameters are involved in the calculation, and the beam factor is corrected according to the target elevation angle to remove the influence of antenna beam gain at different elevation angles. After screening out the track sequence that does not contain zero amplitude value, starting from the third circle, five amplitude values ​​of each track time and the two circles before and after it are taken out in sequence, and a five-point cubic smoothing filter is used to obtain a smoothed amplitude value. The corrected amplitude value is used to complete the signal-to-noise ratio estimation and RCS calculation. The present invention can effectively measure the RCS value of common targets on the basis of the existing hardware platform, solves the influence of antenna beam shape and track amplitude jump, and is easy to implement in engineering.

This invention provides an infrared thermal imaging method, relating to the field of infrared thermal imaging technology. The method utilizes a germanium infrared lens in an infrared thermal imaging system, whose surface is sequentially composed of subwavelength micro / nano structures and an anti-reflection film structure from the inside out. The infrared thermal imaging method includes: focusing target infrared radiation through the germanium infrared lens onto an infrared detection array; the infrared detection array converting the target infrared radiation into an electrical signal matrix; performing noise reduction and gain correction on the electrical signal matrix to obtain a preprocessed electrical signal matrix; performing temperature compensation on the preprocessed electrical signal matrix based on a temperature compensation formula and a transmittance temperature model to obtain a corrected signal matrix; and sequentially performing non-uniformity correction, image enhancement, and pseudo-color mapping on the corrected signal matrix before outputting and displaying the result. Using the method of this invention, higher transmittance, lower reflection loss, and more stable thermal imaging can be achieved.

The invention relates to the technical field of surfactant online monitoring, and discloses a surfactant production raw material online monitoring and analysis system, which comprises a near-infrared detection light source, an optical acquisition module and an analysis control module, calculating a real-time average intensity and an effective value fluctuation component of the voltage signal sequence, determining a real-time variable coefficient value, and identifying a transmission loss component caused by material hanging of the detection window according to the stability of the real-time variable coefficient value, so as to execute amplitude gain correction on the voltage signal sequence, extract intrinsic light absorption characteristics, and obtain an intrinsic light absorption characteristic; according to the invention, by establishing essential correlation logic of the variable coefficient and hanging material deposition, real-time decoupling of physical hanging material interference and component drift characteristics under a single light path is realized, the influence of a high-viscosity material adsorption layer on a measurement basis is eliminated, and the physical continuity of component analysis is ensured.

This invention discloses a calibration method and device for a spectroscopic laser-induced phosphorescence imaging system. The calibration method includes: selecting a homogenizing plate as a standard light source and placing the emitting surface of the homogenizing plate at the focal plane of the imaging system; setting the acquisition frequency, total acquisition time, and N different exposure times, and acquiring N sets of grayscale images obtained by the imaging system under different exposure times; averaging the pixel values ​​of the N sets of grayscale images to obtain the image grayscale matrix of each set of grayscale images; performing linear fitting using the least squares method on the set of grayscale matrices under the N exposure times to obtain the bias correction matrix and gain correction matrix; and correcting the original response grayscale matrix obtained under the test state based on the obtained bias correction matrix and gain correction matrix.

The invention provides a self-learning updating method and device for a resolver correction coefficient, and the method comprises the steps: obtaining the rotating speed of a motor of a vehicle when the vehicle is powered on: obtaining mechanical angle data in a preset time period when the rotating speed of the motor is greater than a preset rotating speed threshold value; performing calculation based on the mechanical angle data to obtain a resolver correction coefficient including a resolver null drift correction coefficient and a resolver gain correction coefficient; and when the resolver correction coefficient is within a preset effective range, writing the resolver correction coefficient into a vehicle nonvolatile memory. According to the method and the device, the resolver correction coefficient better matched with the system can be obtained, so that the quality of the resolver signal can be guaranteed, and the risk caused by the rotating speed estimation fluctuation problem and the whole vehicle NVH problem can be reduced.

The invention discloses a channel gain correction method and system for a multi-channel detector, and relates to the technical field of nuclear radiation detection. The method comprises the following steps: collecting original event data by using a multi-channel detector; energy of all channels triggered by the same event is obtained through action time judgment; calculating the total energy value of each event through the energy of each channel to which each event belongs, counting all events, constructing the total energy spectrum of the channel events, setting an energy screening window according to the position of a photoelectric peak in the total energy spectrum, and reserving the events in the energy screening window as an effective event set; performing channel gain coefficient correction by using an iterative algorithm, and monitoring the energy resolution in real time until convergence; and performing channel-level gain compensation on all original event data by using the finally obtained gain coefficient, and outputting and displaying a corrected energy spectrum and a gain distribution diagram. After gain correction, the energy resolution and the position resolution of the detector can be remarkably improved, and the imaging quality and the quantitative accuracy of the system are improved.

An amplifying apparatus includes: clip processor circuitry configured to perform clip processing, on a basis of the power of a first signal, so as to multiply the power of the first signal by a clip correction value such that the power of the first signal falls within a specified range; gain processor circuitry configured to perform gain processing so as to multiply the power of the first signal subjected to the clip processing by a gain correction value, and further configured to input to analog converter (DAC) the signal after the gain processing; and a gain adjuster configured to restore the power of the first signal output from the DAC to the power before the gain processing and the clip processing, and further configured to input the signal to a carrier amplifier.

The invention discloses a low-noise electroencephalogram acquisition system based on a multi-gain active electrode, which comprises the multi-gain active electrode, an analog circuit board, a digital isolation circuit, a digital circuit board and computer end signal processing software which are connected in sequence, the equivalent input noise of the input end of the system is reduced, and the noise in the whole acquisition process of the system is further reduced. High-pass filtering is combined behind the multi-gain active electrode to reduce direct current bias and avoid system saturation, system gain correction and phase correction are adopted, low-noise and high-signal-to-noise-ratio acquisition of electroencephalogram signals is achieved while the high anti-interference capacity of the electroencephalogram acquisition system is guaranteed, technical support is provided for acquisition of high-density scalp electroencephalogram, and the electroencephalogram acquisition system is suitable for large-scale popularization and application. And high-precision electroencephalogram information decoding is realized.

This application discloses a method, apparatus, device, and medium for nonlinear drive gain compensation of a hemispherical resonator gyroscope, relating to the field of gyroscope attitude control technology. The method includes: exciting a resonator with different frequency drive voltages and obtaining a first amplitude control voltage and a second amplitude control voltage corresponding to the resonator maintaining a preset constant amplitude; determining target parameters based on the first and second amplitude control voltages; obtaining the real-time vibration state of the target hemispherical resonator gyroscope operating in full-angle mode; determining a target drive gain correction coefficient based on the real-time vibration state and target parameters; and compensating for the nonlinear drive gain of the hemispherical resonator gyroscope based on the target drive gain correction coefficient. By obtaining different voltages corresponding to the resonator maintaining a preset constant amplitude and obtaining parameters characterizing the nonlinearity of the gyroscope drive, interference from other error sources is avoided, and the problem of incomplete compensation is solved.

The invention belongs to the technical field of dosimeter calibration, and aims at solving the problems that a traditional dosimeter calibration method depends on manual operation, multi-test-point switching, data recording and off-line calculation need to be completed in a cesium source radiation field, efficiency is low, and test errors are likely to be introduced. According to the dosimeter intelligent calibration method and system based on the multi-modal algorithm, by designing a dual algorithm architecture of a measurement counting mode and an automatic scale mode, autonomous calculation of a gain correction factor and a background correction factor of a dosimeter is achieved, dose accumulation is monitored and stored in real time, and the accuracy of calibration is improved. Through a dynamic switching mechanism of external clock counting and port interruption counting, the stability of a radiation field is accurately judged, the sequential control precision of data acquisition is ensured, real-time calculation and storage of accumulated dose in a multi-gradient dose rate field are realized, and the continuity and traceability of calibration data are ensured. Through full-closed-loop automatic design, the problems of timing error, data input deviation and flow redundancy caused by manual operation are thoroughly eliminated.

The invention relates to the technical field of infrared imaging, and provides an uncooled infrared reading circuit and equipment based on an oversampling technology, and the circuit comprises a detector biasing circuit, an automatic gain correction circuit and an oversampling analog-to-digital converter. The detector bias circuit is used for providing bias voltage for a sensitive pixel and a thermal short circuit pixel to obtain response current, and outputting the response current to the automatic gain correction circuit; the automatic gain correction circuit is used for converting the response current into gain output voltage; and the oversampling analog-to-digital converter is used for performing low-pass filtering processing on the gain output voltage by adopting an oversampling technology to obtain a digital signal. According to the invention, the problem of cost increase caused by large circuit area can be solved, and the requirements of middle-end and low-end applications are met.

The invention relates to the technical field of permanent magnet synchronous motors, in particular to a permanent magnet synchronous linear motor time delay position tracking control method and system. A PMSLM kinematic model considering parameter uncertainty, friction and external disturbance under an orthogonal axis coordinate system is established, and through high-order expansion and same-order equivalent processing, a position tracking error dynamical model is obtained through derivation. And constructing a monotonic error transformation function and introducing nonlinear sliding mode error dynamics to complete the equivalent control law design of the expectation error convergence characteristic. Historical delay input signals are collected by using a system sampling period, and the lumped uncertainty of the system is estimated on line based on a time delay hypothesis. And defining a time delay estimation error, introducing a sliding mode variable and designing an adaptive gain correction term so as to inhibit the influence of the delay estimation error on the dynamic performance of the system. According to the invention, high-precision and low-buffeting position tracking control of the PMSLM servo system under the conditions of uncertain disturbance and time delay is realized, and the servo accuracy of the permanent magnet synchronous linear motor is optimized.

This can suppress excessive amplitude of the actuator. [Solution] The actuator drive device includes a correction gain calculation unit that calculates a correction gain by performing calculations using a sensor signal output from a detection sensor that detects the vibration of the actuator and the drive signal of the actuator, and a drive unit that corrects the drive signal with the correction gain and outputs it to the actuator, thereby driving the actuator so that the vibration of the actuator is below an amplitude limit value.

The present application relates to a kind of infrared image bias output real-time correction method, storage medium and device, steps are as follows: the gain correction coefficient and bias correction coefficient of infrared image are obtained based on calibration method;Calculate the correction coefficient λ0 of current frame scene image and current bias coefficient;Calculate the space-time filtering value λ1 of correction coefficient;Calculate the local information amount I inf of image after non-uniform correction based on λ1;The correction coefficient of bias coefficient is updated again based on local information amount, and λ2 is obtained;The final corrected image is obtained based on λ2 and image non-uniformity correction.The present application can effectively improve the effect of non-uniform correction, and simultaneously prolong the stable time after single point correction;The algorithm complexity of this technique is low, and it is easy to realize on different platforms such as FPGA, DSP, ARM, PC etc.