98 results about "Orthogonal coordinates" patented technology

The invention discloses a sensorless control method and system based on fast and slow time scale characteristics, and belongs to the technical field of permanent magnet synchronous motor control. Firstly, a basic dynamic equation of the surface-mounted permanent magnet synchronous motor on a two-phase synchronous rotation orthogonal coordinate system is deduced, and a simplified mathematical model based on fast and slow time scale characteristics is obtained. Then, a novel sliding-mode observer is constructed and used for estimating the position and speed information of the servo system in real time, and therefore non-sensing control is achieved. And finally, based on a singular perturbation theory, respectively carrying out Lyapunov stability analysis in a fast time scale and a slow time scale so as to obtain a gain determination method of the sliding-mode observer. Based on the fast and slow time scale characteristics of the permanent magnet synchronous motor, a novel modeling method and a sensorless control technology are provided, and estimated values of the position and the speed are used in a servo driving system.

The embodiment of the invention relates to the technical field of earth exploration, and discloses a magnetotelluric observation method, device and equipment in any observation direction and a medium, and the method comprises the steps: collecting electromagnetic field data of an electromagnetic field observation channel in magnetotelluric sounding in an observation area, and carrying out the data processing, and obtaining first electromagnetic field frequency spectrum data; the electromagnetic field observation channels comprise at least one electric field observation channel and two magnetic field observation channels, and the arrangement direction of each electric field observation channel and the arrangement direction of each magnetic field observation channel are non-orthogonal; vector transformation correction is carried out on the first electromagnetic field spectrum data to obtain second electromagnetic field spectrum data, and the second electromagnetic field spectrum data is orthogonal electromagnetic field data under an orthogonal coordinate system; and calculating an impedance tensor based on the second electromagnetic field spectrum data according to the number of the electric field observation channels. According to the method disclosed by the invention, the problem that traditional magnetotelluric observation is limited by complex terrain or observation conditions can be solved, and the application range of the magnetotelluric observation method is expanded.

A method for controlling a power generating asset having a generator with a stator operably coupled to a transformer and a rotor operably coupled to the transformer via a power converter includes using an angle of a phase-locked loop (PLL) reference signal of a PLL at a PLL reference node of the power generating asset to transform a three-phase set of signals to a two-dimensional orthogonal coordinate system of a synchronously rotating frame. The two-dimensional orthogonal coordinate system includes x and y components of at least one of voltage and current. The method also includes determining one or more dynamic decoupling factors as a function of one or more of the x and y components of at least one of voltage and current. Further, the method includes applying the one or more dynamic decoupling factors to current command calculation logic to mitigate a coupling effect of one or more current command components.

The invention relates to a carrier three-dimensional attitude determination method based on night polarized light field double-vector characteristics, which comprises the following steps: acquiring night sky polarized light field information, and acquiring an image plane coordinate system neutral point coordinate and a moon coordinate based on polarization distribution mode neutral surface characteristics; based on an imaging model, inversely solving a polarization neutral point vector and a moon vector under a carrier coordinate system, and further calculating a carrier system neutral surface normal vector; obtaining a moon vector under the navigation system according to the time information and the geographic position information, and calculating to obtain a normal vector vector of a neutral surface of the navigation system by using a zenith direction vector; constructing an orthogonal coordinate system by using the corresponding moon vector and the normal vector in the carrier system and the navigation system respectively; and calculating an attitude conversion matrix based on the two orthogonal coordinate systems so as to obtain a conversion relation between the carrier system and the navigation system and obtain a three-dimensional attitude angle. According to the invention, autonomous attitude determination based on the sky polarized light field under the condition of no external input is realized, an external error source is removed, and autonomy is improved.

The invention provides a shoe tree glue spraying path automatic generation method based on point cloud data processing, and the method comprises the steps: carrying out the point cloud data preprocessing on the basis of scanning a shoe tree to obtain point cloud data, and obtaining a spatial motion track point mark and data; an approximate glue spraying attachment space track on the shoe tree is obtained through polynomial interpolation; then, orthogonal coordinate system NOA vectors corresponding to the glue spraying attachment space track points on all the shoe trees are sequentially solved, a mechanical arm tail end glue spraying space track obtained after the shoe tree glue spraying track NOA vector directions are offset by a certain distance is solved, and a mechanical arm tail end pose matrix is obtained through solving according to the orthogonal coordinate system NOA vectors and the mechanical arm tail end glue spraying space track; and finally, establishing an inverse kinematics mathematical model according to the D-H parameters of the robot, and substituting the inverse kinematics mathematical model into the tail end pose matrix of the mechanical arm for solving to obtain a shoe tree glue spraying movement track.

In a rotary hourglass, it is an issue to simplify the rotation method of a support frame SS having a sand container for inverting the vertical positions of the sand containers. 【Solution means】 Three sand containers 3 and a support frame SS of the sand containers having a pipe for passing sand therebetween have a rotation axis parallel to the Y-axis of the XYZ three-dimensional orthogonal coordinate system. The above-mentioned support frame SS has a form having a plurality of acting points for applying a force MF in the rotation direction TD to rotate the support frame SS. In order to move the container in which the sand has fallen to the upper part, when rotating the support frame SS by 120 degrees, a certain acting point is pushed with a force MF in the rotation direction TD to rotate the support frame SS by 60 degrees. Then, by further pushing another acting point with a force MF in the rotation direction TD, the support frame SS is further rotated by 60 degrees. By these means, the container in which the sand has fallen can be moved to the upper part, time measurement can be performed, the acting points can be pushed in the same direction, and the rotation method can be simplified.

The application discloses a kind of based on complex end ship body section component feature point input post-modeling method and system, method includes: set ship main element and set ship body coordinate system as right-angle orthogonal coordinate system;Set ship body scale;Form hull main ship body model by creating point, line, surface, body;Determine the number of end face required to build cabin, and input the X coordinate of each end face corresponding thereto;Determine the contour feature point of each end face, and sequentially order according to a rotation direction to form the feature point sequence of the end face;According to the order of each end face feature point sequence, the feature point of the end face is input in sequence;Determine the location profile of the main ship body where the end face is located according to the end face X coordinate;Determine the shape profile of the end face according to the feature point in the feature point sequence corresponding to the end face;According to the input multiple end faces, connect the body in sequence according to the feature point, and then intersect with the main ship body to create a cabin.The problem of low efficiency and precision of traditional ship modeling is solved.

The present invention relates to an orthogonal correction network, method and device for an angle sensor. The correction network includes: a first bypass correction network for providing a first preset correction value and a second bypass correction network for providing a second preset correction value; a first multiplier for performing a multiplication operation on a detection value of a first axis of a misaligned orthogonal coordinate and the first preset correction value to obtain a first coordinate correction detection value; a second multiplier for performing a multiplication operation on the detection value of the first axis and the second preset correction value to obtain an intermediate correction value; and an adder for performing an addition operation on a detection value of a second axis and the intermediate correction value to obtain a second coordinate correction detection value. The correction network of the present invention can completely eliminate the non-orthogonal distortion caused by a non-orthogonal sensing element array, and only two multipliers and one adder are provided, with a simple structure, small calculation amount and easy implementation. In addition, the method and device can be applied to multiple groups of sensing elements, and stable angle detection can be realized through model and coordinate conversion to eliminate non-linear errors.

To achieve a small-scale circuit that obtains an output vector having a deflection angle based on the deflection angles of two input vectors as a new deflection angle.SOLUTION: A coordinate rotation processing device executes: processing of inputting a first input vector to vector input orthogonal coordinate data, and inputting a coefficient intensity vector having a coefficient intensity to rotation input orthogonal coordinate data, thereby generating, as rotation output orthogonal coordinate data, a coefficient intensity first vector having a deflection angle of the first input vector and having an intensity obtained by multiplying the coefficient intensity by a predetermined coefficient; and processing of inputting a second input vector to the vector input orthogonal coordinate data, and inputting a coefficient intensity first vector to the rotation input orthogonal coordinate data, thereby generating, as rotation output orthogonal coordinate data, a coefficient intensity second vector having the deflection angle obtained by adding or subtracting the deflection angle of the first input vector and the deflection angle of the second input vector and having an intensity obtained by multiplying the coefficient intensity by the square of a predetermined coefficient. The coefficient intensity is a predetermined value that is set for every set of vector pairs consisting of the first input vector and the second input vector.SELECTED DRAWING: Figure 4

An encryption processing apparatus processes a fully homomorphic ciphertext and includes a processor performing the following processes. The processor performs a homomorphic operation involved in an operation for transforming coordinates of a point on a plane from orthogonal coordinates to polar coordinates with respect to a ciphertext and applies a predetermined polynomial to obtain a new ciphertext. The processor obtains a new ciphertext corresponding to a square of an x-coordinate value of the point by using a first polynomial, obtains a new ciphertext corresponding to a square of a y-coordinate value of the point by using a second polynomial, and applies a predetermined polynomial to a ciphertext obtained by a homomorphic operation between the new ciphertext corresponding to the square of the x-coordinate value and the new ciphertext corresponding to the square of the y-coordinate value, to obtain a ciphertext corresponding to a distance of the point from the origin.

The application belongs to the technical field of aero-engine fuel control and discloses a three-dimensional space oil passage modeling method for a fuel control device shell. The method comprises the following steps: taking a set cross section of a pipeline where an oil passage hole is located as a reference, taking a center of the cross section as a coordinate origin, and establishing a three-dimensional orthogonal coordinate system OXYZ with the cross section as an XOY plane; the oil passage hole is located above the set cross section; the XOY plane in the three-dimensional orthogonal coordinate system is offset upward to form a reference plane 1; a two-dimensional circle model is established on the reference plane 1; a reference axis with the center of the circle as an end point is established on the two-dimensional circle; the reference plane is rotated by a preset angle with the reference axis as a rotation axis to form a reference plane 2, a target hole is established on the reference plane 2, and the positioning reference of the target hole is the center of the two-dimensional circle, so that a modeling result of a three-dimensional oil passage hole is obtained, and accurate positioning of drawing marking is realized by using an orthogonal positioning method.

Embodiments of the present application provide a motion mechanism control method and device, electronic equipment and storage medium, and relate to the technical field of robots. The specific solutions are as follows: a current image pose of an object to be grabbed by a motion mechanism in an image collected by an image collection device is obtained; a rotation angle difference between the current image pose and a reference image pose of the object is determined; a translation deviation of the motion mechanism from a first physical position of the reference image pose in a physical coordinate system to a second physical position of the current image pose in the physical coordinate system is determined according to the current image pose, the reference image pose, a calibration matrix, a skew matrix and the rotation angle difference, the calibration matrix representing a transformation relationship between a pixel coordinate system and the physical coordinate system, and the skew matrix representing a transformation relationship between the physical coordinate system and an orthogonal coordinate system; and the motion mechanism is controlled to move according to the translation deviation. The application of the solutions provided in the embodiments of the present application can reduce the error when the motion mechanism is controlled to move.

The application provides a light measurement equipment simulation training method and system based on dynamic trajectory modeling, relates to the technical field of simulation training, and comprises the following steps: acquiring a plurality of components of a light measurement equipment, and constructing an initial three-dimensional component model; performing parameter configuration on the initial three-dimensional component model based on initial parameters of the plurality of components; determining a target theoretical trajectory, and performing dynamic trajectory modeling through a plurality of spatial orthogonal coordinate systems; calculating a sun elevation angle and an azimuth angle of the sun relative to a target point; mapping to the initial three-dimensional target model for simulation training, and determining a plurality of simulation scenes; performing simulation rehearsal on the light measurement equipment, adjusting the simulation rehearsal result for deviation, and obtaining a three-dimensional target model. The application solves the technical problem that, in the prior art, due to the lack of adaptability to complex scenes and environmental changes, it is difficult to reproduce scenes, and the simulation result has a large deviation. Through the implementation of high-precision simulation scene construction, the simulation precision of the light measurement equipment is improved.

The invention discloses a motor modeling and non-cascade servo control method and system based on T-S fuzzy. The method comprises the following steps: establishing a mathematical model on a two-phase synchronous rotation orthogonal coordinate system to obtain state space description; obtaining a T-S fuzzy model and a closed-loop system according to the state space description; and for the closed-loop system, determining the gain of the non-cascade servo controller based on the Lyapunov stability theory. According to the invention, the control performance and the anti-interference capability of the driving system are effectively improved, and parameter adjustment and physical realization are easy.

The invention relates to the field of neuroscience experiments and biomedical engineering, and discloses a brain stereotactic method and system based on a turtle skull zero point, and the method comprises the following steps: taking a repeatedly recognizable bony mark point of a turtle skull as a zero point; a plane parallel to the reference plane of the brain stereotaxic instrument is established as an XY plane, and an axis parallel to the zero point probe is taken as a Z axis. Further, the invention provides a coordinate conversion method for converting target point coordinates in a three-dimensional image into a coordinate system of a stereotaxic instrument, which comprises the following steps of: positioning a zero point and a reference point in the image, determining a Z-axis direction, constructing an orthogonal coordinate base, and calculating rigid body transformation from an image coordinate system to a stereotaxic coordinate system; therefore, the three-dimensional displacement, the needle inserting depth and the track parameters for the movement of the positioning arm are output. The device can be used in cooperation with an existing brain stereotaxic instrument suitable for turtles, high-repeatability positioning of turtle brain region electrode implantation / injection is achieved, and the consistency and efficiency of cross-individual and cross-batch experiments are improved.

The embodiment of the invention provides a space bounding box calculation method for a three-dimensional model. The method comprises the steps that continuous parameterized expression of the surface of a target three-dimensional model on a parameter domain is determined; according to the continuous parameterized expression, analyzing a plurality of profile curves obtained by projecting the target three-dimensional model on a plurality of mutually orthogonal coordinate planes in a three-dimensional coordinate system; according to the parameterized expressions of the plurality of profile curves, determining two-dimensional bounding boxes respectively corresponding to the plurality of profile curves on the corresponding coordinate planes; and performing extreme value selection operation on the boundary value of the two-dimensional bounding box in the coordinate axis direction to generate a three-dimensional space bounding box of the target three-dimensional model. A projection profile curve is directly analyzed through continuous parameterization expression, the geometric boundary of the model is locked in mathematics essence, the defect that extreme points are missed in discrete sampling is avoided, and the calculation precision is improved; and three-dimensional extremum search is converted into two-dimensional profile curve analysis and two-dimensional bounding box construction on a plurality of orthogonal coordinate planes, so that the calculation complexity is reduced.

The invention relates to the technical field of computational chemistry and drug screening, and discloses a fluorinated derivative screening method based on computer-aided design, which comprises the following steps: acquiring an initial binding conformation of fluorine-containing molecules and a target system, and constructing a follow-up local orthogonal coordinate system by taking the axial direction of a fluorocarbon bond as a reference; projection coordinates of the environmental particles relative to the fluorocarbon bonds are calculated and mapped as a spherical coordinate index, a preset anisotropic potential energy surface grid is called, and a potential energy value is calculated through interpolation; the method comprises the following steps: generating an anisotropic correction term, monitoring the modulus length of the energy gradient in real time, and when the modulus length of the energy gradient exceeds a sensitive threshold value, adaptively and nonlinearly reducing a sampling step length and executing high-frequency local sampling in a sensitive area. The problem of false negative activity prediction caused by insufficient sampling when a traditional equal-step algorithm is used for processing anisotropic distribution of fluorine atom electron clouds is solved, and the recognition precision and screening efficiency for weak directional interaction such as halogen bonds are improved.

The invention provides an accelerometer inner lever arm compensation method of a strapdown inertial measurement unit, electronic equipment and a medium, and the accelerometer inner lever arm compensation method of the strapdown inertial measurement unit comprises the following steps: according to a strapdown inertial measurement unit gyroscope or a space structure model of an accelerometer, obtaining measurement value information under an inertial measurement unit orthogonal coordinate system by a strapdown inertial measurement unit gyroscope measurement value, and converting to an orthogonal coordinate taking an accelerometer mounting axis as an x axis, and determining an accelerometer inner lever arm error to compensate the accelerometer so as to finish the accelerometer inner lever arm error compensation of the strapdown inertial measurement unit. The method can be applied to strapdown inertial measurement units with different instrument number configurations and different space configurations, and a space configuration mathematical model can be obtained only by changing the number and rotation angles of the instruments; according to the method, the gyroscope measurement value of the redundant strapdown inertial measurement unit is directly converted to the corresponding accelerometer coordinate system through the space conversion relation, and the problem that the error compensation of the rod arm in the accelerometer of the redundant strapdown inertial measurement unit is difficult is solved.

The present invention provides a satellite jet angular momentum unloading method and system, wherein the method includes: calculating the angular momentum that needs to be unloaded by the reaction wheel group in the directions of the three orthogonal coordinate axes of the satellite; determining the on-threshold and off-threshold of jet unloading; determining the unloading requirement of the three-axis unloading angular momentum based on the on-threshold and off-threshold; correcting the unloading state of each axis based on the unloading requirement of the three-axis unloading angular momentum; wherein, if the three-axis angular momentum unloading requirement is to unload the angular momentum of three axes or one axis, the unloading state correction is not performed; if the angular momentum of two axes needs to be unloaded, the unloading state is corrected to unload the larger angular momentum of the two axes; and obtaining the unloading jet width instruction based on the corrected unloading state of each axis. The present invention can improve the efficiency of jet unloading angular momentum and reduce fuel consumption; it can keep the three-axis angular momentum within a smaller range for a longer time, and reduce the residual angular momentum of the reaction wheel after the jet unloading mode is switched out of the on-orbit remote control.

This invention discloses a planar target measurement and correction method and system based on RGB-D data, comprising: acquiring a scene RGB image, a depth matrix, and camera intrinsic parameters; selecting a Region of Interest (ROI) and converting the ROI depth data into a 3D point cloud using the camera intrinsic parameters; obtaining the target plane equation through robust plane fitting and constructing its local orthogonal coordinate system; establishing an inverse mapping from image pixels to local plane coordinates based on the camera intrinsic parameters, the plane equation, and the local coordinate system to generate a corrected image with physical scale information; determining the target to be measured on the corrected image, calculating the pixel Euclidean distance, converting the pixel distance into the actual physical length based on the scale information of the corrected image, and outputting the measurement result; this invention can overcome the bottlenecks of traditional technologies, achieve high-precision single measurement, is computationally efficient and easy to operate, significantly improves the user experience, ensures the high quality and authenticity of the corrected image, has a wide range of applications and good device compatibility, and is easy to promote and popularize.

As the composition of the alloy, indexes capable of comparing different manufacturing batches or alloy particles can be easily calculated. An alloy composition calculation device according to one embodiment of the present invention is provided with: an image acquisition unit for acquiring each element image of an alloy; a luminance determination unit that determines points in an orthogonal coordinate system, which take each luminance of each element image as an axis, on the basis of each luminance at the same coordinate on each element image; and a composition calculation unit that calculates the deflection angle of the polar coordinates of the point as the alloy composition.

The invention relates to a method for laser treatment of a timepiece component (10), said method comprising an operation for treating a surface of said timepiece component (10) recorded in a standard orthogonal XYZ coordinate system, in which a laser (20) is controlled to emit a laser beam (21) and to move a focal point (210) of said laser beam (21), the invention relates to a method for scanning a surface to be processed (100) on a timepiece part (10) in response to a control command from a computer program, in order to follow a scanning strategy comprising a plurality of paths (31), each path having a component in a Z direction and a component in at least one of an X direction or a Y direction, the scanning strategy is defined such that the energy density emitted by the laser beam (21) varies across the surface (100) to be treated.

This application relates to a method for locating anchor points of orthodontic retainer wires, belonging to the field of orthodontics. The method includes: reading tooth data of adjacent tooth pairs for which wire structures need to be placed, and calculating global reference features; analyzing the global reference features to obtain the labial contact points of adjacent tooth pairs; constructing an orthogonal coordinate system; determining the saddle points where the wire crosses adjacent tooth pairs based on the orthogonal coordinate system, and calculating the first and second characteristic anchor points of the adjacent tooth pairs; setting a cross-sectional point set, and calculating the first vertex, bottom point, and second vertex of a U-shaped path based on the labial contact points of the canines and the cross-sectional point set to construct a U-shaped path; and constructing a three-dimensional coordinate point set for the wire anchor points. This application solves the problem of low anchor point positioning accuracy and efficiency during orthodontic retainer fabrication due to reliance on manual operation by technicians and the lack of standardized parameters.

A three-dimensional sensor control device is disclosed that performs processes of acquiring orthogonal coordinates of data points found in a plurality of photograph frames photographed by at least one three-dimensional sensor with a fixed photographing range The device further performs converting the orthogonal coordinates of the data points into polar coordinates using a first formula for conversion from orthogonal coordinates to polar coordinates The device then performs searching each sub-region of the photographing range to locate a set of polar coordinates representing a farthest data point that is located farthest in distance from the three-dimensional sensor in a respective sub-region. The device further performs converting the polar coordinates of a collection of the farthest data points back into orthogonal coordinates using a second formula for conversion from the polar coordinates to the orthogonal coordinates, and outputting environment map data of the photographing range developed based on the orthogonal coordinates of the collection of the farthest data points.

The invention provides a circuit simulation device and a circuit simulation program product which can appropriately evaluate the influence of deviation and predict circuit characteristics. The circuit simulation device includes: a data input unit that receives input of design data; a normalization calculation unit that normalizes the plurality of predicted characteristic values; a Mahalanobis distance calculation unit that calculates a Mahalanobis distance from the normalized origin point with respect to the normalized set of characteristic values; a threshold value setting unit that sets a threshold value for the calculated Mahalanobis distance; a fast point and slow point calculation unit that calculates fast points and slow points among the standardized plurality of types of characteristic values; an imbalance angle determination unit that determines a first imbalance angle point and a second imbalance angle point in an orthogonal coordinate system; and a parameter calculation unit that calculates a deviation on the basis of the fast point, the slow point, the first unbalance angle point, and the second unbalance angle point.

The application provides a method and device for eliminating redundant detection boxes in target detection, and relates to the technical field of data processing. The method comprises the following steps: projecting a plurality of three-dimensional detection boxes detected by a target detection model onto a two-dimensional bird's eye plane, determining polar coordinates of at least two vertices of a two-dimensional detection box corresponding to the three-dimensional detection box in a polar coordinate system, and performing conversion processing on the polar coordinates to determine coordinates of the vertices in an orthogonal coordinate system; the three-dimensional detection box has a confidence level, and the at least two vertices are diagonal points of each other; determining an intersection-union ratio of a reference detection box and a candidate detection box according to the coordinates of the at least two vertices of the reference detection box in the orthogonal coordinate system and the coordinates of the at least two vertices of the candidate detection box in the orthogonal coordinate system; and deleting a three-dimensional detection box corresponding to a candidate detection box with an intersection-union ratio greater than a preset threshold value from the plurality of three-dimensional detection boxes. The application improves the elimination effect of the redundant detection boxes and also improves the accuracy of the final detection result.

The invention provides an optical measurement equipment simulation training method and system based on dynamic trajectory modeling, and relates to the technical field of simulation training, and the method comprises the steps: obtaining a plurality of parts of optical measurement equipment, and constructing an initial three-dimensional part model; performing parameter configuration on the initial three-dimensional component model based on the plurality of component initial parameters; determining a target theoretical trajectory, and performing dynamic trajectory modeling through a plurality of space rectangular coordinate systems; calculating a solar pitch angle and an azimuth angle of the sun relative to the target point; mapping to an initial three-dimensional target model for simulation training, and determining a plurality of simulation scenes; and performing simulation rehearsal on the optical measurement equipment, and performing deviation adjustment on a simulation rehearsal result to obtain a three-dimensional target model. According to the method and the device, the technical problem of relatively large simulation result deviation caused by difficulty in scene reproduction due to lack of adaptability to complex scenes and environment changes in the prior art is solved, and the simulation precision of the optical measurement equipment is improved by realizing high-precision simulation scene construction.

The application discloses a method and system for improving the sudden self-focusing ability of a circular Airy beam, and relates to the technical field of beam transmission and control. The method comprises the following steps: determining the transmission direction of the circular Airy beam by acquiring the circular Airy beam transmitted in free space and establishing a space orthogonal coordinate system; determining the light intensity distribution of the circular Airy beam on a focal plane and an initial plane and the on-axis light field of the circular Airy beam according to the light field integral form of the circular Airy beam on any observation plane; and determining the intensity contrast according to the light intensity distribution and the on-axis light field. Under the condition of a given exponential decay factor, the dimensionless radius of the main ring in the circular Airy beam is changed, a first curve graph is drawn according to the on-axis light field, the optimal dimensionless radius is determined according to the first curve graph and the intensity contrast, and finally the strongest sudden self-focusing ability of the circular Airy beam is obtained according to the optimal dimensionless radius. The application realizes the improvement of the sudden self-focusing ability of the circular Airy beam.

The invention discloses a motor sliding mode control method and system based on an equivalent input disturbance observer. The method comprises the following steps: firstly, proposing a basic dynamic equation of the surface-mounted permanent magnet synchronous motor on a two-phase synchronous rotation orthogonal coordinate system, introducing a speed tracking error, and establishing a mathematical model of a singular perturbation system; then, an equivalent input disturbance observer is constructed and used for estimating lumped disturbance of the servo system in real time, and convergence conditions of the observer are given; and finally, obtaining the H-infinity performance of the closed-loop system based on the Lyapunov stability theory, and determining the gain matrix of the non-cascade sliding mode controller according to the corresponding linear matrix inequality. The method effectively improves the control performance and the anti-interference capability of the driving system, and is suitable for the design of a high-performance servo control system of the permanent magnet synchronous motor.

A three-dimensional sensor control device performs processes of acquiring orthogonal coordinates of data points found in a plurality of photograph frames photographed by at least one three-dimensional sensor with a fixed photographing range and converting the orthogonal coordinates of the data points into polar coordinates using a first formula for conversion from orthogonal coordinates to polar coordinates The device then performs searching each sub-region of the photographing range to locate a set of polar coordinates representing a farthest data point that is located farthest in distance from the three-dimensional sensor in a respective sub-region and converting the polar coordinates of a collection of the farthest data points back into orthogonal coordinates using a second formula for conversion from the polar coordinates to the orthogonal coordinates, The device outputs environment map data of the photographing range using the orthogonal coordinates of the collection of the farthest data points.