31 results about "Quadratic integral" patented technology

The invention discloses a method for monitoring settlement deformation of subway tunnels based on self-adaptive twice-integration. The method comprises 1, according to the boundary conditions, constructing a twice-integration formula of a settlement deformation amount related to strain and location points and calculating a correction factor according to the twice-integration formula, 2, accordingto the strain of the verification position point, through the twice-integration formula, calculating the settlement deformation amount of the verification position point, comparing the settlement deformation amount and a practical settlement deformation amount of the verification position point and calculating deformation amount offset of the verification position point, 3, comparing the deformation amount offset of the verification position point and an allowable error, if the deformation amount offset of the verification position point is in the allowable error range, stopping calculation and executing the step 4, and if the deformation amount offset of the verification position point is not in the allowable error range, correcting the strain in the twice-integration formula in the step1 according to the correction factor and repeating the step 2, and 4, according to the corrected strain, through the twice-integration formula, calculating the settlement deformation amount of the monitored position point. Through correction of the integral error with the measured deformation amount at the verification position point, the error of the traditional twice-integration method is reduced.

The invention provides a body gravity center displacement correction-based six-foot robot joint angle calibration method. The method comprises the following steps: driving a robot to support the ground with any three feet, and keeping the other three feet uplifted and not in contact with the ground all the time; selecting one of the supporting feet, and driving a certain joint on the foot to rotate an angle, thus enabling the sole to slide and the other two soles to not slide relative to the ground; and by building a function relation between the angle of the joint and a body gravity center moving track, measuring a three-degree-of-freedom acceleration through a body IMU (Inertial Measurement Unit), calculating a relative moving track of a body through quadratic integral, and calculating coordinates of the tail end of the supporting foot relative to the body according to a multi-foot moving robot kinematic model, thus correcting angles of all joints of the supporting foot. The calibration method provided by the invention can quickly and accurately complete correction of the angles of the joints of a multi-foot moving robot, so as to guarantee multi-foot coordinating motion of the robot and the precision of the moving track; and the calibration method also can be used for checking faults of the foot joints of the robot to provide a basis for a robot motion decision.

The invention discloses a movement actual measurement method of a jacket platform water entering process and a movement actual measurement system of the jacket platform water entering process. The movement actual measurement system includes a combined measurement module, a watertight module, a data storage module, a power supplying module, a real-time monitoring computer, a GPS antenna and a radio frequency signal transmission line, wherein the combined measurement module includes a GPS measurement system and an inertial navigation system, and the combined measurement module, the data storage module and the power supplying module are arranged in the watertight module. According to the movement actual measurement method and system of the jacket platform water entering process of the invention, the combined measurement module system is adopted; the GPS system and the inertial navigation system are combined with each other; when signals exist in the GPS system; the GPS system can output position signals to the inertial navigation system in a real-time manner; errors of the inertial navigation system caused by quadratic integral can be corrected, and measurement precision can be ensured; and therefore, difficulties in actual parameter measurement in the jacket platform water entering process can be eliminated.

The invention discloses a method of determining a boundary of a drag acceleration corridor of a glide vehicle. The method comprises the following steps: expressing a second derivative S'' (x) of a cubic spline interpolation function S (x) as a linear function on each interpolation interval, and performing quadratic integral on the second derivative S'' (x) to obtain an expression of the cubic spline interpolation function S (x); taking the derivative of the cubic spline interpolation function S (x), and establishing a relation of a second derivative at the adjacent nodes according to the characteristic that a first derivative is continuous at an interpolation node; respectively deriving endpoint equations according to three different boundary conditions, so as to establish a system of linear equations for the cubic spline interpolation function S (x) at each node second derivative value Mj (j=0,1, to n), solving the system of linear equations to obtain the expression of the cubic spline interpolation function S (x) as the interpolation result.

The invention provides a real-time navigation method of a data processing computer system for a distributed POS. The method comprises the steps of acquiring three IMU original data at the same time by the PPS actual calibration and frequency division time synchronizing method; fusing the main IMU data with the GPS data to obtain the main POS real-time navigation result; initially aligning a shaking base through the secondary IMU by the inertia vector quadratic integral based analysis aligning method; performing the transmission aligning of the distributed POS by the multi-stage lever arm compensation based kalman filtering method so as to obtain the real-time navigation result of the secondary IMU and the relative spatial relationship between the main IMU and the secondary IMU. The method achieves the real-time data processing of the distributed POS with one main IMU and two secondary IMUs and is applicable to high-precision distributed inertia measurement, navigation and combined navigation systems.

The invention relates to a method for detecting washing machine vibration displacement data based on an MEMS sensor. The method comprises the steps that triaxial acceleration data of a washing machine external barrel are collected by the MEMS sensor; the triaxial acceleration data are converted into corresponding displacement data through the quadratic integral; before conversion, an IIR filter is adopted for filtering away data with the signal frequency lower than the preset frequency; after conversion, the rotating speed of a washing machine is judged, and different IIR filter coefficients and filter gains are selected based on the rotating speed of the washing machine for carrying out correcting and compensation on the displacement data obtained in the previous step, so that various vibration interference signals existing in the washing machine running process are eliminated, and vibration displacement data output with the high precision is obtained. Vibration displacement data are filtered two times, so that the vibration displacement data with the high precision are obtained, the current vibration displacement data are output to a washing machine computer controller in real time, the rotating speed of a washing machine running motor is controlled, the washing program is optimized, the washing machine working noise is lowered, and the washing efficiency is improved.

A numerical-control machine-tool rectilinear motion shaft geometry precision rapid detection method belongs to the numerical-control machine-tool detection technology field. The method is characterized by firstly, installing a measurement device on a rectilinear motion shaft, carrying out uniform motion at three different speeds along with the rectilinear motion shaft, and carrying out multichannel acquisition automatically and storing motion measurement point acceleration data by an upper layer measurement system; then, based on a condition that a same geometric error signal can be decomposedinto different frequency components, filtering acceleration signals under different measurement speeds; and finally, carrying out time-domain quadratic integral on each filtered acceleration data andacquiring displacement data, carrying out data superposition on the displacement data under three kinds of measurement speeds till that rectilinear motion shaft deformation calculation is completed;and through an endpoint line connection method, calculating the linearity of a rectilinear motion shaft, and completing the rapid linearity measurement of the machine tool rectilinear motion shaft. The method has advantages that debugging is convenient; measurement efficiency is high; and data processing capability is good. The rapid measurement of the geometric accuracy of machine-tool rectilinear motion shaft can be realized, an equipment integration level is high and automation can be conveniently realized.