31 results about "Quadratic integral" patented technology

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.

The invention provides an intelligent detection device for detecting the motion state of a lift car. The device is installed on the outer side of a lift car door, and the accelerated speed and the airpressure value of a certain position of the lift car door are collected through an accelerometer and an air pressure meter and transmitted to a MCU to be subjected to data processing. After the air pressure value of the accelerometer is corrected through the MCU, third-order Kalman filtering is conducted according to the accelerated speed of the vertical direction of the accelerometer and the airpressure value read by the air pressure meter, the height, the speed and the accelerated speed of the current lift car are obtained, and the rising, falling and stopping states of the lift car are judged; and after the accelerated speed of the horizontal direction of the accelerometer is corrected and subjected to Kalman filtering, the speed and the displacement of the lift car door are obtainedthrough a frequency-domain quadratic integral method, and the door opening, the door closing, the door opening in-place and door closing in-place states of the lift car door are judged. According to the device, the installing position is hidden, and the precision of the obtained detection results is high.

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 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 discloses an aircraft position signal fusing and filtering method. The method includes the steps of collecting eastern and northern speed information output by a GPS, collecting acceleration information output by an inertial measurement unit under a vehicle body axis and magnetic course angle information output by a magnetometer, conducting sliding median filtering on the eastern andnorthern speed information output by the GPS, collecting longitude and latitude position information output by the GPS, collecting ground speed information output by the GPS, conducting sliding median filtering on the position information output by the GPS in combination with the obtained eastern and northern speed information subjected to sliding median filtering, conducting fusing and correcting on the acceleration information output by an IMU under the aircraft body axis through the eastern and northern speed information subjected to sliding median filtering and the obtained position information subjected to sliding median filtering, converting the corrected acceleration under a body coordinate system into acceleration under an inertial coordinate system, and conducting quadratic integral on the acceleration. The reliable aircraft position information can be obtained.

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 sliding mode control method and apparatus. The method comprises: a switching item of a control system is obtained; according to the switching item, a control quantity is determined and outputted, wherein a second derivative of the control quantity includes the switching item; and according to the control quantity, the control system is controlled. According to the method, because the switching item is included by the second derivative of the control quantity, the control quantity is a quadratic integral of the switching item and the changing rate of the control quantity is a once integral of the switching item; and the switching item becomes continuous after integration and thus the control quantity and the control quantity changing rate become continuous. Therefore, the sliding mode control method is suitable for control of the process without control quantity and derivative mutation; a defect that the traditional sliding mode control quantity and the derivative are not continuous can be overcome; and a problem that buffeting exists in sliding mode control under the circumstance that the control system is in a non-linear mode and the model is not accurate can be solved.

The invention discloses an acceleration frequency domain segmentation servo control method and a controller. Methods After the time domain reference acceleration is processed by the frequency domain segmentation processing method, the synthetic reference acceleration is obtained, and the reference displacement is obtained after the secondary integral calculation of the synthetic reference acceleration, and the reference displacement and the state feedback of the vibration system hardware are fed back by the displacement servo control method. The signal is calculated to obtain the control output voltage. The acceleration servo controller applying the above method uses the acceleration frequency domain subsection servo control method to process the time domain reference acceleration and state feedback signals to obtain the control output voltage. The invention improves the high-frequency component of the frequency response function H, improves the control accuracy of the acceleration power spectrum density, and reduces the reproduction process time of the acceleration power spectrum density of the electro-hydraulic random vibration system; the initial state sampling ratio in the controller is generally given to the initial state The way of setting zero reduces the time-domain response error of the acceleration servo control inner loop at startup.

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.