3 results about "Singular problems" patented technology

The invention discloses a sound source localization method based on same-order relative circular harmonic coefficients. The method is used for solving the singular problem of an open type circular array in a Bessel zero frequency interval and a high-order low-frequency range. When a circular harmonic domain characteristic wave beam is processed, mode intensity compensation is usually adopted to eliminate dependence on array characteristics. However, the problem of singularity exists in the frequency with very small modal intensity amplitude. In combination with the same-order mode intensity consistency characteristic, a new positioning feature same-order relative circular harmonic coefficient is designed, dependence on microphone array characteristics is removed, and the influence of a singular problem on a positioning result is also solved. The positioning algorithm provided by the invention has relatively low calculation complexity, and can be efficiently deployed on a hardware platform with limited resources. On the basis of keeping low calculation complexity, the method still shows excellent positioning precision in a high-noise and high-reverberation environment.

This invention discloses a collaborative optimization design method for bearing systems based on TRIZ theory, belonging to the field of mechanical design and innovation methods. First, based on the optimization requirements of the bearing system performance, this invention establishes a three-level functional model of supersystem-system-subsystem and identifies key problem clusters. The functional model includes at least one of the following: useful functions, harmful functions, insufficient functions, and excessive functions. Then, based on the three-level functional model, contradiction solutions and resource analysis are performed at the component level, system level, and supersystem level to obtain contradiction solutions. Subsequently, a matter-field model is constructed and solved, and the TRIZ evolutionary law is applied to guide system reconstruction to obtain a system evolution scheme. Finally, the contradiction solutions and the system evolution scheme are cross-integrated and their feasibility is evaluated to generate an innovative conceptual design scheme for the bearing system. This invention effectively solves the problems of existing technologies being limited to single problems and isolated components.

The invention discloses a flexible joint space robot fixed time trajectory tracking control method and system based on instruction filtering, and the method comprises the steps: constructing a dynamic model of a three-dimensional free flight flexible joint space robot system with controlled base seat posture and mechanical arm joints; then, a fixed time disturbance observer is constructed to estimate lumped disturbance of the system, a fixed time instruction filter with a hyperbolic tangent function is combined to construct an error vector of a system state, a filtering error compensation system is designed, and then a system state error vector after filtering error compensation is constructed; and finally, a fixed time instruction filtering controller based on a hyperbolic tangent function is constructed, and fixed time trajectory tracking control of the flexible joint space robot is achieved. According to the scheme, the system state error can be converged in fixed time, buffeting in the system control law is weakened, the singular problem in the control law derivation process is avoided, the filtering error is reduced, rapid convergence of the disturbance estimation error is ensured, and the control precision and robustness of the system are improved.