42 results about "Stabilization methods" patented technology

This invention discloses a servo-elastic stabilization method based on multi-sensor information fusion, belonging to the field of flight control. Specifically, it involves: extracting and modeling the main load-bearing structure of the aircraft; calculating the modal frequencies, mode shapes, and mode shape slopes of the aircraft under unconstrained conditions; then combining the aircraft, a first sensor, servo motors, and the control system to form a closed-loop servo-elastic system; calculating the open-loop system transfer function from the control input to the feedback input of the control system, drawing an open-loop Bode plot, and determining the dangerous frequencies and corresponding dangerous natural modes; based on this, placing a second angular velocity sensor on the aircraft; then calculating and correcting the weighting coefficients of the two angular velocity sensor signals, and introducing the weighted signal into the control system instead of the original signal; comparing the system characteristics to ensure the servo-elastic stability of the aircraft without affecting the rigid body phase and amplitude.

The invention discloses a power stabilizing method and an adjusting system of a frequency doubling laser. The stabilizing method comprises the following steps: acquiring the actual output power of the frequency-doubled laser; acquiring target output power and a set temperature value of the frequency doubling laser; and if the target output power is within the jump range of the output power of the frequency doubling laser, entering automatic power control after delaying for a preset time length. According to the technical scheme provided by the embodiment of the invention, the problems that the optimal temperature of the frequency doubling crystal dynamically changes along with the power and the environment, so that the output power of the frequency doubling laser is unstable and fluctuates are solved.

This invention discloses a mining equipment and its stabilization and repositioning method in the field of sidewall mining, as well as an anchoring device for sidewall mining. The device includes an anchor body, a first power linear motion system, and a second power linear motion system. One end of the anchor body has a cutting edge, and the other end is detachably connected to a drilling rig. The drilling rig is mounted on the first power linear system. The anchor body also has a guide sleeve to maintain verticality, and a support member is provided between it and the second power system. The second power linear motion system drives the support member to move. In the pull-out state, the anchor body is pulled out of the vein, and the support member is pulled up. In the drilling state, the first power system drives the drilling rig to make the anchor body drill into the vein along the axis, while the second power linear motion system positions the support member and drives the guide sleeve to move, achieving precise vertical positioning. This device can stabilize the mining equipment and improve mining efficiency.

The present application relates to the technical field of industrial equipment automation control, in particular to a kind of horizontal transfer machine dynamic stabilization method and system, comprising: obtaining the output torque of left and right side motor of horizontal transfer machine in historical multiple sampling time nodes in uniform speed running stage and acceleration and deceleration running stage, and calculating the absolute value of output torque difference value of left and right side motor of horizontal transfer machine in historical each sampling time node in acceleration and deceleration running stage, to obtain the standard deviation of the absolute value;Obtain the deviation degree of left and right side motor of horizontal transfer machine in uniform speed running stage;The target output torque of left and right side motor of horizontal transfer machine is output using improved PID control algorithm, and the operation of left and right side motor of horizontal transfer machine is controlled based on the target output torque.The present application solves the problem that torque adjusting operation precision is not high in the process of horizontal transfer machine running.

To provide a power grid stabilizing system capable of suppressing computational resources while keeping computational accuracy for evaluating a state of a power grid.SOLUTION: A power grid stabilizing system comprises: a power grid computational unit for receiving a power grid state, a power grid model, and an event case as inputs to execute one or more of a simple event computation and an event computation; and a margin setting unit for receiving a margin setting parameter as an input to compute a screening margin from a simple event computation result and an event computation result with respect to the event case targeted by the power grid computational unit. The margin setting unit computes the screening margin from results of both the simple event computation and the event computation, which suppresses possibility of erroneous screening to keep computational accuracy, and reduces grid states to be evaluated using power flow computation to suppress computational resources.SELECTED DRAWING: Figure 4

To provide an electric power system stabilizer which can provide compensation electric power according to the fluctuation of the frequency of an electric power system.SOLUTION: An electric power system stabilizer comprises: a frequency detector which detects a system frequency of an AC electric power system; a calculation unit which calculates a frequency command value which adjusts the rotation speed of a rotary machine on the basis of the electric power system frequency; and an electric power converter which is provided between the AC electric power system and the rotary machine and adjusts the rotation speed of the rotary machine on the basis of the frequency command value.SELECTED DRAWING: Figure 1

A joint stabilization method is disclosed. The method includes placing an elongated blunt-tipped pin within a joint of a human, the blunt-tipped pin including a cannulated interior, placing at least one of contrast and medicine within the cannulated interior of the elongated blunt-tipped pin, placing a dilator having a substantially hollow interior over the elongated blunt-tipped pin, while the elongated blunt-tipped pin remains inserted within the joint, placing a drill guide over the dilator and the elongated blunt-tipped pin, the drill guide having a substantially hollow interior section, removing the dilator and the elongated blunt-tipped pin, leaving the drill guide, drilling through the interior of the drill guide to provide a pathway for an implant, and placing the implant within the pathway, the implant to reside within the joint.

The invention discloses a strapdown digital stabilization method with a reflector device, which adopts a semi-strapdown frame structure, a reflector is arranged in an inner frame of the semi-strapdown frame structure, and a rate gyroscope is arranged on a platform base and is strapdown with a projectile body; the light entering the optical system, namely the stability of the optical axis, is realized by a stable loop consisting of a rate gyroscope, an angular position measurement sensor, a platform servo system with a reflector and two axes, a digital signal processor and the like. The strapdown digital stabilization algorithm is completed by a digital signal processor. In the algorithm, the pitching and azimuth angles of the reflector are measured by an angular position sensor on a frame, and an angular velocity signal of a projectile body is given by a rate gyroscope. The signals generated in different coordinate systems are sent to a digital signal processor for quaternion solution after being subjected to coordinate system transformation for several times to obtain a real-time attitude transformation matrix, and finally a reflector pitching and orientation control instruction signal is given to control a servo system to rotate, so that missile body disturbance is isolated, and optical axis stability is achieved.

This invention belongs to the field of rebar bending technology, specifically a rebar bending device for rebar installation in pipe gallery engineering. It includes a workbench with a disc rotatably connected to its top. A clamping seat is fixed to one side of the top of the disc. The clamping seat has several evenly spaced placement slots, each containing a pressure plate. A driving mechanism is located within the clamping seat's inner cavity, enabling the pressure plate to slide up and down. This invention uses the driving mechanism inside the clamping seat to move the pressure plate downwards, clamping and fixing the rebar in the placement slots. This eliminates the need for operators to enter dangerous areas to manually hold the rebar; they can complete the loading and starting operations only within a safe area, fundamentally avoiding the risk of personal injury. Furthermore, the driving mechanism and pressure plate work together to effectively restrain the rebar's movement and warping during bending, solving the problem of insufficient bending angle accuracy caused by uneven force and positional deviation in traditional manual stabilization methods.

Method for roll stabilization of a vehicle body, wherein the body has four wheel suspensions, each with a vibration damper, wherein the vibration dampers are arranged between the body and a wheel suspension movably mounted relative to the body, wherein the vibration dampers are designed such that a damping force is adjustable for each vibration damper, wherein two front vibration dampers are arranged on opposite sides of a front section of the body, wherein two rear vibration dampers are arranged on opposite sides of a rear section of the body, wherein a first roll velocity is determined for a front section of the body and a second roll velocity is determined for a rear section of the body, wherein, depending on the two measured roll velocities, a damping force for at least one vibration damper is adjusted in such a way as to counteract a roll movement of the body. characterized by the fact that The damping force for an in-phase oscillation of the front and rear sections of the body is determined.

The application provides a method and device for stabilizing an aerial basket, computer equipment and a storage medium. The method comprises the following steps: comparing a real-time collected rotation angle and relative position of the aerial basket with an initial rotation angle and relative position of the aerial basket to obtain a horizontal angle deviation and a position deviation vector of the aerial basket; according to the horizontal angle deviation and the position deviation vector of the aerial basket and relative positions of two propellers arranged on two sides of the aerial basket, respectively calculating rotation control components and position control components of the two propellers; calculating a synthetic control component vector corresponding to the two propellers which can control the horizontal angle deviation and the position deviation vector of the aerial basket at the same time; and adjusting thrust and direction of the two propellers according to the synthetic control component vector corresponding to the two propellers to control position stability of the aerial basket. The aerial basket can be kept stable when suspended in the air.

A vehicle dynamic stabilization method and system for assisting in determining a path risk, the method being applicable to a vehicle and implemented by a processing module, and comprising the following steps: (A) obtaining vehicle information related to the vehicle; (B) judging whether the vehicle runs on a high-risk path or not according to the vehicle information; (C) when it is judged that the vehicle runs on the high-risk path, a compensation steering angle is calculated; (D) calculating a target steering angle according to the predicted steering wheel steering angle and the compensation steering angle; and (E) obtaining at least one to-be-controlled wheel and at least one control command corresponding to the at least one to-be-controlled wheel according to the target steering angle. Therefore, a risk path can be autonomously judged, and when it is judged that the vehicle runs on the high-risk path, the compensation steering angle is calculated to help the vehicle to steer so as to avoid the high-risk path.

The invention discloses an attitude angle stabilizing method and device of an inertial measurement unit, equipment and a storage medium. The attitude angles comprise a pitch angle, a roll angle and a course angle, and the method comprises the following steps: acquiring a current attitude angle of the inertial measurement unit; determining whether filtering stabilization needs to be carried out on the current attitude angle according to the angle fluctuation condition at the current moment; if the current attitude angle needs to be subjected to filtering stabilization, obtaining a stability coefficient, performing filtering stabilization on the current attitude angle according to the stability coefficient to generate a current stable angle, and outputting the current stable angle; and if the current attitude angle does not need to be subjected to filtering stabilization, outputting the current attitude angle. According to the attitude angle stabilizing method of the inertial measurement unit, small-amplitude fluctuation of the attitude angle can be filtered out, and stable attitude angle data can be output.

A method for controlling a mobile manipulator (1), the mobile manipulator (1) including a manipulator base (3) and at least one manipulator arm (5), the method comprising the steps of: determining a current configuration of the mobile manipulator (1), the current configuration including a manipulator arm configuration and a manipulator base configuration; determining a desired movement trajectory of the mobile manipulator (1); based on the current configuration of the mobile manipulator (1) and the desired movement trajectory, determining a current zero-movement point (ZMP) trajectory including the positioning of one or more current ZMPs of the mobile manipulator; determining a desired ZMP trajectory of the mobile manipulator (1), wherein each ZMP is located at the manipulator base. Within the supporting polygon of the base (3); the motion manipulator (1) is adjusted so that the current ZMP trajectory corresponds to the desired ZMP trajectory, wherein the step of adjusting the motion manipulator (1) includes the following steps: selecting a stabilization method from a set of stabilization methods and adjusting the motion manipulator (1) based on the selected stabilization method; determining whether the actual ZMP trajectory of the motion manipulator (1) corresponds to the desired ZMP trajectory; and when the actual ZMP trajectory of the motion manipulator (1) corresponds to the desired ZMP trajectory, the method further includes the following step: executing the motion trajectory of the motion manipulator (1).

The present invention provides a power system stabilization device, a power system stabilization system, a computer program for a power system stabilization device, and a power system stabilization method that create control information that suppresses excessive control and maintains power system stability more appropriately, even when multiple faults occur at different times following multiple faults that occurred in close proximity in a power system. [Solution] The power system stabilization device 1 has a calculation unit 10 that selects a common control target for pre-progression accidents, which are accidents resulting from the failure to repair at least one accident among a group of simultaneous accidents that occurred within a predetermined time period, and post-progression accidents, which are accidents that occurred following a pre-progression accident, based on a system model D102 that shows the state of the power system 91 that supplies power, and assumed accident information D202 that shows accidents that are expected to occur in the power system 91.

The invention provides a dynamic inertia stabilization method, device and equipment for a vehicle-mounted ejection recovery platform. The key problems that a traditional vehicle-mounted ejection recovery platform is insufficient in attitude stability and weak in dynamic impact resistance under the complex disturbance environment of field operations, the operation time depends on manual judgment, and the control precision and reliability are difficult to guarantee under composite disturbance are effectively solved. The method comprises the steps that attitude data of the vehicle-mounted ejection recovery platform are collected in real time through an attitude detection module, and a main control module adopts a heterogeneous dual-core processor architecture for cooperative processing to obtain a corresponding processing result so as to generate a control instruction; in response to the control instruction, the leveling and vibration reduction module executes leveling and vibration reduction operation and collects real-time attitude data in real time in the execution process to calculate a stability index; and based on the stability index and the real-time attitude data, the opportunity decision-making module generates an optimal operation period for the vehicle-mounted ejection and recovery platform to perform ejection or recovery operation of the unmanned aerial vehicle.

The invention provides a ship rudder box installation method. The ship rudder box installation method comprises the steps that a rudder line is fixed through an upper wire fixing tool support and a lower wire fixing tool support, and the position is determined according to the assembly requirement; the position of the rudder box is adjusted through hoisting equipment, so that the position of the center line of the rudder box coincides with the rudder line; the position of the rudder box is inspected through the false rudder contour line, so that the outer side contour line of the rudder box is in smooth butt joint with the false rudder contour line and the outer plate line type; and after the data are inspected to be qualified, carrying out row fixing and positioned welding on the corresponding position of the rudder box, after positioned welding construction is completed, starting to assemble the rudder box according to the ship body assembly operation requirement, and ensuring that the overlap ratio of the center line position of the rudder box and the rudder line is maintained within a preset range in real time. By fixing the two ends of the rudder line up and down and then correcting after overlapping, the technical problem that a method for aligning and stabilizing the installation center line of the rudder box is lacked is solved.

One end of a mechanical arm is fixedly installed at the output end of a stabilizing disc, a welding head is arranged at the free end of the mechanical arm, the stabilizing disc is a multi-stage linkage stabilizing device, and through failure of a high-priority stabilizing mode, the welding head is arranged at the free end of the mechanical arm; and when the next-stage stabilization mode is triggered to take effect, temporary strength supplement is carried out on the invalid stabilization mode. The device adopts a multi-stage vacuum structure to slowly lose efficacy, so that the pressure of a fastener is reduced, and meanwhile, the mounting failure monitoring property of the device is improved. In the slow failure of the vacuum internal structure, the elastic sleeve is kneaded based on the stretching action to linearly enhance the sealing effect, so that the vacuum stretching is guaranteed, and the closer the distance between the device and the installation failure is, the higher the sealing performance of the device is. And the high-altitude operation controllability and safety of the whole device are improved.

The invention relates to the technical field of aircraft take-off and landing systems, and discloses a multi-mode self-adaptive take-off and landing system and a water surface attitude stabilization method thereof, and the method comprises the steps: obtaining environment data of a take-off and landing region; when the water surface is determined, determining dynamic parameters of the water surface, and calculating a target water touch attitude based on the parameters; before the aircraft touches water, at least two sets of take-off and landing leg assemblies are controlled to conduct cooperative adjustment, so that the attitude of the aircraft approaches the target attitude in advance, after the aircraft touches water, composite attitude stabilization is conducted through ballast water transfer and active fin compensation, and the system further integrates the land self-adaptive buffering function and the ground omnidirectional maneuvering function. The invention further provides a system for achieving the method. The system comprises a multi-mode sensing unit, a central control system and a lifting leg assembly. According to the invention, by actively pre-adjusting the attitude, the impact and instability of dynamic water surface landing are obviously reduced, a continuous and stable operation platform is provided, and the adaptability of the aircraft to a complex environment is enhanced.

To provide a system stabilization device, a stabilization method, and a program that appropriately control active power and reactive power of a PCS to improve transient stability and reduce economic loss.SOLUTION: A system stabilization device applied to a power system in which a voltage-controlled PCS and a current-controlled PCS are interconnected as a power conversion device to suppress and stabilize fluctuations of power when a system fault occurs, includes: transient stability calculation means 21A for calculating transient stability by executing a simulation using a measurement value of the power system when a fault point is assumed in the power system; and optimal power flow calculation means 21B for performing an optimal power flow calculation using an objective function with voltage phase angle information determined to be stable by the calculation means 21A being constraint conditions to generate a control correction amount. When an actual fault occurs, the power conversion device is controlled using a control signal based on the control correction amount.SELECTED DRAWING: Figure 2

Some embodiments of the invention disclose a reactor first start-up critical reactivity introduction method without an external neutron source, and the method comprises the following steps: starting from a reactor core in a shutdown standby state, introducing positive reactivity meeting a large reactivity introduction stage condition for several times until the reactor core is in a state with a first critical degree; introducing positive reactivity meeting conditions of a small reactivity introduction stage into the reactor core, waiting for a preset time to judge whether the reactor external source range detector displays an effective count or not, continuing to introduce the positive reactivity meeting the conditions of the small reactivity introduction stage into the reactor core if the effective count is not displayed, and stopping introducing the second reactivity if the effective count is displayed, if the effective count does not continuously rise, extrapolating to a critical value by adopting a countdown rate method; otherwise, introducing negative reactivity into the reactor core by adopting a power stabilization method to maintain the reactor core criticality. According to the method, an external neutron source and a high-cost high-sensitivity detector are not needed, and the purpose that the reactor is started for the first time to reach the critical value can be achieved.

The present invention relates to a method for stabilizing the production yield of [18F]-labelled radiotracers by adding a radical scavenger in the reaction medium of the nucleophilic [18F]-fluorination step.

The application discloses an electronic image stabilization method based on a closed-loop stable state of a holder, and comprises the following steps: acquiring image frames and holder control state data and judging whether the holder is in a stable locking state; when the holder is in the stable locking state, detecting whether there is residual small-arc oscillation and estimating parameters thereof; performing delay compensation according to the estimated parameters, converting the residual angle into image compensation quantity; performing smoothing processing, compensation limitation and weight control on the image compensation quantity and outputting final compensation quantity; establishing an affine compensation matrix with a center interesting region as a reference, performing affine transformation and center cutting, and outputting the image frames. The application takes a PID stable state as a starting reference of EIS micro compensation and performs image end compensation with a center region as a priority only for the closed-loop residual small-arc oscillation, so that the problem of slight shaking of a picture after the holder is stably locked can be improved without adjusting hardware and PID parameters, and EIS and PID are prevented from interfering with each other.

The application provides a ship rudder case mounting method, which comprises the following steps: fixing a rudder line through an upper wire fixing tool support and a lower wire fixing tool support and determining the position according to assembly requirements; adjusting the position of the rudder case through hoisting equipment, so that the center line position of the rudder case coincides with the rudder line; inspecting the position of a false rudder contour line to the rudder case, so that the outer contour line of the rudder case is butt-jointed with the false rudder contour line and the outer plate line type fairing; after the data is inspected and qualified, arranging and fixing a positioning weld at the corresponding position of the rudder case and welding the positioning weld; after the positioning weld construction is completed, starting to assemble the rudder case according to the ship body assembly operation requirements, and ensuring that the coincidence degree of the center line position of the rudder case and the rudder line is maintained within a predetermined range in real time. Through the fixing of the two ends of the rudder line from top to bottom, and then the coincidence and the correction, the technical problem of lacking a stable method for aligning the center line of the rudder case is solved.

The invention relates to the technical field of industrial equipment automation control, in particular to a transverse moving machine dynamic stabilization method and system, and the method comprises the steps: obtaining the output torques of motors at a left side and a right side at a plurality of historical sampling time nodes at a constant-speed operation stage and an acceleration and deceleration operation stage of a transverse moving machine, calculating the absolute value of the difference value of the output torques of the left and right motors at each historical sampling time node in the acceleration and deceleration operation stage of the transverse moving machine, and further obtaining the standard deviation of the absolute value; the deviation degree of motors on the left side and the right side of the transverse moving machine in the constant-speed operation stage is obtained; and outputting target output torques of motors on the left side and the right side of the transverse moving machine by using an improved PID control algorithm, and controlling the operation of the motors on the left side and the right side of the transverse moving machine based on the target output torques. The problem that the torque adjusting operation precision is not high in the operation process of the transverse moving machine is solved.

To provide a power system stabilization device which further reliably stabilizes a power system, a computer program for a power system stabilization device and a power system stabilization method.SOLUTION: In a power system, a power system stabilization device comprises a normal condition control selection section 12 which selects control corresponding to an estimated failure based on a normal condition for making a regenerative energy power source parallel off in accordance with a dynamic characteristic model of the regenerative energy power source, a severe condition stability confirmation section 14 which confirms stability of the power system under a severe condition, and a severe condition addition control selection section 15 which selects addition control for an addition based on the stability which is confirmed by the severe condition stability confirmation section. At least one of the control on the normal condition which is selected by the normal condition control selection section 12, the control on the severe condition which is selected by the severe condition stability conformation section 14 and control including the addition control which is selected by the severe condition addition control selection section 15 in the control on the normal condition or the control on the severe condition is instructed to a terminal device which is disposed in the power system via a communication line 80.SELECTED DRAWING: Figure 1

The application discloses a variable wing flutter suppression and stabilization method based on adaptive control, and relates to the technical field of aircraft aeroelastic active control. The application constructs a fault-tolerant control system for real-time diagnosis, online reconstruction and dynamic redistribution, continuously monitors the health of an actuator cluster, actively diagnoses the operation state of each actuator, identifies abnormal states such as saturation, partial failure or complete failure of the actuator, starts an online reconstruction mechanism, integrates fault information into real-time calculation of a control law, dynamically adjusts the feedback gain matrix of the controller, calculates a virtual control quantity of the reconstruction control law as a whole instruction, reanalyzes and distributes the virtual control quantity to all healthy actuators, and equivalently replaces the function of the original faulty actuator in aerodynamic effect through a cooperative mode such as differential combination, so that the integrity of the function is maintained, and the flutter suppression and stabilization control under actuator failure is realized.

To provide highly reliable communication.SOLUTION: A communication stabilization device for stabilizing communication in a wireless communication system, includes: a base station; a terminal that wirelessly communicates with the base station; and a control device connected to the communication stabilization device and controlling communication of the base station. The communication stabilization device predicts a future communication situation of the wireless communication system from a past communication situation of the wireless communication system, and creates communication settings for maintaining the communication quality when it is determined that a predetermined communication quality cannot be maintained in the predicted future communication situation, and instructs the control device to change settings before the predicted communication quality deteriorates.SELECTED DRAWING: Figure 3

Methods and systems for generating parameters and loading them into an HVAC controller are described herein. Setpoint functions are input into a simulation of an environment of the controller. An output of the controller within the simulation is evaluated, using an objective function based on oscillations of the output of the controller, to determine the parameters, which are then loaded into the controller. Alternatively or additionally, data corresponding to an environment in which the controller is implemented is received. The data includes information about a setpoint signal received from an external controller and feedback from a physical system controlled by the controller. The data is evaluated using a reward function to determine parameters, which are then loaded into, or used to augment existing parameters within, the controller. By using the techniques herein, the controller may be configured to stabilize the setpoint signal received from the external controller.