56 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.

The present invention discloses a mooring stabilization method and device for ship berthing. The method comprises: obtaining external environmental parameters and ship parameters; obtaining relative position information between the ship and the dock, and determining the position of the ship in the wind flow based on the relative position information; determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable based on the external environmental parameters, the ship parameters, and the position of the ship in the wind flow; obtaining the ship's roll angular velocity and the ship-turning torque due to environmental factors, and transmitting these to a mooring stabilization device for the mooring stabilization device to assist the ship in mooring. The present invention combines the current external environmental conditions of the ship with its own parameters to determine the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable under different wind flow conditions, thereby accurately controlling the ship's mooring state, ensuring the safety and economic benefits of the ship during mooring, and can be widely used in the fields of ship berthing and ship mooring.

The invention provides an LBM large-deformation fluid-solid interface stabilization method and system based on energy flux regulation, and belongs to the technical field of computational fluid mechanics and solid mechanics coupling numerical simulation. Identifying a fluid-solid boundary area, and constructing a buffer layer area; solving fluid in a buffer layer area, and embedding an energy flux regulation mechanism; applying a load to the structure through fluid, and calculating a structure response; fluid is fed back, and the dynamic boundary is updated; and iterating repeatedly, and stopping and outputting after a set termination condition is reached. Active regulation and control of the fluid-structure interface energy exchange process are achieved, the numerical stability and physical precision of fluid-structure interaction simulation under the large deformation condition are remarkably improved, and the method has the advantages of being simple in structure, high in expandability and low in calculation overhead; the method is suitable for complex coupling scenes such as flexible structural body propulsion, airfoil pitching motion and high Reynolds number structural response analysis, and has wide engineering application value.

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 invention discloses a shock-proof buffering stabilizing device and method for a cold storage floor formwork supporting system.The shock-proof buffering stabilizing device comprises a supporting column, fixing blocks are fixedly connected to the upper end and the lower end of the inner wall of the supporting column, a first sliding shaft is slidably connected to the inner wall of the fixing block on the lower side, and a first spring is fixedly connected to the adjacent side of the outer wall of the fixing block on the lower side; an X-shaped frame is fixedly connected to the top of the fixing block on the lower side, a rotating shaft is rotatably connected to the middle of the X-shaped frame, second sliding shafts are fixedly connected to the left side and the right side of the outer wall of the X-shaped frame, the outer walls of the multiple second sliding shafts slide on the inner wall of the supporting column, and second springs are fixedly connected to the adjacent sides of the outer walls of the two second sliding shafts. The fixing blocks are fixed to the upper end and the lower end of the inner wall of the supporting column, meanwhile, after the sliding column is subjected to top pressure, the top supporting stability is enhanced, and the actual use requirement is met.

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.

The present invention proposes a laser power self-stabilization method, a self-stabilization device, an equipment and a medium, and relates to the technical field of femtosecond lasers. The laser power self-stabilization method obtains a real-time power error value by using a fast convergence algorithm to obtain a pump source current value at the next moment and a target power value, obtains the output power value at this moment based on the fast convergence algorithm, and obtains the output power value at this moment based on the real-time pump source current value. Through repeated iterations, the power error value gradually approaches 0, so that the power of the laser accurately converges to the target power value, avoiding the problem of power fluctuation caused by interference from the laser itself or external factors.

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.

This invention belongs to the field of automatic control technology, specifically to a rate stabilization method based on composite fixed-frequency disturbance compensation control. Based on an existing electro-optical aiming stabilization system, this method adds a composite fixed-frequency compensation controller to the traditional rate stabilization loop. This method utilizes a disturbance observer to improve low-frequency disturbance isolation. Furthermore, it leverages the high gain of the fixed-frequency compensation controller at a fixed frequency point to enhance the isolation of the rate stabilization loop at that fixed frequency point, effectively suppressing the impact of low- and mid-frequency disturbances on the line of sight and improving the overall stability accuracy of the control system. This method is implemented in software, requiring no additional hardware, and offers the advantages of a simple algorithm and strong operability.

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 invention discloses an anti-unmanned aerial vehicle laser sight stabilizing system and method, and relates to the field of anti-unmanned aerial vehicles. The system comprises a sensing device which detects a target, obtains position information and motion information, sends the position information and the motion information to a tracking device, and sends the position information to a sight stabilizing control device; the tracking device is used for predicting the motion trail of the target in a period of time and continuously tracking the motion trail; the predicted target trajectory information is sent to a sight-stabilizing decision-making device; the sight-stabilizing decision-making device is used for adjusting aiming parameters of aiming of the laser device based on an aiming adjustment model and then sending the aiming parameters to the sight-stabilizing control device; the sight stabilizing control device is used for controlling the laser and the sight stabilizing device; the sight stabilizing device is used for rotating the laser to a specified position to aim at a target; the laser is used for emitting laser to a target. The invention further provides a sight stabilizing method based on the system, the azimuth angle, the pitch angle and the aiming distance of the sight stabilizing device are iteratively calculated through the aiming adjusting model, and the target can be accurately and stably aimed and hit.

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 discloses an adaptive control-based electron gun focus stabilization and current stabilization method, system and device, and a medium. The method comprises the following steps: S1, constructing a deep learning model for simulating a relationship between control parameters of an electron gun and electron beam current; s2, inputting control parameters of the electron gun into the deep learning model, and outputting predicted electron beam current; s3, a back propagation algorithm and an optimizer are adopted to update parameters of the deep learning model, a loss function is minimized, the loss function is used for measuring an error between the predicted electron beam current and the target electron beam current, and the performance of the deep learning model is optimized to obtain an optimized model; s4, determining a target function according to the stability of the electron beam current and the stability of the focus, and finding an optimal control parameter by adopting an optimization algorithm; and S5, adjusting the control parameters of the electron gun according to the optimal control parameters. According to the method, the electronic gun can efficiently adjust the focus position and the current output in a variable environment, and the target of current stabilization and focus stabilization is achieved.

The invention discloses a steering stabilizing method for a climbing robot under dynamic load, and particularly relates to the technical field of robots and sensing. The method comprises the following steps: firstly, acquiring detailed load information such as load weight, gravity center position and load distribution in real time through various sensors mounted at key bearing parts of the robot; using related algorithms based on a moment balance principle and the like to accurately calculate barycentric coordinates; then, according to a load-steering model which is constructed and optimized through a large amount of experimental data in advance, compensation parameters needed by steering are calculated according to the real-time load condition; then, a steering executing mechanism is controlled to act, actual operation parameters are fed back in real time by means of monitoring equipment installed on the executing mechanism, closed-loop control is achieved through a PID control algorithm and the like, a control instruction is dynamically adjusted, steering stability is guaranteed, and steering track deviation is made to be within a preset allowable value range. The steering accuracy and stability of the climbing robot under the dynamic load working condition are effectively improved, and the adaptability of the climbing robot to the complex working environment is enhanced.

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.