121results about How to "Achieve precise tracking" patented technology

The invention discloses a regional energy internet scheduling method based on random planning and model predictive control. The method comprises the steps of (1) analyzing the operation characteristics of all units and interconnection lines in a regional energy internet, and constructing a mathematical model of each unit; (2) analyzing the output of the wind and light renewable energy and the uncertainty of cold, heat and electric loads, and generating prediction scene data which are required for the operation of the optimization scheduling by adopting the scene generation and reduction technology; (3) establishing a day-ahead scheduling random planning model with the lowest total operating cost of the system as a target, and determining the on-off state of each unit; (4) establishing an intra-day scheduling random planning model with the lowest total operating cost of the system as a target, and determining the running power in each unit within a day; (5) establishing an intra-day real-time rolling correction model by adopting the model predictive control technology, and correcting the operation plan of each unit. According to the invention, the accurate tracking of loads and thesmooth unit output are achieved. The high dynamic performance and the strong robustness are also realized.

The invention provides a multi-feature united sparse represented target tracking method. The multi-feature united sparse represented target tracking method comprises building a primary dictionary; performing partitioning process on target modules; extracting candidate particles; extracting target characteristics; confirming the number of image characteristics and the number of block categories; performing nucleating process on the characteristics; performing block sparse representation on candidate samples in the dictionary; performing nucleus expansion; solving sparse problems; performing residual calculation on blocks; building likelihood functions; and updating template bases. The multi-feature united sparse represented target tracking method is analysis and improvement of utilized target characteristics and the traditional sparse coefficient solving method through a sparse encoding tracking device. According to the multi-feature united sparse represented target tracking method, stability of target tracking is maintained and accuracy of the target tracking device is improved under complex conditions that the illumination influence is large and the target is seriously shielded, and the accuracy of the algorithm and stability of the tracking are improved.

The invention discloses a heliostat tracking control device, which comprises a main controller and a closed-loop tracking sensor. The main controller comprises a DSP control circuit, a RTC real-time clock, digital signal input and output units, an analog signal input unit, a signal amplifying circuit, a human-computer interface device, a display device, a watchdog circuit, an asynchronous motor, a line of serial port communication interface which carries out the communication with a monitoring computer, and a line of serial port communication interface which carries out the communication with an azimuth angle and altitude angle encoder. The invention further discloses a heliostat tracking control method, the method adopts the open-loop and the closed-loop combined control, the open-loop roughly calculates and adjusts the position of a heliostat and the closed-loop corrects and eliminates the accumulated error till the precise tracking. The heliostat tracking control device has the advantages that the heliostat tracking control device can not have the accumulated error or the failure of the tracking system due to the rainy and cloudy weather. The system adopts the combined control algorithm within the control period, thus achieving the precise tracking of the heliostat. The tracking reaction speed, the power consumption and the cost are low, thus forming a modular structure.

The invention discloses a terminal sliding mode manipulator trajectory tracking method based on fractional order power reaching law. By designing adaptive rate to an upper bound of uncertainty and switching control of fractional order powder reaching, system state may be converged more quickly to a sliding mode surface; through sliding mode characteristics of a nonsingular quick terminal sliding mode surface, the system state is converged more quickly to a balance point within limited time, namely, a tracking error is converged to 0; therefore, tracking an expected joint angular trajectory isachieved.

The invention discloses a scheduling method for tracking a photovoltaic planned output by using a battery storage energy and a hydrogen storage energy. The scheduling method comprises the steps of making an output plan of a next day based on a short-term photovoltaic prediction power, and making different day-ahead scheduling schemes according to magnitudes and fluctuation violent degrees of prediction errors of photovoltaic powers in a sunny day and a non-sunny day; correcting a day-ahead photovoltaic planned output by using an ultrashort-term photovoltaic prediction power; and then, selecting an appropriate real-time scheduling scheme according to a state of charge of a storage battery, and calculating an actual output of a photovoltaic power generation system as well as input powers ofthe storage battery and an electrolytic bath to output to a central control unit of the photovoltaic power generation system, thereby performing real-time scheduling on each power generation electricmodule in the system. The impact on the power system is reduced, the frequency modulation pressures of water and thermal generation units are alleviated, an energy storage battery is guaranteed to work in a low-load state beneficial to prolonging the service life, the frequent change of the energy storage battery due to premature failure is prevented, and the total cost in a whole life cycle of the system is reduced.

Disclosed is an autonomous control method for fixed point landing of shipboard unmanned aerial vehicles. The autonomous control method is characterized in that the autonomous control method comprisesa control method of a height guiding section, a control method of a two-dimensional guiding section, and a control method of a tail end guiding section; a shipborne unmanned aerial vehicle firstly enters the height guiding section, tracks the sliding trajectory through the control method of the height guiding section, and carries out trajectory coarse adjustment during the whole landing process; the shipborne unmanned aerial vehicle enters the two-dimensional guiding section at the height of 200 m relative to the airport, and realizes accurate track of the trajectory through the control methodof the two-dimensional guiding section; and the shipborne unmanned aerial vehicle enters the tail end guiding section at the height of 15 m relative to the airport, and realizes that the nose of theunmanned aerial vehicle is aligned with the runway center line during landing of the unmanned aerial vehicle through the control method of the tail end guiding section. According to the autonomous control method for fixed point landing of shipboard unmanned aerial vehicle, the smooth transition of the shipboard unmanned aerial vehicle from the approach flat flying section to the sliding is realized; accurate track of the sliding trajectory line in the sliding process of the shipborne unmanned aerial vehicle is realized, the effect that the nose of the shipborne unmanned aerial vehicle is aligned with the runway center line during landing of the unmanned aerial vehicle is realized; and the precision of fixed point landing of the unmanned aerial vehicle is guaranteed.

The invention relates to automatic corrugated pipe welding equipment for a transformer and a welding method thereof, and belongs to the welding technical field of a corrugated pipe for a transformer. The automatic corrugated pipe welding equipment for the transformer comprises a rotary workbench, a two-dimensional numerical control platform, a laser outline measuring instrument, an R axis, a welding machine tool and a control system; the rotary workbench is fixed on the workbench surface of the machine tool; one end of the R axis is arranged on the welding machine tool body in a sliding way, and both sides of the other end of the R axis are respectively provided with the laser outline measuring instrument and the two-dimensional numerical control platform which slides along the R axis; a welding torch is connected onto the two-dimensional numerical control platform in a sliding way; the laser of the laser outline measuring instrument is in parallel with the axis of the welding torch; the rotary workbench, the two-dimensional numerical control platform and the welding machine tool body are respectively connected with the controller of the control system through motors; and the laser outline measuring instrument is connected with the industrial computer of the control system. The automatic corrugated pipe welding equipment for the transformer and the welding method thereof solvethe difficult problem of the manual welding of a large thin-wall corrugated pipe, reduce the labor intensity of a welder, improve the production efficiency, and simultaneously ensure the uniformity and the stability of the welding quality.

The invention proposes a power grid simulator having accurate harmonic voltage and virtual impedance control. The power grid simulator comprises a reactor, a rectification unit, a main inversion unit and an auxiliary inversion unit, wherein the rectification unit comprises a three-phase PWM rectifier and a PWM rectification controller, the main inversion unit comprises a main inverter and a main inversion controller, the auxiliary inversion unit comprises an auxiliary inverter and an auxiliary inversion controller, an input end of the three-phase PWM rectifier is accessed to a power grid through the reactor, an output end of the three-phase PWM rectifier is connected with the main inverter and the auxiliary inverter respectively, and an output end of the auxiliary inverter is connected with an output end of the main inverter. Compared with the prior art, the power grid simulator having accurate harmonic voltage and virtual impedance control, provided by the invention, has the advantages that a standard power grid output voltage, a power grid voltage fault working condition and a power grid harmonic component can be simulated, the power grid impedance change can also be simulated, and the demand of distributed power generation test research can be met very well.

The invention discloses a distributed secondary frequency modulation control method considering energy storage, and belongs to the technical field of power grid secondary frequency modulation power generation. An inferiority index function based on the charge and discharge power offset and the state of charge offset is established for the condition of secondary frequency modulation having participation of energy storage, and the inferiority index function based on the power offset is established for the condition of secondary frequency modulation having participation of the conventional motorset. The consistency variable of a frequency modulation power supply is determined by the partial derivative of the inferiority index function relative to the power offset, and then the secondary frequency modulation demand quantity is allocated according to the proportion of the maximum power offset of the frequency modulation power supply relative to the total frequency modulation power of the system. Minimization of the power offset and the state of charge offset acts as the consistency variable of the target iterative update frequency modulation power supply, and the rapidity of energy storage frequency modulation response is fully utilized so that accurate tracking of the system ACE signal can be realized, the power grid frequency modulation capacity can be enhanced and the system robustness can be enhanced.

The invention discloses a method for tracking a moving object based on a stereoscopic vision measuring technology. The method comprises configuring a measuring station system which comprises a plurality of measuring stations; performing calibration on the measuring station system within a large field of view; utilizing the measuring stations in the calibrated measuring station system to obtain theposition of an associated stereoscopic target, and calculating and obtaining a conversion relationship between a coordinate system in which each measuring station is located and a world coordinate system in which a photoelectric tracker is located; and using three-dimensional data of the tracked moving object under each measuring station coordinate system to convert the three-dimensional data ofthe moving object tracked by different measuring stations under the world coordinate system. In the method according to the technical scheme, against the situation that the prior art cannot satisfy the requirement of the tracking process of the long-track moving object with a large field of view, the large-field-of-view binocular stereo vision system calibration method with high precision and highflexibility is adopted to accurately track the large-range long-track moving object, and high measurement accuracy is ensured.

The embodiment of the invention discloses a humanoid robot gait planning method, a humanoid robot gait planning device and a humanoid robot. The method comprises the following steps: acquiring stressinformation of a swinging leg of the humanoid robot in a single-foot supporting period at present; judging whether the swinging legs fall to the ground or not according to the stress information, andacquiring biped stress information and waist poses of the humanoid robot after the humanoid robot enters a biped supporting period when it is judged that the swinging legs fall to the ground; controlling an original supporting leg according to the waist pose and the expected waist track in the biped supporting period, and controlling an original swinging leg according to the expected swinging legtrack; and judging whether a preset task switching condition is met or not according to the biped stress information and the biped supporting period transition duration, and switching the trajectory tracking tasks of the original supporting leg and the original swinging leg when the preset task switching condition is met. According to the technical scheme, smooth alternate switching of the supporting legs and the swinging legs can be achieved in the rapid walking process of the humanoid robot, and the dynamic stability and the like of the posture and the speed of the humanoid robot are guaranteed.

The invention provides a comprehensive experimental platform for a power quality and energy-saving equipment based on the thinking of an artificial intelligence robot. The comprehensive experimental platform adopts a high-power electronic interface device to replace the conventional power amplifier so as to improve the electrical parameters of the interface and at the same time, realize greater power handling capacity to solve the problem of performance restrictions of power amplifiers in digital-physical hybrid simulation. The platform is regarded as an intelligent robot, and the structure and the function of the platform are divided based on a perception unit, a planning unit and an implementation unit of the robot. The platform robot can plan the operation of the next step according to the perceived system information and then realize the planning through the implementation unit. The comprehensive experimental platform makes use of the repeatability in the experimental process and the self-learning ability of the platform robot, and adopts a successive approximation method of repeated experiments to enable the experimental process to eventually reach the required operating conditions. Finally, based on the parameters tallied with the experimental requirements, the comprehensive experimental platform analyzes the performances of the power quality equipment and completes the experimental process.

The invention relates to a track-measuring vehicle (1) for recording a track geometry of a track (2), having a vehicle frame (5) which can move on two rails (3) of a track and has rail bogies (4), andhaving a first measuring base (7) on which an inertial measuring unit (8), and at least one contactless position-measuring device (9) for determining the position with respect to each rail (3), are arranged. There is provision here that a lowerable second measuring base (11) is arranged, which second measuring base (11) comprises measuring running wheels (12), which can be set down on the rails (3), and is connected to the first measuring base (7) via compensation-measuring devices (20, 22).

The invention discloses a pilot frequency-based method for performing orthogonal frequency division multiplexing (OFDM) residual phase tracking, which comprises the following steps of: configuring a phase compensation mode to be a lag compensation mode or a normal compensation mode according to facts that whether higher phase noise is present and whether a channel is a quick change channel; multiplying l equalized pilot frequencies and (l-1) residual phase complex exponentials, and solving l pilot frequency values with only delta phi phase difference from an actual estimated pilot frequency value; solving phase increment of the current lth OFDM demodulation symbol based on data pilot frequency, and averaging the currently solved phase increment; iteratively averaging l, l-1, l-2, ..., l-N+1 increment phase values; and solving complex exponentials of the phase increments according to the set compensation mode, and multiplying the complex exponentials and the OFDM received data so as to realize tracking compensation of the residual phase. In the method, residual phase tracking can be performed on the basis of pilot frequency of the OFDM in a frequency domain, and the problems that the traditional phase tracking method is easily influenced by noise and the estimated phase exceeds (-pi, pi) are well solved.

The invention provides a variable-speed tilt momentum wheel precession control method based on variable-parameter nutation damping and relates to the field of motion control of a variable-speed tilt momentum wheel in order to solve the problem of reduction of stability and control precision of the variable-speed tilt momentum wheel due to rotor gyroscopic effect and two-dimensional tilt motion coupling. According to the method, frequency characteristics of direct-axis and quadrature-axis controlled members of the variable-speed tilt momentum wheel at a certain determined rotating speed are identified respectively through a tilt loop open-loop experiment; a relation between system nutation frequency and the rotating speed is determined according to the tilt loop open-loop experiment, and nutation instability of a nutation damper suppression system is designed. The frequency characteristics of the direct-axis and quadrature-axis controlled members of the variable-speed tilt momentum wheel are identified respectively through the tilt loop open-loop experiment, the nutation frequency is determined according to the quadrature-axis frequency characteristics at different rotating speeds,a variable-parameter nutation damper is designed accordingly, the nutation instability of the variable-speed tilt momentum wheel is suppressed, and a control structure of the system is provided on thebasis of the principle of precession control. Stability and control precision of the variable-speed tilt momentum wheel are improved.

The invention provides an augmentation adaptive fuzzy control algorithm for free-floating space robot space trajectory tracking. The algorithm comprises the following steps: S1: establishing an underactuated joint space system dynamics equation; S2: deriving corresponding operation space system dynamics equation by using the system kinematic relationship; S3: performing fuzzy approximation treatment on the uncertain function items of the system based on fuzzy approximation; S4: introducing a self-adaptive regulation law to perform real-time regulation of the fuzzy weight, and further designinga self-adaptive fuzzy controller to realize accurate tracking of the expected trajectory of the system operation space. The control algorithm can be applied to a space robot underactuated model withuncertain model parameters and external disturbance, and can realize accurate tracking of the operation space trajectory; the calculated amount of the algorithm is reduced; the mechanical arm joint control moment and the carrier attitude control moment are separated to facilitate practical application.

The invention provides a multi-modal-monitoring industrial robot platform. The platform comprises an industrial robot control system, a sensor system, a control system, a network integration control system, a visual tracking system and an execution mechanism, wherein the sensor system is connected with the industrial robot control system; the industrial robot control system comprises a demonstrator and a motion controller; three RGB cameras are used for monitoring the shared working space of working personnel and an industrial robot, the industrial robot is ensured to move without collision inreal time; two laser scanners arranged at the opposite corners of the platform monitor the surrounding environment and jointly sense the 360-degree omni-directional view of a surrounding area of theindustrial robot; and the platform further comprises a monitoring system which is formed by combining the three RGB cameras and the two laser scanners.

The invention provides a target tracking method based on depth transfer learning, which relates to the technical field of data processing. The method includes two phases: off-line training and on-linetracking. In the offline training phase, based on the auxiliary image data, the transcendental structural feature information of the general target is obtained by using the depth convolution neural network. Then transfer learning is used to transfer the acquired prior structural feature information to the online tracking process. In the online tracking phase, a target tracking model based on depth transfer learning is established by combining the prior structural features, Haar features and image gray features obtained from off-line learning, and adopting the structure sparse representation and the dictionary template technology based on multi-subspace to obtain the final target tracking results. This method makes full use of the priori structural feature information of video image data and fuses the feature information acquired in the online tracking stage, which can reduce the drift problem of tracking and improve the robustness of target tracking.

The invention provides a hypersonic aircraft anti-interference backstepping control method considering input limitation. The hypersonic aircraft anti-interference backstepping control method comprisesthe steps of 1, establishing models of an attitude loop and an angular rate loop; 2, designing a preset performance function to constrain steady-state and transient-state performances of state variable tracking errors of an attitude loop and an angular rate loop of an aircraft; 3, designing a high-gain extended state observer, and obtaining an output estimation value and a total disturbance estimation value of each loop; and 4, designing a disturbance compensation control method based on the framework of a backstepping method so as to enable the tracking error of the system to be converged toa preset region under the condition of facing input saturation constraints. Tracking control over the attitude loop and the angular rate loop of the hypersonic aircraft is achieved, the dynamic performance and the steady-state performance of the whole control system are improved through the preset performance control method, and the anti-interference performance and the robustness of the whole system are improved through the design of an observer.

The invention applies to protect an intelligent rehabilitation system and a method for tracking limb movement by utilizing the same, relating to the field of computer vision. The invention takes the position of the center of mass output by a Camshift tracking algorithm as a measuring signal, adopts a Kalman filtration algorithm to correct the position of a palm, and thereby overcoming the defect that the existing limb movement tracking method can not solve the interference problem of a large area of complexion. The method is not affected by the variation of the shape and the size of the targeted object, has better robustness and can further simplify the computational burden.

The embodiment of the invention provides a welding gun tracking method and a crawling welding robot. In the tracking process of a welding seam by a welding gun, the vehicle posture angle collected bya posture sensor and a welding seam middle point position collected by a linear displacement sensor are lagged to the collection position when the welding gun arrives at the posture sensor and the linear displacement sensor for data collection, the position of the welding gun is adjusted, the welding gun tracking precision is effectively improved, and the welding gun tracking accumulation error isreduced.

The invention relates to an improved iterative algorithm-based adaptive sliding mode variable structure spacecraft attitude control method. The method comprises the steps that 1, by means of Euler angle coordinate transformation, dynamics modeling is conducted on a general rigid spacecraft; 2, in consideration of outside disturbance and parameter perturbation, the spacecraft is designed on the basis of the hyperbolic tangent adaptive sliding mode control law (ADSVC); 3, an iterative algorithm is improved, and the improved iterative algorithm has better processing capacity on training a data set. On the basis of the ADSVC method finished designing, parameters of a control law are adjusted by means of the improved iterative algorithm, the system can perform parameter adjustment according tothe actual state, and the requirements of rapidness and control precision are met.

The invention discloses a monocular vision following system and a monocular vision following method for a mobile robot. The following system comprises a monocular camera and a notebook computer whichare carried on a wheel type mobile platform, a graphic workstation. The graphic workstation and the notebook computer are located in the same wireless local area network and are in wireless communication connection; the monocular camera captures and acquires observed real-time video stream data and transmits the data to the notebook computer; the notebook computer preprocesses the real-time video stream data and transmits the video stream data to the graphic workstation to recognize and track a target pedestrian in the real-time video stream data; and the notebook computer generates a wheeltype mobile platform motion control instruction through the target following control strategy, and the wheel type mobile platform receives the motion control instruction generated by the notebook computer to execute an operation action, so that real-time following of a target pedestrian observed by the monocular camera is realized. The invention can achieve the precise tracking of the target pedestrian, are low in cost, are high in transportability, and are wide in application prospect.

The invention discloses a moving target tracking method based on Mean Shift and block matching. The moving target tracking method is characterized by comprising the following steps of: I, determining a primary target model and a secondary target model; II, solving a secondary target model position in a current frame by utilizing a Mean Shift algorithm; and III, obtaining an optimal position of the primary target model in the secondary target model range by utilizing the block matching according to the secondary target model position obtained in the step II. According to the moving target tracking method, the tracking accuracy of the Mean Shift algorithm is improved, some conditions which can not be tracked by the Mean Shift algorithm are tracked accurately; and the moving target tracking method based on the Mean Shift and the block matching can be applied to the fields, such as intelligent video monitoring systems, man-machine interaction, robot visual navigation, image compression, intelligent traffic systems, military guidance and navigation and the like.

The invention provides a target tracking method and a device, which relate to the technical field of target tracking processing. The method comprises the steps of: based on the background informationof video images, establishing a sparse representation model based on target subspace and background subspace is established; by processing the target image region, extracting the gray-scale feature, HOG feature and LBP feature of the target, and selecting the distinguishing feature, combining multiple features to represent the target sparsely, and considering the relationship between the candidatesamples, and selecting the best candidate samples to achieve the accurate tracking of the target. The sparse representation is applied to target tracking, which not only takes into account the globalinformation of samples, but also takes into account the local information and spatial information of targets, so as to increase the accuracy of target tracking. At the same time, according to the sparse representation model of the target structure, the candidate targets are classified to improve the robustness and adaptability of the target tracking method in complex environments such as occlusion, background interference, illumination change, fast motion and so on.

The invention discloses a one-object one-code commodity anti-counterfeiting and tracing system based on a digital watermark two-dimensional code. The system comprises a small commodity anti-counterfeiting and tracing system based on a digital watermark two-dimensional code and a tracing and checking WeChat program, a WeChat official account based on the digital watermark two-dimensional code and the tracing and checking WeChat program, and an application program based on the digital watermark two-dimensional code and the mobile phone tracing and checking program. Aiming at the problem that a general two-dimensional code technology cannot distinguish information authenticity and prevent counterfeiting, on the basis that a server computer generates a standard two-dimensional code, a productcode with one object one code is used as digital watermark information to be hidden in the two-dimensional code to generate an anti-counterfeiting label. Consumers purchase commodities, using a sourcetracing and checking WeChat applet or a source tracing and checking WeChat official account or a mobile phone terminal source tracing and checking application program to carry out digital watermark identification and reading on the two-dimensional code on the anti-counterfeit label. Traceability checking is carried out according to the existence of digital watermark information (product codes), the anti-counterfeiting traceability capability of the two-dimensional code is improved, and the double effects of effective counterfeiting prevention, tamper prevention and accurate tracking are achieved.

The invention discloses a permanent magnet synchronous motor control method based on a virtual signal injection and gradient descent method. In the real-time control process of a permanent magnet synchronous motor, a virtual signal is injected under a coordinate system, an angle reference value of a stator current vector is obtained by utilizing a virtual signal injection method and a gradient descent method, a reference value of a stator current vector axial component is obtained by adopting a torque compensation calculation method, a stator current vector reference value under a d-q coordinate system is further obtained by coordinate transformation, and a gradient value under the coexistence of the maximum current torque ratio control and weak magnetic control is corrected and controlled, so that seamless switching between the maximum current torque ratio control and the weak magnetic control is achieved. According to the invention, the gradient expression is corrected by introducingvoltage feedback, seamless switching between the maximum current torque ratio control and the weak magnetic control can be achieved, the rotating speed range is wide, complex signal processing is notrequired, and the dynamic response performance is good.

The invention provides a radar target tracking method which is characterized by comprising the following steps: establishing a radar target tracking model library; initializing the target tracking model in S1, and initializing a combination strategy of the model to obtain an initialized combined target tracking model; obtaining target information detected by the radar at the moment k(k = 1, 2...),wherein the target information comprises one or more of the moving speed of a target, the distance between the target and the radar and the moving acceleration of the target; estimating tracking target information at k+1 moment to obtain a k+1 moment tracking target information prediction value and a k+1 moment combined target tracking prediction model; calculating a joint tracking gate; and obtaining a tracking target information optimization value at the k+1 moment and a combined target tracking optimization model at the k+1 moment. According to the radar target tracking method provided bythe invention, the target tracking precision is improved.

The invention relates to a nonlinear control method for a brushless DC motor, provides an SMC (Sliding Mode Robust Control) based closed-loop BLDC (Brushless DC motor) control method which improves the response speed and the anti-interference ability of the motor and realizes accurate control for a rotor type unmanned aerial vehicle. The technical scheme adopted by the sliding-mode control method for a motor of a quadrotor unmanned aerial vehicle motor is that a mathematical model of a brushless DC motor of the quadrotor unmanned aerial vehicle is built, a zero crossing point of a back electromotive force is calculated through collecting three-phase terminal voltage values of the motor, and sensorless driving for the motor is realized; and rotating speed information is acquired according to commutation time of the motor, and closed-loop speed regulation control is realized by adopting an SMC controller. The sliding-mode control method is mainly applied to design and manufacturing occasions of brushless DC motor equipment.