33results about How to "Avoid failure effects" patented technology

The invention discloses a section power supply and status measurement and control method of parallel-connected traction networks at the tail end of a double track railway. By taking the section (10km) of the railway as a unit, a contact line sectioning and a sub-section post are additionally arranged at a section boundary. The sub-section post comprises a circuit breaker, a current transformer, a voltage transformer and a measurement and control unit. The circuit breaker and the current transformer connected with the circuit breaker in series are in bridge connection with the two ends of the contact line sectioning, and the sectioning is series-connected in the contact line. Through the arrangement of the sectioning and the sub-section post and the introduction of running status criterion, the running situation of charging trains on the traction networks can be timely and accurately mastered by operators on duty in a traction substation or dispatching room; by using the fault criterion, various faults can be timely and accurately found, distinguished and isolated, the continuous power supply and running of fault-free sections are ensured, the power outage scope is reduced to the maximum extent, and further the reliability of power supply of the traction networks is improved. The device has less investment and is easy to implement, not only is conveniently used by a new line, but also facilitates the transformation of an existing line.

The invention discloses a feeder automation system adopting CAN bus communication and belongs to the field of communication. According to the feeder automation system adopting CAN bus communication, branch node partition modules and pre-breaking points are set; when the influence of a fault monitored and predicted by a power distribution monitoring module is relatively serious, a heater is used for heating and fusing the pre-breakpoint of a node where the fault is located, and therefore, the fault point and the other normal operation parts of a system are completely isolated, the fault range of the fault point is timely prevented from being continuously expanded, the fault range is effectively controlled to be minimum; and in the above process, a breakpoint sheath bag can be set to gatherheat generated by the heater in the breakpoint sheath bag, so that fusing efficiency can be improved, and on the other hand, the interior and exterior of a double-layer hollow capsule shell are separated, so that the influence of heat in the double-layer hollow capsule shell on other parts on the outer side of the double-layer hollow capsule shell is effectively avoided, and safety during the fusing of the pre-breaking point is improved.

The invention relates to the quadrotor unmanned aerial vehicle fault-tolerant control, and aims to realize attitude stability under the condition of an actuator fault of a quadrotor unmanned aerial vehicle. The technical scheme adopted by the invention is that an observer-based quadrotor unmanned aerial vehicle fault-tolerant control method includes the following steps: first defining an inertia coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, and through analysis of an action principle of the actuator on the quadrotor unmanned aerial vehicle, an unknown diagonal matrix is utilized to represent influence of an actuator fault on kinetic characteristics of the quadrotor unmanned aerial vehicle, and a nonlinear kinetic model when a fault occurs in the quadrotor unmanned aerial vehicle actuator is obtained; a unit quaternion-based attitude representation method is adopted; and an observer technology based on an immersion-invariant set method is adopted to observe the actuator. The observer-based quadrotor unmanned aerial vehicle fault-tolerant control method provided by the invention is mainly applied to quadrotor unmanned aerial vehicle design and control occasions.

The invention relates to the technology of three-rotor wing unmanned aerial vehicle fault-tolerant control. In order to research a posture control problem when a three-rotor wing unmanned aerial vehicle has a steering engine blockage fault, a technical scheme adopted by the invention is a fault-tolerant control method for the three-rotor wing unmanned aerial vehicle steering engine blockage fault. The method comprises the following steps of defining an inertial coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, analyzing an action principle of a steering engine to the three-rotor wing unmanned aerial vehicle and considering the influence of external disturbance to dynamic characteristics, so as to obtain a non-linear dynamical model when a three-rotor wing unmanned aerial vehicle actuator has a fault, and designing a corresponding observer and a corresponding controller. The method is mainly applied to a three-rotor wing unmanned aerial vehicle control occasion.

The invention discloses a segmented power supply distributed protection system for electrified railway traction network, which corresponds to the section of the railway, divides the catenary in the electrified railway traction network into several segments, and adds a segmenter and a switch at the segment. Closing station; switching station includes circuit breaker, current transformer, voltage transformer and measurement and control unit; the circuit breaker is usually in the closed state; the secondary side of the voltage transformer, the secondary side of the current transformer, and the left adjacent switching station of the switching station The secondary side of the current transformer and the secondary side of the current transformer of the right adjacent switching station are connected to the input terminal of the measurement and control unit, and the output terminal of the measurement and control unit is connected to the circuit breaker control terminal of the switching station; each measurement and control unit communicates with the traction substation through the transmission network Or dispatching room connected. The invention constitutes a segmented distributed protection method of the traction network. Compared with the centralized protection method, its real-time performance is not affected by the number of segments of the traction network. The related devices involved in the invention have less investment and are easy to implement, which is convenient for the adoption of new lines and the transformation of old lines.

The present invention relates to the problem of fault-tolerant control of three-rotor unmanned aerial vehicles. In order to propose a new fault-tolerant control method for unmanned aerial vehicles and realize complete closed-loop stable control, the technical solution adopted by the present invention is that the position and attitude system of the three-rotor unmanned aerial vehicle is blocked when the steering gear is blocked. The fault-tolerant control method is as follows: First, define the inertial coordinate system {I} and the body coordinate system {B}. By analyzing the dynamic characteristics of the three-rotor UAV and considering the influence of external disturbance and unknown air damping, the three Nonlinear dynamics model of rotor UAV when servo jamming occurs: the height channel controller is designed using the immersed-invariant set method; the translational system controller is designed using the immersed-invariant set method combined with the RISE algorithm. Fault-tolerant control of three-rotor UAV. The invention is mainly applied to the design and manufacture occasions of the three-rotor UAV.

The invention discloses a profiling variable sprayer based on plant canopy phenotype and an adaptive control method. The profiling variable sprayer includes a profiling mechanism module A, a profiling mechanism module B, a lifting and sliding module, a profiling bracket module, Liquid supply system, electrical box and detection module; on the basis of dividing the function and mechanism of the profiling sprayer, it adopts a modular and lightweight design. The whole machine has the characteristics of compact structure, lightness and flexibility, easy manufacture and easy maintenance. . The adaptive control method of the profiling variable sprayer automatically collects the ultrasonic echo signal and processes it to obtain the characteristic information of the tree canopy, and then calculates the air volume according to the canopy volume and canopy density phenotype characteristic parameters, The spray volume is calculated by the leaf area density phenotypic characteristic parameters; the profiling control amount calculated by the ultrasonic distance measurement information drives the profiling mechanism to profil, and realizes the automatic profiling of the crown contour, with high profiling accuracy, accurate and efficient spraying, Save medicine and environmental protection, easy to operate.

Provided is a fault identification and protection method of an electrified railway AT traction network. When network voltage is lower than a specified value, labeling no-load trend symbol values of the near ends and the far ends of a touch net T and a negative feeder F in each self-coupling segment with 0, labeling influent trend symbol values with 1, labeling effluent trend symbol values with -1, if an absolute value of a sum of the trend symbol values of two ends of the touch net T in each self-coupling segment is larger than or equal to 1, or a failure absolute value of a sum of the trend symbol values of two ends of the negative feeder F is larger than or equal to 1, or a failure absolute value of a sum of the trend symbol values of two ends of a touch net T branch and a negative feeder F branch is larger than or equal to 1, respectively judging the touch net T to be in short circuit failure to the ground, or the negative feeder F to be in short circuit failure to the ground, or the touch net T to be in short circuit failure to the negative feeder F, and breaking off all breakers at two ends of each self-coupling segment. Short-circuit reactance calculated according to corresponding voltage and short-circuit current at two ends of each self-coupling segment and the corresponding length of the self-coupling segment determine failure positions.

The present invention provides an attitude robust self-adaptive fault-tolerant control method for UAV steering gear failure, including: according to the current motor lift vector F, the current attitude angular velocity Ω and the fault estimated value and according to the pre-designed sliding mode self-adaptive observation The controller observes the fault, determines and updates the estimated value of the attitude angular velocity, calculates and updates the estimated error e of the attitude angular velocity according to the estimated value of the attitude angular velocity and the current attitude angular velocity Ω Ω ;According to the current attitude quaternion q and the target attitude quaternion q d , determine the attitude error quaternion e q ; According to the pre-designed fault-tolerant controller, calculate the motor lift vector F to adjust the UAV attitude according to the motor lift vector control; according to the current motor lift vector F, attitude angular velocity estimation error e Ω and attitude error quaternion e q , update the fault estimate according to the fault estimate and the adaptive law and estimate, and through the technical solution of the present invention, the influence of the fault of the drone can be effectively overcome, the posture is kept stable, the calculation amount is greatly reduced, and the control efficiency is improved.

The invention discloses a method and device for detecting abnormal operation of an asynchronous motor. The method includes: obtaining the stator current and voltage of the motor; obtaining the output torque of a reference motor according to the stator current and voltage; obtaining the output torque of the detected motor; calculating The difference between the output torque of the reference motor and the output torque of the detected motor is obtained to obtain a deviation value of the output torque of the motor; it is judged whether the deviation value of the output torque of the motor is greater than a preset threshold; when the deviation of the output torque of the motor When the value is greater than or equal to the preset threshold, a motor failure signal is output. Through this method, it is detected in time that the motor is running at a low speed frequency. At this time, the positive direction of the encoder defines the rotation direction and the positive direction of the asynchronous motor. Protective measures to prevent the motor speed out of control from further expanding the impact of the fault.

The invention discloses a profiling variable sprayer and a profiling control method based on tree crown phenotype characteristics. The profiling variable sprayer includes a profiling mechanism module A, a profiling mechanism module B, a lifting and sliding module, a profiling bracket module, a The hydraulic system, electrical box and detection module; on the basis of the function and mechanism division of the profiling variable sprayer, the modular and lightweight design is adopted. The whole machine has the characteristics of compact structure, lightness and flexibility, easy manufacture and easy maintenance. . The adaptive profiling control method of the profiling variable sprayer automatically collects the ultrasonic echo signal and processes it to obtain the phenotype characteristic information of the tree canopy, and then calculates the spray volume according to the phenotype characteristic parameters of the canopy volume and canopy leaf area density; through The profiling control amount calculated by the ultrasonic ranging information drives the profiling mechanism to profil the canopy contour automatically, with high profiling accuracy, precise and efficient spraying, less medicine and environmental protection, and easy operation.

The invention discloses a dry process for waste gas containing viscous dust. The treatment process uses anti-sticking agent, which is spirally lifted into the waste gas pipeline continuously, in the waste gas pipeline, the anti-sticking agent and the waste gas are mixed quantitatively and evenly in a swirling way, the dust particles with no viscosity are formed, and then the dust particles are removed by the filtering component. The obtained treatment process not only solves the influence of the viscous dust on the dust collector, reduces the filtration efficiency due to the viscous dust, increases the maintenance frequency, and the problem that the processing cost is increased; but also the dust removal efficiency is obviously improved, and the failure effect on the subsequent processingsteps due to the insufficient dust removal rate is effectively avoided; and the method accords with the circular economy and does not generate secondary pollution. The process equipment has the advantages of simple structure, low investment and operation cost, high waste gas treatment efficiency and wide application range, and has remarkable application and popularization value.

The present invention relates to a code drum water-level meter, and is characterized by that its metrical digital code adopts code drum as carrier, said code drum adoptis spiral carry mode, and comprises three kinds of structure: total information bit structure, synchronous segmented bit structure and variable-speed segmented bit structure. Said invention is reliable in operation, large in range ability, high in accuracy and has several applications.