72results about How to "Avoid shock phenomenon" patented technology

The invention discloses a servo system self-adaptive robust controller with dynamic frictional compensation, which is used for improving output tracking precision and fast response of a motor servo system and is particularly suitable for a precise motor servo system with requirements on high precision and fast response. The servo system self-adaptive robust controller comprises a parameter self-adaptive adjusting module, a dynamic frictional compensator and a robust control module. The online estimation of a frictional force value is realized by adopting a frictional model approximator constructed by a LuGre dynamic frictional model Lipschitz coefficient through self-adaptive adjustment of a parameter of the frictional approximator, and accordingly, the frictional compensation is carried out for overcoming the adverse effect of frictional force on the output tracking precision and the fast response of the servo system. The controller adopts a robust control law and ensures that the servo system has enough disturbance resistance. Because the controller can realize rapid and accurate frictional compensation and effectively inhibit the influence of external disturbance, the output tracking precision and the fast response of the servo system can be greatly improved.

The invention discloses a servo system controller with self-adaptive fuzzy friction compensation. The servo system controller is used for improving the output tracking precision and fast response of a motor servo system, and is particularly applicable to a precision motor servo system which requires high precision and fast response. The invention comprises a parameter self-adaptive adjustment module, a fuzzy friction compensator and a robust control module. By adopting a fuzzy model to approximate a friction force model, the online assessment of the friction force value is realized by a self-adaptive adjustment of the fuzzy model parameters, and then a friction compensation is carried out so as to eliminate the adverse effects of the friction force on the output tracking precision and fast response of the servo system; and the adjustment of the fuzzy model parameters adopts a composite self-adaptive law and simultaneously uses the information relative to the system output error and the parameter evaluation error for carrying out the parameter adjustment so as to improve the parameter convergence speed. As the controller can realize fast and accurate friction model evaluation and friction compensation, the output tracking precision and fast response of the servo system can be greatly improved.

The invention discloses a method for optimizing wavelength path dispersion compensation and a device thereof comprising: arranging an adjustable dispersion compensation unit before a light receiver for compensating the dispersion of a single wavelength path; adjusting the dispersion compensation value in a specified dispersion compensation adjustable range; respectively detecting a forward error rate of a forward error correction corresponding to different dispersion compensation values; searching the minimal value of the forward error rate of the forward error correction. The corresponding dispersion compensation value to the minimal value of the forward error rate is the optimum dispersion compensation. The method of the invention optimizes the dispersion compensation of the wavelength path based on the forward error rate of the forward error correction, obtains the optimum dispersion compensation and realizes the optimum dispersion compensation effect. The software implementation of the invention is easy, the shock phenomenon caused by frequently adjusting dispersion compensation value is avoided, and the device of the invention is suitable for popularization and application of the optical communication technique field relevant enterprises.

The invention discloses an exposure parameter adjusting method, device and readable medium, and belong to the technical field of the image processing. The method provided by the invention comprises the following steps: acquiring an exposure evaluation value of the current frame image, and determining an exposure state of the current frame image according to the exposure evaluation value; acquiringthe exposure state of the former frame image, the exposure parameter adjusted based on the exposure state of the former frame image, and an adjusting direction; determining the exposure parameter adjusting type according to the exposure state of the current frame image and the exposure state of the former frame image; and adjusting the current exposure parameter according to the exposure parameter adjusting type, the exposure parameter adjusted based on the exposure state of the former frame image, and the adjusting direction. The current exposure parameter is adjusted by using the above method, the oscillation phenomenon is effectively prevented in comparison with the way of adjusting the exposure parameter only through the exposure state of the current frame image in the prior art, andthe image quality is further guaranteed at the same time.

The invention provides a method for eliminating signal online outliers. Firstly, the elimination of outlier energy in signals is finished by performing detection and linear compression on a wavelet function after signal wavelet transformation, and simultaneously, a method for linear elimination of the outliers protects signal characteristics nearby an outlier point and avoids a concussion phenomenon caused by the elimination of the outliers; secondly, aiming at the working characteristics of a micro-machined gyroscope, a method for performing a wavelet noise reduction threshold value calculation by using a virtual outlier concept is put forward to realize the noise reduction of signals of a ship micro-machined gyroscope; and finally, micro-machined gyroscope actually-measured signals containing the outliers and noises are filtered by using the method provided by the invention to ensure that a signal-to-noise ratio higher than that obtained by a universal threshold value noise reduction method is obtained while reducing the concussion nearby the outlier point. The method used for filtering has a small influence on a signal value nearby the outlier point, and the filtering effect is smoother.

The invention provides an intersection road network model suitable for lane level navigation and positioning. The model is based on a road network model and a data structure of an existing map, and the road network model of an intersection is designed aiming at the application requirements of lane level navigation and positioning. The model is mainly composed of a basic attribute set and a virtual lane line set. Virtual lane lines are interpolated through a segmented cubic Hermite interpolation algorithm with a shape preserving function. The intersection road network model has the advantages of being simple and complete in structure, high in precision, complete in information amount, high in applicability and the like, the precision of a lane level digital map can be improved to a large degree, and the continuity and reliability of vehicle navigation on the intersection are improved.

The invention provides a virtual outlier noise reduction method of micro-inertial device signals, which comprises the following steps: (1) for continuous signals with noise, intercepting fixed-length data quantity to be recorded as a sequence A; (2) carrying out symmetric extension on the sequence A to finish wavelet decomposition; (3) averaging wavelet functions after sequence decomposition, and computing signal variance; (4) computing the outlier, and eliminating a threshold; (5) carrying out noise reduction treatment on the wavelet functions by utilizing the computed threshold T; (6) repeating step (2) to step (5) until the number of the decomposed layers reaches the set value; (7) finishing reconstruction of the signals by utilizing the treated wavelet functions, and realizing noise reduction treatment on the signals at the intercepted section; and (8) repeating step (1) to step (7) to realize continuous noise reduction of the signals. When filtering the measured signals of a micro-mechanical gyroscope with the outlier and noise by aopting the method of the invention, oscillation near an outlier point is reduced, and a signal-to-noise ratio which is higher than that acquired by the universal threshold noise reduction method can be acquired.

The invention discloses a stably placed oxygen bottle for emergency medical aid and relates to the technical field of medical instruments. The stably placed oxygen bottle comprises a base; two symmetrical universal wheels are fixedly connected with the bottom of the base; an oxygen bottle main body is placed above the base; a first groove which is matched with the oxygen bottle main body is formedon the middle part of the upper surface of the base; the bottom end of the oxygen bottle main body is inserted into the first groove; two symmetrical support rods are fixedly connected with the uppersurface of the base; the two support rods are respectively located on the two sides of the groove. In the stably placed oxygen bottle for emergency medical aid, positive and negative rotating motorsare arranged for driving loop coils to drive idler wheels to press movable plates so as to drive supporting legs to move downward under the action of screw rods, so that the universal wheels are prevented from touching the ground and the device is supported by supporting legs to stably stand. Under the action of first springs, the oxygen bottle main body is clamped by arc-shaped splints, so that the oxygen bottle main body is prevented from shaking or falling.

The invention provides an energy-saving balance high-pressure valve. The energy-saving balance high-pressure valve comprises a valve body, a valve element, an inflow side piston device, an outflow side piston device, a lens gasket, a thread pressure plate, a valve seat, connection pipes, a valve rod and a valve deck. The tail end of the valve rod penetrates through the valve deck and is located inside the valve body. The valve element and the valve seat are located inside the valve body. The valve seat is installed on the inner surface of the valve body. The valve body is in a sleeve shape and connected with the valve deck. The inflow side piston device and the outflow side piston device are arranged at the two ends of the valve element respectively. The inflow side piston device and the outflow side piston device each comprise a piston rod, a piston and a piston cylinder. The two connection pipes are connected with the valve body through the lens gasket and the thread pressure plate. A design method comprises the three steps of determining the operation work environment of the valve, checking the pressure difference before and after the valve and carrying out production and manufacturing. On the one hand, medium acting force applied on the valve element can be effectively counteracted; on the other hand, the vibration phenomenon of the valve element in the use process is effectively avoided, the medium blockage phenomenon is avoided, and the production cost can be reduced at the same time.

The invention discloses a polycrystalline diamond (PCD) super-finish reamer, which comprises a reamer body and a blade, wherein the reamer body is connected with the blade by welding; the front part of the blade is a hard alloy rough reaming blade; the middle part of the blade is a PCD finish reaming blade; and the back part of the PCD finish reaming blade is provided with a PCD shock-proof blade. Due to the adoption of the PCD super-finish reamer with the structure, shock phenomenon in the processing process is avoided, processing accuracy is enhanced and the service life of the reamer is prolonged.

The invention provides a method for building an in-orbit X-ray pulsar timing model. According to the method for building the in-orbit X-ray pulsar timing model, the problem of data introduced by weak X-ray signal intensity and strong observation platform dynamic condition is effectively solved by organically combining various calculation methods of X-ray pulsar photon arrival time preprocessing, high-precision pulsar autorotation frequency calculation, timing model initial value interval estimation, observation pulse profile reconstruction, high-precision pulse arrival time estimation and robust timing model estimation, ephemeris information such as high-precision pulsar position and time required by X-ray pulsar navigation can be provided, and accurate navigation is realized. The method is suitable for autonomous operation and control of orbiting satellites or constellation of the earth or other planets.

The embodiment of the invention provides a switching method and apparatus. The method comprises the following steps: if a state value of a first identification bit used for monitoring a first port state for transmitting a bidirectional forwarding detection BFD session in a register is detected to be updated to a first state value, determining that a first port is faulty; and selecting a port in member ports in which the state values of the identification bit are second state values and which correspond to an aggregation link so as to transmit the BFD session through the second port, wherein the second state value is used for identifying the second port as a normal state. By adoption of the switching method and apparatus provided by the invention, the fault sensing efficiency of the BFD session is effectively improved, the occurrence of unmeaning oscillation is avoided, and thus the resource utilization rate and the user experience are improved.

The invention discloses a polishing device for railway transportation equipment. The polishing device comprises a base plate, vertical plates are fixedly connected to the two sides of the upper surface of the base plate, sliding grooves are formed in the opposite sides of the two vertical plates, the tops and the bottoms of the inner walls of the sliding grooves are connected through sliding rods,sliding blocks are arranged in the sliding grooves and connected to the sliding rods in a sleeving manner in a sliding connection mode, the portions, located below the sliding blocks, of the slidingrods are sleeved with damping springs, the two ends of the damping springs are fixedly connected with the bottoms of the inner walls of the sliding grooves and the bottoms of the sliding blocks, and the opposite sides of the two sliding blocks are connected through a carrying plate. According to the polishing device, the damping springs are improved, when a push plate is pressed downwards, the sliding blocks can downwards slide on sliding rods inserted into the sliding grooves, the damping springs can be compressed, when a grinding disc touches the equipment, generated vibration can be transmitted to the damping springs through damping blocks, the too serious vibration phenomenon of the carrying plate can be avoided; and at the time, the protection capacity of the equipment and workers canbe improved.

The invention discloses a semi-active vibration absorber control system based on state observation. The semi-active vibration absorber control system is characterized by being composed of a semi-active suspension system, a state observation module, a phase difference cosine value calculation module and a current output module. The semi-active suspension system comprises a vibration reducing object, a semi-active vibration absorber, a passive vibration isolator and a sensor mounted on the vibration reducing object or the semi-active vibration absorber, and is used for detecting vibration information corresponding to the output vector of the semi-active suspension system in real time. The state observation module comprises an analog-digital converter, a self-adaption state observer and a state processing unit, and is used for predicting related vibration information corresponding to the related state vector of the semi-active suspension system in real time. The current output module is composed of a fuzzy logic control unit, an integrator and a controlled current source, and is used for outputting control current needed by the semi-active vibration absorber in real time. The semi-active vibration absorber control system can control vibration of a semi-active vibration absorber system fast, stably and effectively only through one sensor.

The invention discloses a convenient-to-use heat dissipation mainframe box. The mainframe box comprises a box body, wherein an installing plate is fixedly connected to the bottom of the box body, eachof the four right angles at the bottom of the installing plate is provided with a through slot, each of the two sides of the inner wall of each through slot is provided with a sliding slot, the top and the bottom of the inner wall of each sliding slot are connected through a sliding rod, a sliding block is arranged in each sliding slot in a sliding connection mode and connected to the corresponding sliding rod in a sleeving mode, two damping springs are connected to each sliding rod in a sleeving mode and located at the upper side and the lower side of the corresponding sliding block respectively, and the opposite ends of every two corresponding damping springs are fixedly connected to the top and the bottom of the corresponding sliding block respectively. According to the mainframe box,through improvement in rollers, when the box body is pushed, the rollers can be driven to rotate on the ground, when circular blocks rotate in circular slots, the rollers can be driven to change movement directions, and therefore a mainframe can be moved to any position; and after U-shaped rods are released, under the action of extrusion springs, pressing plates can drive antiskid cushions to be connected to the ground again in a lap joint mode, and therefore the box body can be stably placed after being moved.

The invention discloses a one-way valve for a satellite attitude and orbit control propellant supply system. The one-way valve comprises an upper shell. The upper shell is connected with a lower shell. A main valve core is arranged between the upper shell and the lower shell. A first spring is arranged between the outer side wall of the main valve core and the inner side wall of the lower shell. Aconstant pressure difference valve core is arranged in the main valve core. A second spring is arranged beside the constant pressure difference valve core. A plug is arranged beside the second spring. The plug is connected with the main valve core. When the one-way valve is in a small flow state, a main valve is in a full-open state, and thus an oscillation region which is easy to generate due tothe fact that the opening degree of a traditional one-way valve is too sensitive to pressure difference is avoided; and when the flow rate increases, a constant pressure difference variable orifice design structure is adopted, and the pressure difference between the feeding end and the discharging end of the main valve core of the one-way valve is prevented from excessively increasing.

The invention provides a time slot resource adjusting method based on load evaluation, which divides services into time sensitive services and time non-sensitive services, and respectively adjusts time slots required by the services according to different service types. Manual intervention is not needed, the number of time slots needing to be increased or released can be automatically calculated according to service loads, the oscillation phenomenon is avoided, and effective utilization of resources is achieved; and time slot resources are adjusted in time according to service types and queueload conditions, it is guaranteed that services are sent in time, and the method is already applied to practical engineering and can adjust the time slot resources for various services and load conditions in time in a complex network environment, and the service transmission characteristics are met.

The improved artificial fish swarm algorithm is creatively combined with an unmanned aerial vehicle cluster, and rapid and efficient positioning of a gas leakage source is achieved. A traditional fixed monitoring network method has limitation and is difficult to meet the positioning requirement of an existing positioning gas leakage source, a system with multiple unmanned aerial vehicle clusters has the advantages of maneuverability, flexibility, wide monitoring range and the like, the defects of an existing fixed monitoring station can be overcome by using the system as an environment monitoring platform, and active tracking and positioning of the harmful gas leakage source are facilitated. According to the smoke plume search strategy, an improved artificial fish swarm algorithm is adopted, a curiosity model is introduced on the basis of the standard artificial fish swarm algorithm, the search visual field and the moving step length of the unmanned aerial vehicle can be adjusted in aself-adaptive mode, and algorithm defects caused by the fact that the visual field and the step length are constant values in the standard artificial fish swarm algorithm are avoided.

The invention discloses a motor winding temperature estimation and protection method. The method comprises the following steps: S1, obtaining a BP neural network heat dissipation model of a motor winding; S2, calculating the temperature of a motor winding; S3, protecting a motor winding. Due to the fact that the neural network can conduct accurate modeling on the heat dissipation process under thecomplex heat dissipation condition, the method is more suitable for application scenes with the complex heat dissipation condition; a winding heating temperature change rate caused by loss is calculated by using the motor winding current; the winding temperature is calculated according to the winding heat dissipation temperature change rate and the winding heating temperature change rate; the calculated winding temperature is used to limit motion control output of the motor by using a multi-segment temperature cut-off curve so as to carry out temperature protection on the winding and preventdamage caused by overhigh temperature of the winding.

The invention relates to the technical field of Internet of Things, in particular to a wrapping type dust easily-cleaned device based on Internet-of-Thing control. The wrapping type dust easily-cleaned device solves the technical problems that an existing camera cleaning mechanism is limited in cleaning zone, the view is easily shielded, and stable cleaning is not facilitated. In order to solve the above technical problems, the wrapping type dust easily-cleaned device based on Internet-of-Thing control comprises an installing base inclined supporting rod, a fixed sheet inclined supporting rodis welded to the top of the installing base inclined supporting rod, the two sides of the top of the fixed sheet inclined supporting rod are fixedly connected with the two sides of the bottom of the side surface of a U-shaped rod inclined supporting rod through strut inclined supporting rods, and one end of the U-shaped rod inclined supporting rod is fixedly connected with a camera inclined supporting rod. According to the wrapping type dust easily-cleaned device based on Internet-of-Thing control, an inclined movable wrapping mechanism can conveniently cover a camera, or the inclined movablewrapping mechanism can conveniently move to the position far away from the camera, cleanliness of the camera can be conveniently completed, and the monitoring view of the camera is not influenced.

The invention relates to a micro differential pressure control based valve quick positioning system. The system comprises a hardware control system of a micro differential pressure valve and a virtual instrument programming based software control system. The hardware system serves as the carrier and the execution part of virtual instrument software to complete differential pressure transducer data acquisition, stepper motor drive of valve moving and the like. The software system uses a virtual instrument programming mode for achieving differential pressure data acquisition, secondary acquisition processing of differential pressure data signals, loading and real-time calculation of a micro differential pressure quick positioning control model and driving of a stepper motor. By the coordination of the hardware system and the software system, automatic and quick positioning of the micro differential pressure valve is achieved.

The invention discloses a visual experiment system for a liquid phase pipeline of a low-temperature container differential pressure type liquid level meter. The system comprises a transparent outer cover, an inner tank, a bottom plate, an overpressure discharge pipeline, a pressure pipeline, a full-measuring pipeline, a filling pipeline and more than one liquid phase pipeline of the liquid level meter, a liquid phase heating device used for heating the liquid phase pipeline of the liquid level meter and a vacuum unit; the inner tank is arranged above the bottom plate at intervals; the transparent outer cover covers the outer side of the inner tank 2, and a vacuum chamber is formed in the space between the transparent outer cover and the bottom plate; the vacuum chamber is communicated withthe vacuum unit; the overpressure discharge pipeline, the pressure pipeline, the full-measuring pipeline, the filling pipeline and the liquid phase pipeline of the liquid level meter are sequentiallycommunicated from top to bottom and are arranged in the inner tank; and a transparent pipeline section is arranged on one side, close to the inner tank, of the liquid phase pipeline of the liquid level meter. According to the visual experiment system, the gas-liquid interface of the transparent pipe section arranged close to the inner tank is checked through the transparent outer cover, so that the design and optimization of the liquid-phase pipeline of the liquid level meter are realized.

A follow-up device of a coal mine fully-mechanized coal winning machine belt support is characterized in that: the number of upper supports is two, both ends of an i-steel support beam (1) are fixed on two upper ends of the two upper supports, lower ends of the upper supports are provided with a connecting plate (5), the lower part of the connecting plate (5) is connected with the middle part of a shaft (7) through a damping mechanism, both ends of the shaft (7) are fixedly connected with the middle part of two fender plates (8), a follow-up of a wheel (9)-formed support is respectively arranged between two ends of each fender plate (8), and automatic adjustment shock absorption of the support is formed by the shaft (7), a damping mechanism and two wheels (9). The upper support body is manufactured by i-steel, a strong and stable support structure is formed, the damping mechanism effectively prevents the vibration phenomenon at rail joints during marching of the machine, and through the follow-up of the wheel (9)-formed support between the two fender plates, safety production of fully-mechanized coal winning machine belt support is improved.

The invention discloses a construction ground punching device and method. The device comprises a fixed base, a rotating platform and a punching mechanism. Supporting legs are mounted on the bottom ofthe fixed base, lifting type rollers are mounted on the supporting legs, the rotating platform is fixedly mounted on the fixed base, a supporting stand column is arranged in the middle of the upper end face of the rotating platform, a cross beam is vertically mounted on the top of the supporting stand column, a transverse sliding rail is mounted on the lower end face of the cross beam, a fixed plate assembly is mounted below the transverse sliding rail, a first oil cylinder mounting base and a second oil cylinder mounting base are in sliding connection to the transverse sliding rail, a first oil cylinder and a second oil cylinder are mounted between the first oil cylinder mounting base and the fixed plate assembly and between the second oil cylinder mounting base and the fixed plate assembly correspondingly, and the punching mechanism is mounted below the fixed plate assembly. The construction ground punching device is novel in structural design, rapid punching of a construction groundcan be achieved, meanwhile, the punching interval can be adjusted, different positions are punched, punching stability is good, and the work efficiency can be effectively improved.

The invention discloses a processing method and a processing device for VRRP message; the method comprises the following steps: the access device confirms the role type of the interface while receiving the VRRP message; if the role type is the main machine interface, the access device discards the VRRP message; if the role type is the router interface of the VRRP backup set, the access device transmits the VRRP message; if the role type is the interface to be verified, the access device judges whether the VRRP message meets the specification; if the VRRP message meets the specification, the access device transmits the VRRP message; if the VRRP message does not meet the specification, the access device discards the VRRP message. According to the environment, the oscillation phenomena of the VRRP backup set and the host cut-out phenomena can be avoided.

The invention provides a double-loop power source mutual-throw device which can be switched rapidly between a common loop and an ever-prepared loop and avoid circuit vibration and arcing. The double-loop power source mutual-throw device comprises a switching component, and the common loop in common use and the loop ever prepared are respectively connected with load equipment through the switching component. The double-loop power source mutual-throw device is characterized by further comprising a common loop voltage detection circuit, a current zero-passing trigger signal circuit and a trigger control circuit. The common loop voltage detection circuit is respectively connected with the common power source loop and the trigger control circuit. The current zero-passing trigger signal circuit is located between the common power source loop and the load equipment and connected with the trigger control circuit connected with the switching component. Switching time of a double-loop power source is shorter than or equal to 5 ms, and normal operation of the load equipment will not be affected. Silicon controlled modules are adopted for the switching component of a main circuit, so that the size of the device is small, the device is light, and the arcing will not exist in the switching process.

The invention provides a device for activating PGRG microorganisms by utilizing solar energy for floating. The device comprises an illumination chamber, wherein light-gathering baffle plates are arranged on the left side and the right side of the illumination chamber; an installation component is fixedly arranged at the upper side of the illumination chamber; a driving assembly is arranged inside the installation component; the driving assembly comprises driving mechanisms; a driving threaded rod is arranged between the driving mechanisms; and the upper side of the driving threaded rod is connected with a movable tooth piece in an engaged mode. According to the device for activating the PGRG microorganisms by utilizing the solar energy for floating, sunlight is effectively absorbed through the arrangement of a solar panel; in addition, the position of the sun moves, so that the top end of the movable connecting rod is used to drive a sunlight absorption assembly to slowly slide on a fixed sliding rod; and when a photoresistance member senses the sunlight illumination, the sunlight absorption assembly is enabled to stop moving, the solar panel is used for continuously absorbing the sunlight, the light receiving time of the solar panel is further prolonged, and meanwhile, the utilization rate of the sunlight is increased.

The invention discloses special drawing equipment for a stainless steel cross pipe. The equipment comprises a traction mechanism and an electrical control box which are arranged on a rack, and further comprises a core head positioning mechanism, a supporting mechanism, a straightening mechanism and a die and die holder assembly which are sequentially arranged on the rack in the drawing direction; the core head positioning mechanism is used for positioning and adjusting the position opposite to the die and die holder assembly; the supporting mechanism is used for supporting the stainless steel pipe and a core head; the straightening mechanism is used for straightening the stainless steel pipe to keep concentric with the die and die holder assembly and pressing the stainless steel pipe in the drawing process; and the die and die holder assembly is used for finely adjusting the straightness of the stainless steel special-shaped pipe. According to the drawing equipment, the stainless steel pipe can be straightened in advance through the straightening mechanism, it is guaranteed that the stainless steel pipe can be kept concentric with a drawing die all the time in the drawing process, drawing is more stable, meanwhile, the stainless steel pipe is pressed through pressing wheels, and the phenomenon of oscillation caused by overlong extension of the rear part in the drawing process can be prevented.