31results about How to "Improved stability and robustness" patented technology

A driving circuit for driving a power semiconductor switch wherein at least one semiconductor device being provided which is implemented in such a way that it is operated in breakdown in response to the exceeding of a specific collector-emitter voltage of the power semiconductor switch, an output of the at least one semiconductor device being connected via a conductive interconnect to a terminal between the resistors of the resistor series circuit or to the resistor-series-circuit output which is connected to the signal processing unit, and the breakdown voltage of the at least one semiconductor device being selected in such a way that the potential at the output of the at least one semiconductor device is greater than the potential at the gate of the power semiconductor switch in its ON state. The invention further relates to a method for driving a power semiconductor switch.

The invention discloses an all-weather urban vehicle tracking and counting method based on video monitoring. Two methods are respectively adopted after the current time interval is judged to be daytime or night; according to the technical scheme for daytime, a background removing method is used for extracting a foreground target of a vehicle and then whether a tracking method or a virtual detection line method is used for counting is judged according to congestion condition of the current road condition; and according to the technical scheme for night, a virtual detection line and a detectionregion are set firstly, then binarization processing is carried out on the current frame to extract car lamps, whether car lamps pass by is judged by scanning the detection line and counting is carried out. The method disclosed by the invention is applicable to all-weather traffic video monitoring, accurate tracking and reliable counting can be effectively carried out on the vehicles, and stability and robustness of traffic video analysis are improved.

The invention discloses an adaptive hysteresis sliding-mode control method for a double-tube Buck-Boost converter. Aiming at the characteristic that the double-tube Buck-Boost converter has a right-half-plane zero point, a hysteresis current controller is adopted and the controlled quantity switching frequency is not over-high due to addition of hysteresis; aiming at the characteristic that the converter is relatively wide in input range, an adaptive feedforward is introduced, the hysteresis width is changed according to a change of input voltage and the switching frequency changes within a relatively small range when the input voltage changes; and aiming at the characteristic that the steady state switching frequency is affected by a load change, an adaptive feedback is introduced, a sliding coefficient is adjusted according to the load change and the switching frequency remains unchanged in the load change. Design and implementation of the controller are relatively simple; the response speed is relatively high; and the controller has relatively high stability and robustness, and can be applied to the occasions of a wide-range change of input voltage and a relatively large load change.

The invention discloses a calculation unloading distribution method of an edge server. The method comprises the following steps of: constructing a to-be-optimized vector according to the proportion oftasks executed by each user terminal on an edge server in the tasks of the user terminal; utilizing a first target sub-function, a second target sub-function and a third target sub-function to construct a target optimization function, wherein the first target sub-function is the sum of the calculation time of locally executing tasks on all user terminals and the calculation time of executing tasks on the edge server, the second target sub-function is the sum of the energy consumption of locally executing the tasks on all the user terminals and the energy consumption of executing the tasks onthe edge server, and the third target sub-function is the sum of the charges generated by executing the tasks on the edge server; and solving the optimization value of the to-be-optimized vector by utilizing the target optimization function, and correspondingly configuring the proportion of the tasks executed by each user terminal on the edge server in the tasks of the user terminal according to the optimization value of the to-be-optimized vector.

The invention discloses an online NOx emission monitoring method adaptive to the working condition of an overall vehicle. The online NOx emission monitoring method comprises the following steps: first, taking an environment temperature, an altitude and an engine cooling liquid temperature as enabling conditions for monitoring, performing the second step to the fourth step below when the environment temperature, the altitude and the engine cooling liquid temperature are in a normal working range in OBD (On-Board Diagnostics) laws and regulations simultaneously, and ending online NOx emission monitoring if any one of the conditions of the environment temperature, the altitude and the engine cooling liquid temperature is not in the normal working range in the OBD laws and regulations; second,gridding an emission area; third, calculating the specific emission of the NOx in each unit grid area; and fourth, determining an emission standard exceeding limit value. The online NOx emission monitoring method adaptive to the working condition of the overall vehicle has high stability and robustness; whether the NOx exceeds the OBD laws and regulations or not is judged in a calibration time window; and a fault signal is provided for activating fault indicator and reducing torque after a fault is determined.

The invention belongs to the field of naval vessel motion control, and specifically relates to an improved model-free adaptive course control algorithm based on input-output data fusion for a naval vessel. The control algorithm comprises the following steps: expressing the output form of an original course system as y(k)=f(delta, psi), and outputting y(k) as k<1>xdelta+psi by a system, wherein delta is a rudder angle, and k<1> is a gain coefficient being relevant to the kinetic characteristics of a naval vessel system; and subtracting actual output y(k) from the expected output y<*>(k)(kxdelta<*>+psi<*>) of a course system to obtain an error e(k), considering that the actual course convergence of the naval vessel reaches a desired course and jumping out of the cycle when |e(k)| is less than an expected constant e0, otherwise solving the expected input u(k) of the course system by using e(k) as the input of the model-free adaptive controller. The improved model-free adaptive course control algorithm based on input-output data fusion for the naval vessel can be applied to the course control of the naval vessel.

The invention provides a three-way impact-resisting support for a high-temperature pipeline system. The three-way impact-resisting support comprises a pipe clamp and two three-way impact-resisting support bodies, the pipe clamp is fixed to the two three-way impact-resisting support bodies of the two sides of a pipe, and the pipe clamp is clamped to the periphery of the pipe. Each three-way impact-resisting support body comprises a hollow base with an upward opening, a hollow sleeve with an upward opening and a sliding block, the bases and the sleeves are slidably connected, and a limiting partA is arranged at the opening of each base so as to prevent sliding separation of each base and the corresponding sleeve. A Z-direction elastic assembly is further arranged between each base and the corresponding sleeve, an X-direction through hole and a Y-direction through hole are formed in each sliding block, and the sliding blocks and the sleeves are slidably connected in the X direction through X-direction guiding rods which penetrate through the Y-direction through holes and are matched with X-direction sliding groove pairs, and the sliding blocks and the sleeves are slidably connected in the Y direction through Y-direction guiding rods which penetrate through the X-direction through holes and are matched with Y-direction sliding groove pairs. Y-direction elastic assemblies and the X-direction elastic assemblies are arranged on the X-direction guiding rods and the Y-direction guiding rods correspondingly, and the pipe clamp is fixed to the upper portions of the sliding blocks. The three-way impact-resisting support is convenient to use and remarkable in effect.

The invention relates to a rigid body target tracking method based on feature and region collaborative matching. The method comprises the steps of 1) selecting a target area in an initial image, and detecting SURF features in the target area; 2) constructing an invariance area with each SURF feature point as a center in the target area; 3 ) extracting the SURF features of a current image when thecurrent image arrives, and forming matching point pairs by carrying out cooperative matching on the current image and the initial image based on the SURF feature and the invariance region; 4 ) calculating to obtain motion parameters according to the obtained matching point pairs, so as to determine the target area of the current image and realize target tracking. The repeatability rule of SURF features under the complex change is studied, the motion parameters are solved through a scheme that the SURF features and the regional templates are matched in a collaborative mode, accurate descriptionand matching can be achieved on the local features of the target region, and the robustness and the stability of the target tracking effect are guaranteed.

An embodiment of the invention provides a method and device for controlling an UAV(unmanned aerial vehicle) in a target area through a ground station. The method comprises the following steps: the ground station obtains a basic geographic position coordinate of a landmark in a basic area and forms a circular target area; the ground station obtains a current geographic position coordinate of each UAV; the ground station selects a target UAV needing to be controlled, obtains a first control instruction, and converts the first control instruction into a second control instruction according with an expected response dynamic state according to a preset ideal model; the ground station collects flight status parameters of the UAV related to the second control instruction, and generates an integrated feedback; and the ground station carries out error control according to the second control instruction and the integrated feedback to obtain a third control instruction, and controls the UAV basedon the third control instruction. A technical effect of improving stability and robustness of the UAV control method is realized.

The invention discloses an interference-compensated tracking control method for hypersonic-speed variable-swept-wing aircraft, and belongs to the technical field of hypersonic speed aircraft control. The implementation method comprises the following steps: an aircraft longitudinal dynamic model is established by considering flight state constraint, input saturation influence, additional interference generated in a continuous deformation process and aerodynamic parameter uncertainty; a deformation additional force, a torque and a pneumatic uncertain item are regarded as unknown composite interference, and an uncertain strict feedback nonlinear tracking control system is established; a nonlinear interference observer is designed to realize accurate estimation of unknown interference; a Backstepping control method is adopted to gradually design a tracking control law, an interference compensation mechanism is introduced to counteract composite interference, an instruction filtering auxiliary system is designed to compensate state constraint and input saturation influence, an instruction filtering tracking control law based on interference compensation is designed, so that the stability and robustness of a closed-loop system are improved, stable flight of the hypersonic-speed variable swept wing aircraft in a cross-speed domain and multi-mode flight working condition is realized.

The invention relates to the field of intelligent drive, and specifically relates to an unmanned device formation method, storage device and processing device. In order to shorten the formation time of unmanned devices, the unmanned device formation method comprises the steps of selecting an unmanned device to be formed at the longest distance away from each target point to be allocated from the global optimal perspective; then selecting a target point to be allocated closest to the unmanned device in consideration with local optimum as a target point corresponding to the unmanned device; andrepeating the above steps, till a corresponding target point is allocated to each unmanned device to be formed, thus completing the formation. Moreover, a handshake communication mode similar to a contract flow is adopted in the formation process to ensure the communication reliability of a distributed unmanned device system to a certain extent and improve the robustness and stability of the distributed control system.

The invention discloses a virtual synchronous generator control method and system of a matrix converter, and particularly belongs to the field of matrix converter control. The system comprises an alternating current source type power supply, an input filter, a matrix converter, an output filter, an alternating current bus, a virtual synchronous generator controller, an expected output current generator and a matrix converter controller. The control method is suitable for an alternating current source type micro-source and an energy storage system which adopt a matrix converter for grid connection, the matrix converter is used for connecting an alternating current source type power supply and a power grid, and energy provided by the alternating current source type power supply is used for implementing a virtual synchronous generator control strategy of the matrix converter. According to the method, a virtual synchronous generator control strategy is established by using a synchronous generator model; and the hysteresis controller is used for controlling the matrix converter, so that the grid-connected matrix converter can simulate droop characteristics of active power-frequency andreactive power-voltage of the synchronous generator, the grid-connected matrix converter has certain inertia and damping, and the stability of the system can be improved.

The invention aims to overcome the problem that the goods slip to collapse when an existing Forklift AGV suddenly stops and locks during goods handling, provides a control method for preventing a shelf from collapsing by goods during emergency stop and locking of a Forklift AGV, and at the same time, improves reliability and work efficiency of the Forklift AGV. In order to achieve the purpose, thetechnical scheme is adopted: when the Forklift AGV suddenly stops, a relative speed sensor on the shelf detects a relative speed between the goods and the shelf to obtain a relative speed curve; therelative speed curve is performed an interpolation analysis, if the relative speed is detected, the shelf and the goods are controlled to move in the same direction and continue to traverse the relative speed; when the relative speed is zero, a motor starts to brake and traverse the shelf speed curve; when a return interpolation value is zero, a motor of the shelf is controlled to rotate reverselyat a rated speed; and when feedback displacement is interpolated to a preset position, the motor is braked at a rated acceleration, and the shelf returns when the speed is zero.

The invention discloses a navigation constellation on-orbit backup scheme optimization design method. The optimization design method comprises the following steps: determining an optimization variable, an objective function and a constraint condition of an orbit position optimization model of an on-orbit backup satellite according to parameters of the navigation constellation; based on the orbit position optimization model of the on-orbit backup satellite, obtaining the optimal orbit position of the on-orbit backup satellite by using a multi-objective optimization algorithm; and in combinationwith the optimal orbit position of the on-orbit backup satellite, determining a replacement optimization model of the on-orbit backup satellite for replacing the faulty satellite, and determining anoptimal replacement method according to the replacement optimization model. According to the invention, the service performance of the navigation constellation can be remarkably improved, the stability and robustness of the navigation constellation are enhanced, and replacement of the faulty satellite can be completed with low energy in a short time.

The invention discloses a non-contact heart rate detection method based on signal fitting. This method first uses a network camera to record a face video, and performs motion tracking and color feature extraction on the face to construct an initial pulse wave; then designs a mask according to the local standard deviation of the original pulse wave to filter out the distortion of the initial pulse wave part; then design a pulse wave dictionary that contains sinusoidal bases of various frequencies and phases, and select a group of sinusoidal bases that are close to the original pulse wave from the dictionary, and add these sinusoidal bases according to the weight to obtain the fitted pulse wave; Finally, the heart rate is calculated by performing Fourier transformation on the fitted pulse wave. The invention can effectively filter out the signal distortion caused by external disturbances such as head twisting and expression changes, and realize high-precision heart rate detection in the actual environment.

An embodiment of the invention provides an unmanned aerial vehicle control method and device. The method includes the steps: acquiring a first control command which is an original control command forcontrolling an unmanned aerial vehicle to fly in a target state; transforming the first control command to a second control command conforming to an expected response dynamic; acquiring flight state parameters of the unmanned aerial vehicle related to the second control command and accordingly generating comprehensive feedback; controlling errors according to the second control command and the comprehensive feedback to obtain a third control command; controlling the unmanned aerial vehicle according to the third control command. Stability and robustness of the unmanned aerial vehicle control method are improved.

The embodiment of the invention provides a data classification model updating and application method and device, a storage medium and a product, and the method comprises the steps: obtaining a first labeled sample set and a first unlabeled sample set from a municipal governance event data pool, and enhancing preset data; obtaining a corresponding second labeled sample set and a second unlabeled sample set; obtaining a label prediction result corresponding to each unlabeled sample in the second unlabeled sample set according to the initial data classification model; performing mixed sample data enhancement on the second labeled sample set and the second unlabeled sample set after label prediction; and performing parameter updating on the initial data classification model according to the second labeled sample set and the second unlabeled sample set after mixed sample data enhancement processing to obtain a target data classification model. A semi-supervised learning method is adopted, the sample diversity is increased through data enhancement and mixing, the robustness and stability of the model are improved, the model prediction effect is improved, and the cost is saved.

The invention relates to a respiration rate monitoring method and device based on a multispectral PPG blind source separation method. The respiration rate monitoring method comprises the following steps that PPG signals at least comprising two wave bands of an individual are synchronously collected; respiratory signals are extracted from the PPG signals containing at least two wave bands through a multi-channel fusion method, and the multi-channel fusion method specifically adopts a blind source separation algorithm; and a respiratory rate is calculated based on the respiratory signals extracted from the multispectral PPG signal by a blind source separation method. The device is provided with a module for executing the method. According to the respiration rate monitoring method, breathing components are separated from the multispectral PPG signals, namely, the breathing components and noise components in the multispectral PPG signals are separated by using PPG signals of at least two wave bands as input through the blind source separation algorithm, then the breathing frequency is calculated by selecting the separated breathing components, so that the robustness and the stability of breathing signal extraction can be enhanced, and the purpose of stable, accurate and continuous monitoring is achieved.

The invention discloses a space-time probability distribution grid flight conflict detection method based on flight trend reasoning. Aiming at the problem that various uncertain factors such as meteorological change, air route dynamic adjustment, pilot operation and the like interfere with the movement of an aircraft, the method disclosed by the invention reveals an air traffic flow time-varying rule in combination with trend reasoning and dynamics theories on the basis of obtaining current air state estimation; and furthermore, space-time probability distribution calculation is performed on a rasterized controlled airspace through construction, so that efficient detection among multiple aircrafts and between the aircrafts and the airspace in a complex airspace environment is realized. The stability and robustness of track refinement characterization under uncertain multi-factor common disturbance are improved, and the method has important significance in improving air traffic operation efficiency and guaranteeing air operation safety.

The invention belongs to the field of power electronic converter control, and particularly relates to a novel multi-terminal flexible DC power distribution system coordination control method. On the basis of analyzing the advantages and disadvantages of traditional double-closed-loop PI control, a novel URC controller is provided, different working modes are set in the controller according to different parameter matrix values, multi-mode smooth switching of a multi-terminal flexible DC power distribution system is realized, the dynamic responsiveness and power fluctuation of a multi-terminal high-voltage DC power grid can be improved, and the stability and robustness of the system are improved.