83results about How to "Resolve disturbance" patented technology

The invention relates to a construction method of a deep foundation pit close to a building and adopting an underground structure as an internal support. The construction method comprises the following specific steps of: (1) constructing a drilling and filling pile; (2) excavating a negative-layer earthwork; (3) constructing a main body structure outside the a back-pressure earth area; (4) constructing a waist beam and installing horizontal steel supports; (5) excavating back-pressure earth and constructing a main body structure in a the back-pressure earth area; (6) removing the horizontal steel support at the -4.000m position; (7) constructing a negative-layer basement structure; (8) backfilling the back-pressure earth between a negative layer and a rotary-excavating drilling pile; and (9) removing the horizontal steel support at the -0.400m position. The construction method has the beneficial effects that the construction cost and the construction period can be reduced to a great extent; the construction difficulty is reduced and the potential hazard for water seepage of a basement is reduced; and the disturbance influence of an anchor rod on the surrounding building base is eliminated.

The invention discloses a full-speed-range composite strategy control method for a permanent magnet synchronous motor. The method comprises the following steps: respectively carrying out Clark transformation and Park transformation on an acquired phase current of the permanent magnet synchronous motor to obtain a synchronous rotation d-q coordinate system current value; injecting a high-frequencysignal into the direct axis of an estimated rotating coordinate system in a zero-low speed stage, and processing the converted phase current through an LPF and a BPF respectively; obtaining a fundamental component of the current signal through the LPF, and obtaining a high-frequency component of the current signal through the BPF; multiplying the high-frequency response by a sinusoidal modulationsignal, sending the multiplied high-frequency response to a position signal processor to obtain estimated feedback values of a rotating speed loop and a current loop, and generating a PWM signal through PI adjustment, Park inverse transformation and an SVPWM module, thereby realizing real-time control of the permanent magnet synchronous motor. According to the invention, no extra position sensor needs to be added, the control is accurate, the response speed is high, the robustness of the system is enhanced, and the control performance of the system is improved.

The invention discloses an anti surge control method and device. An outlet pressure value, an inlet pressure value and an inlet flow rate are obtained; a coordinate of a working point is calculated according to the outlet pressure value, the inlet pressure value and the inlet flow rate; when a deviation of the working point coordinate occurs, and a differential of a working point offset to time is calculated ; according to the differential of a working point offset to time, the deviation of an anti surge control line is calculated and the position of the anti surge control line is revised; according to the revised surge control line, whether the working point is in a surge area is judged; when the working point is in the surge area, an anti surge control signal is output for conducting an anti surge control. The embodiment of the invention references a differential response processing method, successfully solves the problem of the working point disturbance and reduces the probability and risk of misjudgment.

The invention relates to the field of seabed observation, and particularly relates to a seabed sand wave long-term observation device and method applied to an internal wave development area. A supporting mechanism is in the shape of a balance and comprises a gravity anchor, hexagonal rods, an annular instrument control cabin and supporting rods, the gravity anchor is positioned at the bottom of the whole device, the gravity anchor is connected with the annular instrument control cabin above the gravity anchor through a plurality of hexagonal rods, an internal wave energy power generation mechanism is arranged in the annular instrument control cabin, two supporting rods are symmetrically fixed on the outer side of the annular instrument control cabin, one supporting rod is connected with amultifunctional observation rod through a mechanical grabbing ring at the end of the supporting rod, the other supporting rod is connected with a sandy sediment sampling rod through a mechanical grabbing ring at the end of the supporting rod, and the top of the annular instrument control cabin is connected with a subsurface buoy at a seawater boundary layer through a Kevlar cable. Ocean internal wave energy is fully utilized, long-term in-situ observation of seabed sand waves is achieved, the observation result is accurate and reliable, the observation cost is low, and collection and recoveryof seabed sand wave soil samples are achieved.

The invention discloses a testing device and method for simulating stratum cavities caused by subway shield tunnel construction. The testing device comprises a cavity model, a test model case (8), a heating control device (7), a test soil mass (9), an LVDT (linear variable differential transformer) displacement meter (10), a steel tunnel model (11) with a hole, a switch valve (13) and a measuring cylinder (14), wherein the cavity model is used for simulating irregular stratum cavities and comprises a polyurethane liquid bag (3), a resistance wire (4), a first conduit (5) and a second conduit (6), the resistance wire (4) penetrates through the second conduit (6) on the polyurethane liquid bag (3) to be connected to the heating control device (7), and the heating control device (7) performs heating control on the resistance wire. With the adoption of the testing device and method for simulating the stratum cavities caused by subway shield tunnel construction, the problems that the stratum cavities are difficult to simulate and cavity shapes cannot be controlled in existing model tests can be better solved.

The invention provides a fiber-grating-vibration-sensing-system-based mass unbalance detection method of a helicopter blade. Fiber grating sensors are arranged on a blade surface (1) and a blade pedestal surface (2) of a helicopter and are connected to a demodulation instrument and upper computer at the rear side by a fiber slip ring and an optical cable. When the blade rotates, the strain of the blade surface and vibration of the blade pedestal are sensed (3)and data are connected (4); a rear data processing system carries out a time domain analysis (5) and a frequency domain analysis (6) to extract data features; and the extracted data are compared with the normal blade data to determine whether the mass of the helicopter blade is unbalanced and the unbalanced degree (7). According to the invention, defects that time and effort are wasted and certain danger is caused when the manual paper roller type benchmarking method and the result is not objective due to human eye dependence and the calibration time is long when the stroboscopic lamp targeting method is used can be overcome; and the detection and quantitative analysis can be carried out on the mass unbalance of the helicopter blade objectively and precisely.

The invention discloses a rope coring drilling tool. The rope coring drilling tool comprises an outer pipe assembly and an inner pipe assembly, wherein the inner pipe assembly is provided with an elastic clamping positioning mechanism, an in-place signaling and core blocking alarm mechanism, a single-acting mechanism, a core one-way valve mechanism, a core pipe and a core breaking mechanism, the elastic clamping positioning mechanism adopts a multi-point hinge manner, in-place signaling and a core blocking alarm mechanism are integrated into a whole, the single-acting mechanism adopts a matching structure of an upper PDC bearing, a lower PDC bearing and a TC bearing arranged in the middle, and the core one-way valve mechanism controls opening and closing of a one-way valve through cooperation of a steel ball and a liftable valve seat; and the outer pipe assembly is provided with an elastic clamping baffle, an elastic clamping chamber, an upper reamer, an outer pipe, a lower reamer anda drill bit, a ring seat is embedded in an annular groove formed between the lower end of the elastic clamping chamber and the inner side wall of the upper reamer, and a righting ring is embedded in an annular groove formed between the lower end of the outer pipe and the inner side wall of the lower reamer. According to the rope coring drilling tool, the coring drilling efficiency and the core taking quality can be improved, and the purpose of saving the drilling cost is achieved.

The invention discloses a disturbance-resistant control device and a disturbance-resistant control method in an ore-grinding and classifying process. The disturbance-resistant control device comprises a programmable logic controller, a pump pond water outlet pipeline flowmeter, a pump pond water inlet pipeline flowmeter, a belt weigher, a liquid indicator, a grading analyzer, an electric ear, a concentration meter, an adjusting valve, a rock feeder frequency converter and a monitoring computer, wherein the programmable logic controller comprises an analog quantity input module, a central processing unit (CPU) module and an analog quantity output module. The disturbance-resistant control device and the disturbance-resistant control method have the advantages of effectively solving the control problems such as disturbance, coupling and model mismatching and the like in a whole class of industrial process, improving the control property of an automatic control system, contributing to reducing the costs of enterprise development and extension and equipment maintenance and updating, greatly increasing enterprise economic benefit, avoiding manual operation in a hostile production field,reducing labor intensity of workers and improving the working environment.

The invention discloses a control method for improving the frequency stability of a unit in an isolated network system. Based on the balance principle of the power supply and the power demand in the isolated network system, the flow of a steam turbine control valve is controlled, the load of the unit is regulated, the unbalance amount between the power supply load and the electrical load in the isolated network system is reduced, and the frequency stability control of the unit in the isolated network system is realized through an organic combination of three means of a frequency PID closed-loop regulating circuit which is controlled by the isolated network, a primary frequency modulation subsection control and the OPC action constant value setup differentiation of the unit. According to the control method for improving the frequency stability of the unit in the isolated network system, the isolated network frequency PID control circuit, the primary frequency modulation and the OPC constant value differential setup are fused, various working conditions are considered; when the frequency deviation is small, the isolated network frequency PID control circuit and the primary frequencymodulation will function at the same time; when the frequency deviation is large, different units will work respectively according to the frequency deviation through the OPC differential setup; the control method is more accurate, and a safe and stable operation of the isolated network system can be conveniently and rapidly maintained.

The mobile mixing cloud chamber capable of providing supercooled fog includes cloud chamber cavity with heat insulating layer, inside temperature sensing element and refrigerating system; inner cloud chamber barrel inside the cloud chamber cavity; sandwiched refrigerant layer between the inner barrel and the heat insulating layer, with liquid exhaust port in the bottom and for the evaporating tube of the refrigerating system, electric heater and temperature sensing element to be set inside; supercooled slot between the inner cloud chamber barrel and the sandwiched layer and with fog tube penetrating the bottom of the slot and the outer wall of the cloud chamber cavity; drainage pipe penetrating from the inner cloud chamber barrel and through the heat insulating layer and tee tube to outside the cloud chamber cavity; ice crystal receptor inside the inner cloud chamber barrel; and rotary handle.

The invention discloses a grid-connected converter negative sequence current compensation method. The voltage of a direct current bus of a grid-connected converter is sampled. Square calculation, notch filtering and square root calculation are carried out on the sample value. Voltage fluctuation component of the direct current bus is filtered out. Through decoupling of alternating current-direct current active power of the direct current bus, closed-loop control is carried out on the voltage of the direct current bus of the grid-connected converter. According to the invention, the problem of disturbance of fluctuations of alternating current active power of the direct current bus on the voltage of the direct current bus and grid-connected current control is solved when the grid-connected converter carries out negative sequence current compensation; the control accuracy of the voltage of the direct current bus and the power quality of grid-connected current are effectively improved; and through decoupling of alternating current-direct current active power of the direct current bus of the grid-connected converter, the maximum fluctuation amplitude of the voltage of the direct current bus is accurately calculated in a negative sequence current compensation process.

The intelligent power generation control method of a virtual wolf cluster control strategy under an island intelligent power distribution network comprises steps of determining a state discrete set S,determining a combined motion discrete set A, obtaining value function errors Rhok,Mk, updating all Q function tables and time a tunnel matrix e (sk,ak) which correspond to all state-motions (s,a), updating Q values and updating a mixed strategy pi(s<k>, a<k>) under the current state s, updating a tunnel element e (s<k>, a<k>), selecting a variable learning rate phi, and updating a decision change rate delta (s<k>, a<k>) and a decision space estimation slope delta2(sk, ak) according to a function, outputting a total power reference value delta P sigma and using a consistency algorithm and calculating unit regulation power delta PGi. The intelligent power generation control method of the virtual wolf cluster control strategy under the island intelligent power distribution can solve multi-solution problem produced by a large scale surge of multiple intelligent objects, can solve a random disturbance problem caused by large scale access of new energy and realizes coordinated control andoptimization of a multi-layer distributed control system.

The invention provides a micro-droplet generation device, system and method, and relates to the technical field of measurement and distribution of a trace liquid. The micro-droplet generation device comprises a micropipeline and a rotary vibration mechanism, wherein the micropipeline is provided with a first opening for outputting a first liquid, and the rotary vibration mechanism is used for driving the micropipeline to perform rotary vibration. The micro-droplet generation device drives the micropipeline by adopting the rotary vibration, and the size of emulsified micro-droplets produced when the liquid in the micropipeline is injected into another insoluble liquid is precise and controllable under the actions of high-frequency periodic inertia force and centrifugal force produced by therotary vibration, so that the volumetric error produced by massive droplets is controllable.

The invention discloses a neural network configuration parameter training and deployment method and device. The method comprises the steps of searching simulated attacked neural network configuration parameters based on neural network configuration parameters, so that the attacked neural network configuration parameters move in the direction deviating from the output result of a neural network corresponding to the neural network configuration parameters to the maximum extent; taking the difference between the current neural network configuration parameter and the neural network output result corresponding to the attacked neural network configuration parameter as a robust loss function, and taking the robust loss function as a part of a total loss function; and finally, optimizing neural network configuration parameters based on the total loss function. Especially for ultra-low power consumption sub-threshold and mixed signal circuits, the scheme can solve the problem of configuration parameter disturbance caused by device mismatch, and the technical effect of low-cost and high-efficiency neural network accelerator parameter deployment is achieved.

The invention discloses a marine magnetometer wave magnetic field noise real-time suppression method, belonging to the field of marine geomagnetic field detection. The method comprises the following steps: step 1, starting a marine magnetometer, reading the output data of a marine geomagnetic sensor as an amount measurement; step 2, establishing a system state equation and a measurement equation;step 3, estimating the total geomagnetic field value at the moment of t_k by means of an improved Sage-Husa self-adaptive Kalman filter at the moment of t_(k-1), and updating and correcting the systemnoise array Q and meausrment noise array R; step 4 storing the data if t_k=M, wherein the operation time of the marine magnetometer is M, and completing the measurement work of the marine magnetometer; and returning the Q and R updating values if t_K<M, and returning to the step 3 to continue the estimation.. According to the method, the disturbance problem of high-precision marine magnetic fielddetection on the marine magnetometer by the wave magnetic field noise is solved, and the marine magnetometer can be ensured to have high detection precision even under the extreme sea condition.

The invention discloses a grid-connected power generation system integrating anuclear reactor with wind power generation and solar photovoltaic power generation. The system includes a nuclear reactionmodule, Wind power module, A solar photovoltaic pow generation module comprise three power generation modules, the nuclear reaction module comprises a nuclear reactor, a steam generator and a first circulation loop, The first circulation loop is provided with a steam-driven steam turbine and a generator, and the steam-driven steam turbine drives the generator to generate electricity. The electricity generated by the wind power generation module, the solar photovoltaic power generation module and the generator is collected in a power controller, and the power controller transfers the electricity to a power grid after transforming through a transformer. The invention combines the nuclear reactor with wind power generation and solar photovoltaic power generation to form a combined wind and solar photovoltaic grid-connected power generation mode of the nuclear reactor, solves the disturbance problem of the wind and solar photovoltaic power generation to the power grid, and improves the peak load regulation capability of the power grid.

The invention discloses a full-speed-domain sensorless composite control system and method for a permanent magnet synchronous motor, and the system employs a sensorless technology to replace a conventional mechanical sensor, detects the position and rotating speed of a rotor of the permanent magnet synchronous motor, simplifies the structure, and improves the reliability. According to the presentinvention, by combining a pulse vibration high-frequency voltage injection method suitable for a zero-low speed range with a sliding mode observer method suitable for a medium-high speed range are combined, the disturbance problem of a conventional single sensorless control method in different speed ranges is solved, and the operation of the sensorless control system of the permanent magnet synchronous motor in the full-speed-domain range is achieved.

The invention discloses a device and a method for rapidly measuring suction and shear strength of an unsaturated soil matrix. The device comprises a centrifugal machine cabin, a thread cutting workbench, a pressurizing system, a pressure sensor, a breathable pressure applying cover, a shearing box, a drainage collecting box, a ball, a sliding way, a shearing force applying system, a shearing forcesensor and a displacement sensor, wherein the shearing box is connected with the drainage collecting box and makes contact with a sliding way of the thread cutting workbench through the ball, the pressurizing system is installed at the axis of the cabin, and pressure acts on the sample through a breathable pressure cover, the shearing force applying system is mounted at the bottom of the centrifugal machine cabin, shearing force vertically acts on the lower shearing box upwards, and force and displacement values are collected through the pressure sensor, the shearing force sensor and the displacement sensor. The method comprises the following steps of preparing a sample, installing a sample, matrix suction measurement, unsaturated strength measurement and moisture content measurement. Thedevice is advantaged in that rapid measurement of unsaturated sample matrix suction and unsaturated strength can be realized, and the device is of great significance to research of unsaturated soil.

The invention relates to a stress-relieving sampling method without damage of deeply buried rock, which aims at solving the problem of disturbance in the sampling process of deeply buried engineering rock, avoiding the damage to core sample and guaranteeing the obtainment of relevant test results of virgin rock. The technical proposal is as follows: a. a sampling area is selected on a bottom plate or a side wall of an underground chamber, and the distance between the sampling area and the boundary of the chamber is preferentially not less than one third of the span or height of the chamber; b. a group of stress-relieving holes are drilled along the boundary of the sampling area, the aperture thereof is 75mm to 150mm, and the depth of holes is arranged according to the principle of penetrating the obvious stress disturbance area of the chamber and equals to the span or height of the chamber; c. at least one coring hole is drilled in the sampling area to obtain the core, the aperture of the coring hole is 75mm to 130mm, and the depth thereof does not exceed that of the stress relieving hole; and d. after the cores are obtained, a core of which the sampling hole depth exceeds the span or height of the chamber is selected to manufacture the sample of the rock test. The sampling method is applicable to the underground engineering such as hydraulic and hydro-power engineering and the like.

The present invention discloses a sliding-mode control method of a buck-mode direct current converter based on an unknown input observer. The method comprises the steps of: (1) establishing a buck-mode direct current converter system model with matching disturbance and non-matching disturbance, and initializing a system state and control parameters; (2) designing an unknown input observer used forestimating matching disturbance and non-matching disturbance included in a servo system to obtain estimated values of matching disturbance and non-matching disturbance, and verifying whether the estimated values can track an actual disturbance value or not; and (3) designing a sliding-mode controller according to the estimated values of the matching disturbance and the non-matching disturbance, and controlling the buck-mode direct current converter system t output a stable power supply voltage. The sliding-mode control method of the buck-mode direct current converter based on the unknown input observer can effectively eliminate the disturbance problem caused by non-matching disturbance, improves the robustness of the system to a certain extent, and allows the output voltage of the buck-mode direct current converter to be stabilized to a desired output voltage value.

The invention discloses a ship. The ship comprises a hull and a propeller. An energy gathering duct extending in the length direction of the hull is formed in the bottom of the hull, the energy gathering duct is provided with a water inlet and a water outlet, the water inlet is formed in a nose, the water outlet is formed in a midship or a stern, and the energy gathering duct at least comprises anenergy gathering section arranged in a shrinking mode in the direction from the nose to the stern; and an unimpeded air tank is further formed at the bottom of the hull, the unimpeded air tank is annularly arranged at the peripheral wall circumference of the energy gathering duct, and the propeller is arranged in the energy gathering duct. According to the ship, through the design of the energy gathering duct and the unimpeded air tank, the running speed of the ship can be greatly increased, the effect of reducing energy consumption is achieved, and the purpose of low-energy-consumption and high-speed running can be truly achieved; and great influences can be generated on a shipbuilding industry, water transportation, a transportation industry and marine military.

The invention relates to a method for the software emulation of the hard disks of a computer platform at the operating system thereof, with on-the-fly parameter-adaptive management of read and write requests. The inventive method comprises the following steps, namely: a first step consisting in creating a representation of a real hard disk, in which orders relating to the loading and execution of some of the components of the operating system of the computer platform can be adapted; a second step consisting in loading one or more peripheral drivers onto the computer platform, said drivers including at least one peripheral driver which enables real dialogue with a data storage medium containing the data from the emulated hard disk; and a third step consisting in simulating the behaviour of a real hard disk for the operating system.

The invention discloses a multi-microgrid system electric energy scheduling method, a multi-microgrid system electric energy scheduling system, a multi-microgrid system electric energy scheduling device and a storage medium, which are applied to a multi-microgrid cluster composed of a plurality of microgrids. The multi-microgrid system electric energy scheduling method comprises the steps of: acquiring load demands of demand-side microgrids and power supply capacities of supply-side microgrids in the multi-microgrid cluster; acquiring an electric energy price in the multi-microgrid cluster; ranking the demand-side microgrids and / or supply-side microgrids according to a preset market rule based on the load demands, the power supply capacities and the electric energy prices; generating scheduling instructions for the plurality of microgrids according to a supply-demand balance principle and the ranking sequence of the demand-side microgrids and the supply-side microgrids; and controllingthe plurality of microgrids to execute the scheduling instructions. According to the multi-microgrid system electric energy scheduling method, the multi-microgrid system electric energy scheduling system, the multi-microgrid system electric energy scheduling device and the storage medium, the multi-microgrid cluster performs electric energy adjustment according to the supply-demand balance principle internally without being connected to a power distribution network, thereby avoiding the problem of disturbance to a power system after the microgrids are connected to the power distribution network; and the scheduling instructions are related to the ordering of parameters, and the control coordination efficiency of the multi-microgrid cluster can be improved.

The invention discloses a method and a device for testing a relationship between dynamic modulus and permeability of nano sol reinforced sand soil. The device comprises a data acquisition and control system, a nano sol injection device, a dynamic modulus testing device and a liquid collection container. The nano sol injection device comprises a peristaltic pump and a nano silicon sol container; the dynamic modulus testing device comprises dynamic triaxial equipment and a longitudinal wave velocity testing system; the data acquisition and control system is connected with the nano sol injection device and the dynamic modulus testing device, and the nano sol injection device, the dynamic modulus testing device and the liquid collection container are in sequential connection. By direct permeation and solidification of a sample in the dynamic modulus testing device, problems of difficulty in moving of weakly-solidified loose samples into the dynamic modulus testing device and disturbance of the samples in moving by adoption of a conventional method are solved. A functional relationship between the dynamic modulus and permeability coefficient can be obtained, and the problem of difficulty in estimation of a dynamic modulus attenuation curve from the permeability coefficient in a process of sand soil reinforcement with nano sol is solved.

The invention provides a cable-free linear motor feeding system, and belongs to the technical field of mechanical equipment. According to the cable-free linear motor feeding system, a main groove anda side groove are formed in a marble pedestal, the side groove serves as an air guideway to support a load assembly to move, throttling holes are formed in the three surfaces of the side groove correspondingly, a water cooling plate is made of a non-permeability-magnetic material and is arranged at the bottom of the main groove of the pedestal, a water channel pipeline is arranged in the plate, alinear motor stator is arranged on the upper surface of the water cooling plate, a linear motor rotor is arranged on the lower surface of the load assembly and drives the load assembly to do reciprocating rectilinear motion, a position signal detection assembly is composed of a grating ruler and a reading head, the grating ruler is arranged on the upper surface of the load assembly, the reading head is fixed on the upper surface of the pedestal and reads a signal of the grating ruler in the movement process of the load assembly, and the reading head and a winding in the linear motor stator areconnected to a controller. The system has the advantages that the problem that the positioning precision of an existing linear motor feeding system is interfered by cables can be solved, the cable-free movement of the load assembly is realized, the operation speed of the system is increased, and the positioning precision of the system is improved.

The invention discloses a power supply switching method and system for a medium-voltage AC system of a nuclear power ship, which are applicable to a medium voltage AC system of a nuclear power ship. The system includes at least two power supplying buses and at least two power receiving buses. The method comprises the following steps: S1, detecting a power loss bus among the power receiving buses,and judging whether the reason for power loss of the power loss bus is planned power failure or fault power loss; and S2, in the case of fault power loss, selecting a power supply fast switching modeor synchronous switching mode or slow switching mode according to the comparison result between the voltage states of the power loss bus and a normal power receiving bus and a preset priority to enable the power loss bus to be powered by a power supplying bus corresponding to the normal power receiving bus. A method combining power supply fast switching, synchronous switching and slow switching isadopted. By comparing the voltage amplitudes, working frequencies and phase angles of the power loss bus and the normal power receiving bus and selecting a switching mode according to the priority, the influence range of power supply switching can be minimized.

The application relates to a spiral-downward undisturbed soil triaxial sample maker, and belongs to the technical field of the indoor soil engineering testing of the civil engineering subject. The sample maker comprises a support mechanism, a cutting mechanism, and a sample bearing mechanism; the lifting of the cutting mechanism is driven by two lifting shafts, two wedge-shaped detachable cuttingblades replace the manual cutting, the cutting blades with two different diameters are used for cutting the soil sample into the cylinder samples required by the test in twice; a cutting speed switchis turned off after the sample making is accomplished, a cutting turntable is ascended to take out the made sample. The undisturbed soil cannot be disturbed in the cutting process, the influences of uncertain factors and artificial factors in the soil cutting process are avoided, and the sample making can be precisely and efficiently accomplished; compared with a soil cutter of undisturbed soil inthe existing laboratory, the sample making efficiency is doubled, and the sample making time is about 15min.

The invention discloses a self-stability augmentation control method and device of an aerial operation robot, and a terminal, a system and a readable storage medium. The method comprises the followingsteps of acquiring attitude information of the aerial operation robot; calculating a position compensation vector based on the attitude information; and using the position compensation vector for attitude disturbance compensation control based on inverse kinematics. The invention derives a position compensation vector formula based on the position vector relationship between a work platform and an end work tool during the attitude transformation of the aerial operation robot, then in the actual control process, monitors the attitude change of the flying platform of the aerial operation robotand calculates a position compensation vector accordingly, and controls the joints of the robot to complete the compensation control, which solves the problem of the end work tool disturbance caused by the attitude change of the flying platform, makes the end work tool achieve the effect of self-stability, and ensures that the aerial operation robot is not disturbed by the attitude of the flying platform influences.

The invention discloses a tunnel corrugated steel plate reinforcing device and method. The tunnel corrugated steel plate reinforcing device comprises protective fixing frames and a corrugated steel plate; a corrugated steel plate is installed in a channel formed between the two protective fixing frames, and two ends of the corrugated steel plate in a corrugated extending direction are fixed on theprotective fixing frames. According to the invention, the protection fixing frames are arranged, to be capable of protecting and reinforcing lining in advance, the possible safety problems of fallingand the like of the lining before the construction of the corrugated steel plate is completed are solved; secondly, after the protective fixing frames are installed, parallel construction can be conducted on multiple working faces, the problem that according to a traditional corrugated steel plate installation method, serial construction needs to be conducted is solved, the construction speed isincreased by multiple times, the construction period is shortened, and the risk of tunnel lining accidents in the construction process is reduced; and thirdly, the protective fixing frame further enhances the safety of the lining and improves the capability of resisting water pressure and unbalanced pressure.

The present invention aims to provide a post-lifting reinforcement construction method for an asphalt concrete pavement inspection well. The post-lifting reinforcement construction method comprises: carrying out regular hexagon setting-out with the center of a well lid as a center point and the diameter length of the well lid as the inscribed circle radius of the regular hexagon; cutting the sidelines of the regular hexagon; removing asphalt and concrete in the range of the regular hexagon to a certain depth; mounting an inspection well post-lifting base reinforcement cage in the pothole, with a plurality of adjusting bolts fixed to the inspection well post-lifting base reinforcement cage and a leveling steel plate mounted on the adjusting bolts; mounting an inspection well post-lifting base formwork in the inspection well; placing a well seat on the leveling steel plate, leveling the well seat by means of the adjusting bolts and the leveling steel plate and enabling the well seat toreach the elevation; pouring concrete to form an inspection well post-lifting base, and before initial setting of the concrete, spreading a layer of ordinary Portland cement on the surface of the concrete. This method solves the problem of a particular altitude difference between the well lid and the original pavement in the post-lifting reinforcement position of the inspection well, and achievescolor harmony of the surface of the inspection well post-lifting base with black pavement.