47 results about "Linear kinetics" patented technology

The invention relates to an identification method of a kinetic model of a six-degree-of-freedom mechanical arm. The identification method comprises the steps of establishing a linear kinetic model of the mechanical arm according to joint friction by utilizing an improved Newton-Euler method first, then introducing a PSO (Particle Swarm Optimization) algorithm, establishing an algorithm for estimating unknown kinetic parameters on the basis of the improved PSO algorithm according to the concept of variation in a genetic algorithm at the same time, finally, using an UR (industrial robot) as an experimental subject, exciting joints of the industrial robot to move by designing an exciting track, and sampling joint movement parameters, so that the estimation of the kinetic parameters of the UR is realized, and the kinetic model is verified according to the moment prediction accuracy. Experiments verify the accuracy and effectiveness of the kinetic model, which is identified by the identification method, of the industrial robot.

The invention discloses a PLC frequency-converting speed-governing control system for eliminating tower-type crane load, based on an E1 time-delayed filter, which is developed by the following steps:establishing an inertia pole coordinate system, a non-inertia cartesian coordinate system and a non-inertia sphere coordinate system; establishing a nonlinear dynamics model and a linear dynamics model of a tower-type crane. The control system comprises an operation console, a controller, a PLC, a frequency-converting set, a hoisting mechanism motor, a brake, a hoisting mechanism, an amplitude varied mechanism motor, an amplitude varied mechanism, a swing mechanism motor and a swing mechanism. The controller consists of a load swing frequency and damping ratio calculation unit, a system parameter calculation unit and a time-delayed filter calculation unit. The invention provides the PLC frequency-converting speed-governing control system based on the dynamic property and the time-delayed filter principle of the tower-type crane, which has simple structure, low cost, convenient operation and effective elimination of load swing.

The invention discloses a preset performance ocean bottom flying node trajectory tracking control method based on a disturbance observer, relates to a preset performance ocean bottom flying node trajectory tracking control method, and aims to solve the problems that an existing method does not consider modeling uncertainty and ocean environment disturbance and propeller faults affect the OBFN (Ocean Bottom Flying Node). The method comprises the following steps that: 1: establishing a Fossen outline six-degree-of-freedom nonlinear kinetic model; 2: carrying out OBFN kinetic model transformationon the nonlinear kinetic model established in S1 to obtain an OBFN kinetic model, and determining an OBFN tracking error equation according to the OBFN kinetic model; 3: establishing a performance function; 4: carrying out error transformation on the tracking error in the S3 to obtain a transformed error; and 5: according to the transformed error obtained in S4, designing an OBFN system total uncertainty observer and a preset performance trajectory tracking controller. The method is used in the field of trajectory tracking control.

The invention discloses a manipulator dynamic model identification method based in an improved artificial bee colony algorithm. A manipulator linear dynamic model taking joint friction into consideration is established through utilization of an improved Newton-Euler method. A dynamic parameter identification algorithm is designed through importing of the improved artificial bee colony algorithm. An UR industrial robot is taken as an experiment subject; through design of a stimulation track, joint movement of the industrial robot is stimulated; the joint movement data is sampled; after torque is filtered, parameter identification is carried out through utilization of the improved artificial bee colony algorithm; the dynamic parameter estimation of the UR industrial robot is realized; and the dynamic model is verified according to the torque prediction precision. An experiment shows the accuracy and effectiveness of the industrial robot dynamic model the identified by the invention.

Compositions and methods for detecting the presence of analytes employing autocatalytic chain reactions (ACR) having super linear kinetics for amplification of signal are disclosed.

The invention discloses a pre-set performance trajectory tracking control method of an ocean bottom flying node (OBFN) by considering propeller output saturation, relates to the pre-set performance trajectory tracking control method of the OBFN, and aims to solve the problem that current disturbance, modelling uncertainty, propeller fault, propeller output saturation and the like are not considered at the same time in the prior art. The method in the invention comprises the steps of: (1), establishing a Fossen-outline six-degree-of-freedom nonlinear dynamical model; (2), obtaining a dynamicalmodel of the OBFN, and determining the tracking error equation of the OBFN according to the dynamical model of the OBFN; (3), establishing a performance function; (4), performing error conversion on the tracking error in the step (3), so that the converted error s is obtained; (5), introducing propeller output saturation, and determining an auxiliary system used for processing propeller output saturation; and (6), designing an OBFN system total uncertainty observer and a pre-set performance trajectory tracking controller. The method in the invention is used in the field of trajectory trackingcontrol.

This invention discloses a kind of generating method of real-time monitored brain potential trend chart by adopting computer technique and non-linear dynamics analysis method. It relates to a kind of generating method of brain potential non-linear trend chart. It comprises the following steps: first, collecting original EEG information from different position of scalp; A / D converting to digital EEG information; according to the non-linear dynamics theory and by adopting the trail of state space in time sequence reconstruction system, within one second, converting the conductive digital EEG information to non-linear index that relating to dimension, complexity and approximate entropy, which reflected the current non-linear dynamics characteristic; drawing the non-linear trend chart by using the non-linear index of time sequence, to reflect the non-linear dynamics characteristic variation condition of entire course. This invention can real-time monitor the anaesthesia effect, reflect the variation of anaesthesia effect accurately and promptly.

The invention discloses a device for interpreting fractured reservoir prediction. By the device, the seismic wave nonlinear dynamics properties, such as redundant dictionaries and chaos, of a fractured reservoir are computed; and by adopting a high order accumulation processing technology, non-gaussian seismic signals of the fractured reservoir can be processed and computed, so that the density aggregation projection analysis of acquired seismic attributes representing the fractured reservoir can be realized. According to the device, a computer is used for assisting in the completion of the interpretation of the fractured reservoir, so that favorable reservoir prediction files are formed. The device has the advantages of high computational efficiency, objective and accurate fractured reservoir interpretation results, and the like; and by the device, the accuracy of the reservoir interpretation and the seismic interpretation efficiency can be effectively improved.

The invention provides a space network cross-domain anonymous identity authentication method based on hyper-chaos encryption, relates to the technology of space information network, and solves the problem that the security mechanism applied in the conventional network cannot be directly applied to space network, and space cross-domain identity authentication cannot be realized. Provided is a space network cross-domain anonymous identity authentication method based on hyper-chaos encryption. The method includes two parts: a register stage and an authentication stage, a chaos algorithm is sensitive to initial conditions and control parameters, the structure is complex, prediction and analysis are difficult, and pseudo random sequences with good randomness and complexity are provided so that the chaos is applicable to encryption. A quantum cellular neural network is a cellular neural network structure coupling via quantum cellular neural network automata, complex linear dynamic features are obtained from the polarizability and quantum phase of each quantum cellular automaton, a nano-scale hyper-chaos oscillator can be constructed, the power consumption is low, the integration level is high, and the application requirement of space network satellite nodes can be better met.

The invention discloses a hyper-chaotic signal source circuit of a hidden Lu system based on a memristor. A memristive term is added to a first equation of the original Lu system, and a linear feedback term and an external excitation term are added to a second equation. The system circuit comprises a memristor equivalent implementation circuit and an oscillating system. After the respective same ports of the memristor equivalent implementation circuit and the oscillating system are sequentially connected, the memristive system implemented does not have a balance point, can generate hidden oscillation phenomena of point attractors, periodic limit cycles, quasi-periodic limit cycles, chaotic attractors and hyper-chaotic attractors, etc., and can generate a hidden multi-attractor coexistencephenomenon of different periodic limit cycles or weak chaos and periodic limit cycles of a topological structure under different initial conditions, indicating that signals generated by a signal source have richer and more complex nonlinear dynamic characteristics. The system circuit facilitates circuit implementation and experimental observation, and is a new key signal generation circuit for chaotic secure communication.

The invention discloses a particle swarm optimization method for airplane trim, which comprises the following steps of: (1) initializing particle swarm parameters, designating flight modes, a search range and constraint conditions and giving the constraint conditions of the corresponding flight mode; (2) under a given control input and a state given quantity, resolving an airplane nonlinear dynamics math model; (3) carrying out particle fitness detection; (4) updating a history optimal position of a swarm and an individual history optimal position of particles; (5) generating the same number of progeny particles, replacing parent particles with the progeny particles and carrying out hybridization on the particles; (6) continuously searching a target space until the maximum iteration of the particle swarm is reaches or a target function reaches a set value; and (7) judging end conditions and outputting a finally obtained trim state. According to the method, the automation of the trim process can be implemented and the working efficiency and the accuracy of the airplane trim process are improved.

The invention relates to a method for a multiple input multiple output (MIMO) functional network to achieve blind equalization of wireless laser communication electric domain signals, in particular to an electric domain signal blind equalization method under the circumstance that a communication channel between a transmitter and a receiver of wireless laser communications has fading characteristics. The method for the MIMO functional network to achieve the blind equalization of the wireless laser communication electric domain signals is applicable to laser communication networks, popularizes an artificial neural network to a functional network by using generalization of the artificial neural network, designs a blind equalization processing method based on an MIMO functional frame, designs an MIMO functional network structure and a network state update principle thereof, uses functional network output drive and a principle of neural network nonlinear dynamics fully, decomposes singular value of a receipt signal matrix to obtain approximate subspace value of a signal to be detected, and performs mapping by using the approximate subspace value as an input vector, so that rapid convergence is achieved by depending on small data volume only, and the receipt signal can reappear in a true signal subspace.

The invention provides a rotor nonlinear kinetic characteristic simulation experiment device under a multi-field coupling action. A gas radial bearing, a gas thrust bearing and a gas radial-thrust joint bearing are utilized for simulating a function of a gas flow field; a permanent magnetic rotor and a stator coil are utilized for simulating a function of a magnetic field force; a flexible design of the permanent magnetic rotor is utilized for simulating a rotor elastic deformation function; an exciter is utilized for simulating exciting loads in different forms; an active control rubber vibration isolator is utilized for simulating varied and flexible conditions of an experiment table. The device provided by the invention can be used for simulating a rotor nonlinear kinetic characteristic of a micro gas turbine and high speed permanent magnet motor rotor system under a gas bearing supporting action, a gas-elasticity coupling action, a gas-elasticity-magnetism multi-field coupling action, a multi-exciting force action, and varied and flexible conditions, so that the accuracy of the micro gas turbine and high speed permanent magnet motor rotor system kinetic analysis is improved, and an experiment reference base is provided for simulating calculation.

The invention provides a high-precision control device and method used for an industrial robot. The method comprises the steps that a six-dimensional force-torque sensor mounted between a base and a fixed face of the industrial robot is utilized for measuring the bearing reaction and torque transmitted by connecting rods to a pedestal in the operation process of the industrial robot, and joint motion power is observed; linear kinetic model parameters obtained through observation are estimated and corrected online in real time, and linear model estimation joint motion power phi<d,model> is obtained; joint friction force phi<friction> is estimated online according to joint drive torque phi<motor> and the linear model estimation joint motion power phi<d,model>; and according to the parametersobtained through joint motion power observation and online estimation of the joint friction force phi<friction>, a model based robot control algorithm is adopted for achieving high-precision controlof the industrial robot. According to the method, decoupled identification of friction force parameters and robot mass distribution characteristic parameters is achieved, a quite precise robot kineticmodel is obtained online, and the method can be applied to the scene with the high requirement for control precision of the industrial robot.

The invention discloses an integrated design method for guidance and control of a hypersonic aerocraft. The method comprises steps that firstly, a nonlinear dynamic model of the hypersonic aerocraft is established, based on the singular perturbation theory, the nonlinear dynamic model is divided into a slow time-varying guidance loop and a fast time-varying control loop, secondly, a nominal controller and a linear time-varying feedback controller of the two loops are designed separately, actual control input of the two loops is calculated, and lastly, control output of the two loops is calculated based on the mapping relationship. The method is advantaged in that aiming at the complex flight mission profile of the hypersonic aerocraft and a flight control problem along the trajectory, thecharacteristics of the hypersonic vehicle with strong coupling, strong nonlinearity and fast time-varying are considered, in the case of large system perturbation and external disturbance in the model, based on the trajectory linearization control method, integrated strategy design of guidance control is completed, the method is simple for realization and easy for engineering application in the hypersonic aircraft, and the method has better control performance and robust performance.

The embodiment of the invention provides a slip and trackslip rate linear control method and device and an anti-brake and traction control system. The slip and trackslip rate linear control method comprises the steps that nonlinear control target functional is constructed based on an affine nonlinear dynamic model; according to a nonlinear transformation equation set, a nonlinear dynamic model topology is equivalently converted into a linear state space model, and the nonlinear control target functional is converted into a linear control target functional according to a nonlinear transformation equation set or the linear state space model; according to the principle of the minimum, a first solving equation is constructed, a first analytical solution is obtained according to the equation, and the first analytical solution is subjected to nonlinearly mapping into a second analytical solution; and a second solving equation is constructed according to the principle of the minimum, when thesecond analytical solution enables the second solving equation to be true, the second analytical solution is taken as the optimal slip and trackslip rate and torque controlling amount, and the linearcontrol over the slip rate of the anti-brake control part of the system and the trackslip rate of the traction control part of the system is realized.

A method and apparatus for reaction route (RR) network analysis is provided in analogy with electrical networks and is based on the combined use of RR theory, graph theory, and Kirchhoff's laws. The result is a powerful new approach of “RR graphs” that is useful in not only topological representation of complex reactions and mechanisms but, when combined with techniques of electrical network analysis, is able to provide revealing insights into the mechanism as well as the kinetics of the overall reactions involving multiple elementary reaction steps including the effect of topological constraints. Unlike existing graph theory approaches of reaction networks, the present invention approach is suitable for linear as well as non-linear kinetic mechanisms and for single and multiple overall reactions. The methodology has broad applicability including atmospheric networks, metabolic networks, and catalytic reaction mechanisms.

The invention relates to an ivermectin detection kit, in particular to an ivermectin chemiluminescence enzyme-linked immunoassay rapid detection kit. The ivermectin chemiluminescence enzyme-linked immunoassay rapid detection kit comprises a kit body, an elisa plate arranged in the kit body and a reagent filled in the kit body, wherein each hole of the elisa plate is coated with coating antigens, the coating antigens are prepared by coupling metabolites of ivermectin with ovalbumin; the reagent comprises monoclonal antibodies of the ivermectin, elisa secondary antibodies, namely horseradish peroxidase-marked goat-anti-mouse antibodies, ivermectin series of standard solutions, concentrated phosphate buffer liquid, concentrated washing liquid and luminescent liquid. By using the kit, due to the adoption of the steps of adding a sample, washing, adding the elisa secondary antibodies, washing, adding the luminescent liquid, detecting, and judging results, the prepared kit has high sensitivity which can reach 0.01 to 5 ng / ml and has a wide linear dynamic range; an analysis method is simple, convenient and quick, the results are stable, and the error is small; the analysis results are sensitive, stable and reliable; the safety is high; the using period is long.

The invention discloses a method for designing a precision control device for a piezoelectric ceramic actuator and a precision control system. The design method comprises the steps of using a Bouc-wenmodel to construct a hysteresis nonlinear model of the piezoelectric ceramic actuator; solving an inverse function of the hysteresis nonlinear model to obtain a hysteresis compensator; constructing alinear dynamics model of the piezoelectric ceramic actuator by using parameters alpha1, alpha2, ..., and alphan and b0, b1, ..., and bm identified by an ARX function of a Matlab system identificationtoolbox; adopting the phase or order of the linear dynamics model to select a learning filter, and constructing an iterative learning controller according to the learning filter; connecting the hysteresis compensator with the iterative learning controller to form the precision control device for the piezoelectric ceramic actuator.

The invention provides a discontinuous self-delay multi-agent system consistency and saturation distributed control method, and belongs to the technical field of information. A distributed negative feedback controller with a time-varying control gain is used to realize state information interaction between the agents. In consideration of an actual system operation environment and control cost, an external saturation link is added to limit the amplitude of a control signal within a reasonable range; a saturation effect is approximately simulated by using a Gaussian error function and a differential median theorem, so that the unsmoothness of a control signal is reduced; the discontinuity of the nonlinear kinetic function is processed by applying a Filippov differential inclusion theory and a measure selection theorem; and then an index consistency judgment condition and a maximum allowable time delay are obtained through a generalized Halanay inequality and a Lyapunov stability theorem; and finally, the effectiveness of the control strategy provided by the invention is verified through numerical simulation.

The invention discloses a cochlear implant encoding method based on a cochlear auditory nonlinear dynamics mechanism. The method comprises the steps that 1, a cochlear nonlinear dynamics model is built; 2, a nonlinear cochlear array is built, wherein the nonlinear cochlear array comprises n active simulation modules with different natural frequencies, each active simulation module conducts corresponding operation on a received input voice signal, and a real-time response output signal of each active simulation module is obtained; 3, the real-time response output signals of all the active simulation modules are subjected to rectification and lowpass filtering, and then an amplitude envelope is obtained, and the frequencies and the amplitude envelope are converted into pulse signals to be transmitted to the corresponding electrodes. Accordingly, by means of the cochlear nonlinear dynamics model, an acoustical signal obtained after processing can show the nonlinear dynamic range compression effect similar to cochlea processing results and generate a combination tone related to a tone, and then the problem that a traditional cochlear implant is small in dynamic range and difficult in tone information transmission is solved.

The invention belongs to the power system stability analysis and control field and particularly relates to a time-varying power system stability analysis system and method based on the lasalle invariance principle. The system comprises a non-linear model generation module, an LMI solution module, a Lyapunov function construction module and a transient stability domain generation module which are sequentially connected. The method comprises steps that a multi-machine power system non-linear dynamics model is constructed, and a non-linear model reasonable boundary is described; a construction problem of a power system Lyapunov function is converted into a feasible solution problem of a set of linear matrix inequality, and a Lyapunov function cluster is constructed; a multi-element state quantity-energy stability boundary is constructed, and a transient stability domain capable of visually reflecting a system state and carrying out safety early warning is established. The method is advantaged in that problems that an energy function of a standard construction method can not be given in researches in the prior art and conservatism of describing a stability domain is relatively high are effectively solved.

The invention provides a linear dynamic system motion state prediction method and system, and the method comprises the steps: carrying out the Kalman filtering of an obtained state measurement value,and obtaining a filtered state quantity; predicting a state transition matrix by using the filtered state quantity to obtain a calibrated and updated state transition matrix; and predicting the motionstate of the linear dynamics system by using the filtered state quantity and the calibrated and updated state transition matrix. According to the method, the required observed quantity is extremely small, the calculated quantity can be reduced, and compared with other methods, the method has the advantages of high adaptability and high accuracy.

The invention discloses a pressure control method of rolling and pressing equipment based on a disturbance observer. The pressure control method of the rolling and pressing equipment based on the disturbance observer comprises the steps that by analyzing the input and output characteristics of each sub-module of the servo rolling and pressing equipment, a linear dynamic model G (s) of the rollingand pressing equipment is established; the disturbance observer is constructed, so that a transfer function between input voltage-output force and a transfer function between external interference-output force are obtained; a continuous transfer function of the rolling and pressing equipment is transformed into a discrete form G (z); and a proportional integral feedback controller is additionallyarranged to the outside of the disturbance observer so as to realize the pressure closed-loop control and achieve the purpose of high precision pressure control of the rolling and pressing equipment.According to the pressure control method of the rolling and pressing equipment based on the disturbance observer, by state observing and compensating the external interference and aiming at a non-minimum phase system, an approximate stable inverse model is provided to ensure the stability of the disturbance observer. The control method proposed by the pressure control method of the rolling and pressing equipment based on the disturbance observer is adopted to reduce the influence of the external disturbance force caused by the thickness change of workpieces on the trust of the pressure control, so that the accuracy of the pressure control in the rolling and pressing process is ensured.

The invention relates to a method for establishing a fluctuation-vibration nonlinear sound field in a bubble-containing water medium. The method comprises the following steps: establishing a 'wave-bubble volume three-order vibration'equation; setting initial conditions and boundary conditions; determining a time length Tt and a spatial distance T1, and setting a step length division grid; the differential items are rewritten into a differential form; a sound source item is coupled with a wave-bubble volume three-order vibration equation to obtain a difference equation set; setting sound pressure and bubble volume variation initial values; calculating a time node nt bubble volume change value and a sound pressure value, and then adding 1 to nt; when nt is smaller than or equal to Nt, repeating the previous step, calculating to the last point Nt of the time domain, and when nt is equal to Nt, resetting nt to be equal to 3; calculating a sound pressure value nt on the last node Ns in thespatial domain by using the initial parameter and adding 1; and when nt is less than or equal to Nt, repeating the previous step, and calculating to the final point Nt of the time domain. According tothe method, coupling is carried out through sound pressure excitation items, numerical coupling calculation is carried out on the fluctuation-vibration nonlinear equation, and meanwhile the nonlinearsound field characteristic and the bubble nonlinear dynamic characteristic in the bubble-containing water medium are obtained.

The invention discloses a lincomycin detection kit. The lincomycin detection kit comprises test paper and a micro-porous reagent. The test paper comprises a reaction film, a sample absorption pad, a water absorption pad, a protection film and a bottom board and is formed by adhering the ample absorption pad, the reaction film, the water absorption pad and the protection film on the bottom borad sequentially, wherein the reaction film is provided with a detection area and a quality control area, a lincomycin hapten-carrier protein conjugate wraps the detection area, and an antiantibody wraps the quality control area. Lincomycin specificity antibody-colloidal gold marker is freeze-dried on the micro-porous reagent, and the micro-porous reagent is provided with micro-porous plugs. The lincomycin detection kit has the advantages of wide linear dynamics range, long optical signal duration time, simplicity and rapidity in analysis method, stable results, small errors, high safety and long service life. Through chemiluminescence immunoassay, the lincomycin detection kit succeeds in detecting substances which cannot be detected by the methods such as radioimmunoassay and enzyme-linked immunoassay, thereby being of great significance to early clinical diagnosis.

The invention discloses a single-shot ultrafast response process measuring system for a photovoltaic device. The single-shot ultrafast response process measuring system comprises a beam splitter, a folding mirror, a nonlinear dynamic process transmission light path, a visible light time response transmission light path, an X-ray time response transmission light path, a photovoltaic device and a recording module. By adopting the technical scheme, a nonlinear dynamics process and the time response process of the photovoltaic device are measured in a pumping-excition mode, namely, a visible lightwave band can be used for excitation, and an X-ray can be used for excitation; the time response process and the nonlinear dynamics process of the photovoltaic device can be measured simultaneously by using a single-shot laser or X-ray excitation method for measurement; the measurement can be performed under the working state of the photovoltaic device without development of a decomposition experiment; the measurement time resolution can be adjusted according to different measurement requirements; the method has a wide application range, is suitable for photovoltaic devices, and is suitable for other similar active devices. Therefore, the method has the advantages of the high time resolution, the tunability, the wide application range and the like.

The invention discloses a chattering restraining method of optical axis of a rapid deflecting mirror based on a support vector machine. The chattering restraining method comprises the steps that modeling and identifying of rapid deflecting mirror linear dynamics are carried out, data collecting and processing are carried out, piezoelectric drive rapid deflecting mirror nonlinear hysteresis dynamics modeling is carried out, and the feed-forward feedback composite controller design of rapid deflecting mirror nonlinear hysteresis dynamics is carried out. Compared with the prior art, the chattering restraining method of the optical axis of the rapid deflecting mirror based on the support vector machine does not need parameter identifying of a specific hysteresis model, an accurate inverse piezoelectric hysteresis model is established based on an LS-SVM method and used for compensating the influence on the control precision of piezoelectric drive rapid deflecting mirror by the nonlinear hysteresis effect, and introducing compensating errors introduced by model parameter identifying is avoided; and meanwhile, a pruning method of support vector is designed to reduce model complexity and calculation time-consumption, the support vector of the model is removed, and the model identifying process is simplified; and on the basis of piezoelectric nonlinear hysteresis feed-forward compensating, feedback control is carried out on linear dynamics partial design of the piezoelectric drive rapid deflecting mirror, and control precision of the system is improved.

The invention discloses a chemiluminescence immunoassay method for quantitative detection of myeloperoxidase. Detection is performed through a kit which is jointly composed of an elisa plate, standard products, sample diluents, concentrated washing liquid, reaction liquid and luminescent substrates. The method specifically comprises the following steps of 1 preparing; 2 sample adding and positioning; 3 sample adding; 4 plate cleaning; 5 substrate adding; 6 luminescent value determining. Accordingly, the sensitivity is high, the linear dynamic range is wide, the optical signal lasting time is long, and the immunoassay method is simple, convenient and rapid, the result is stable and little in error, the safety is good, and the service life is long.