In practical applications, mobile robots or UAVs often need to navigate and locate in a dynamic environment, but traditional SLAM algorithms often perform poorly in the face of dynamic environments. Therefore, dynamic SLAM has become one of the research hotspots. In order to solve the problems of low positioning accuracy and poor robustness of traditional visual SLAM in dynamic scenes. In this paper, an improved algorithm based on ORBSLAM3 is proposed.Under the condition of keeping the original framework unchanged, the algorithm adds a new semantic thread, combines Mask R-CNN to segment the image frame, extracts the keyframes for optimization, removes the feature points of the dynamic object, and retains the feature points of the original static object. Finally, comparative experiments are carried out based on the TUM dataset, and the final results show that the proposed algorithm is superior to the existing algorithms, and the positioning accuracy and robustness are improved.
With the development of science and technology, people have higher and higher requirements for the stability of high-precision servo systems. In this paper, the principle of dual-motor anti-backlash is studied. By modeling the mathematical characteristics of the whole servo system, the drive control block diagram of the dual-motor is designed. Finally, the servo system model of the dual-motor anti-backlash transmission is established by MATLAB. Based on the servo system model, the control algorithm of the system is designed, and the fuzzy-PID control algorithm is designed in the position loop. According to the threshold of the system, a more suitable control algorithm is selected to improve the stability and robustness of the system. A new anti-backlash method for improving the constant bias torque is designed, and the model of the anti-backlash module is designed. Finally, through simulation verification, it is concluded that the fuzzy-PID control strategy can effectively reduce the overshoot of the system, and the added anti-backlash module significantly improves the stability of the system.
KEYWORDS: Wind energy, Power grids, Control systems, Frequency modulation, Wind turbine technology, Modulation frequency, Capacitors, Mathematical modeling, Frequency response
Large scale wind turbines replace traditional generators and are integrated into the power grid. The increase in wind power penetration rate leads to a decrease in the overall inertia of the power system. To alleviate the impact of wind power grid connection on power system stability, a comprehensive frequency regulation control strategy is proposed for wind turbines and energy storage to coordinate and participate in system frequency regulation, in order to achieve adaptive adjustment of active power with system frequency changes. A wind power grid connection simulation model is built using Matlab/Simulink software. The experimental results show that this method can spontaneously respond to frequency difference signals, timely release rotational kinetic energy to provide active compensation, effectively avoiding secondary frequency drops and improving the stability of wind power grid connection frequency.
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