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class="pic"><img src="https://tyunfile.71360.com/UploadFile/wxgongheng/637422791031657230/4832648.png" class="vcenter" onerror="javascript:this.src='/static/new_net_01/images/nopic.jpg';"></p></div></div><div id="b3eie3j" class="smallimg"><div><p class="pic"><img src="https://tyunfile.71360.com/UploadFile/wxgongheng/637422791031657230/4832648.png" class="vcenter" onerror="javascript:this.src='/static/new_net_01/images/nopic.jpg';"></p></div></div></div><div id="3lc772d" class="content"><p><span>需求數(shù)量：</span>0</p><p><span>價(jià)格要求：</span>面議</p><p><span>所在地：</span>江蘇省</p><p><span>包裝要求：</span><span style="color: #f30;"></span></p><p><span>產(chǎn)品關(guān)鍵詞：</span>常州協(xié)同系統(tǒng)費(fèi)用,協(xié)同系統(tǒng)</p><p><span>***更新：</span>2021-01-30 01:05:13</p><p><span id="click" >瀏覽次數(shù)：0次</span></p><a rel="nofollow" class="button">聯(lián)系我們</a></div></div><div id="3fwd7rn" class="rightbox"><h3>公司基本資料信息</h3><p style="border:0;"><a rel="nofollow">無錫功恒精密機(jī)械制造有限公司</a></p><p><span>聯(lián)系人：</span>張文剛</p><p><span>郵箱: </span>mrZhang@ghjmjx.com</p><p><span>電話: </span>15370203202</p><p><span>傳真: </span>0510_83786330</p><p><span>網(wǎng)址: </span></p><p><span>手機(jī): </span>0510-83786330</p><p><span>地址: </span>錫北鎮(zhèn)新壩工業(yè)園八達(dá)大道1號(hào)</p><p>[當(dāng)前離線] <a rel="nofollow"> [加為商友] </a><a rel="nofollow"> [發(fā)送信件] </a></p></div></div><div id="qoqg2np" class="page-proshow02"><p class="title">詳細(xì)說明</p><div id="37dko82" class="box"><p><p> 本發(fā)明涉及車路協(xié)同技術(shù)領(lǐng)域，尤其涉及一種室內(nèi)定位方法及裝置、路側(cè)及車載設(shè)備、車路協(xié)同系統(tǒng)和計(jì)算機(jī)可讀存儲(chǔ)介質(zhì)。背景技術(shù)：隨著智能網(wǎng)聯(lián)汽車以及自動(dòng)駕駛的發(fā)展，定位服務(wù)越來越多地出現(xiàn)在人們的車輛使用中。相關(guān)技術(shù)中的車載設(shè)備常常用gps進(jìn)行定位，獲取車輛位置信息，從而便于進(jìn)行后續(xù)的車路協(xié)同服務(wù)。然而，gps等衛(wèi)星定位系統(tǒng)在隧道、地下停車場(chǎng)、立交橋區(qū)等場(chǎng)景下，往往會(huì)遭遇信號(hào)被阻擋的境況，終導(dǎo)致定位延遲、定位失敗或定位誤差過大，影響車路協(xié)同服務(wù)的順利進(jìn)行。因此，如何實(shí)時(shí)獲取有效的車輛位置信息，成為目前亟待解決的技術(shù)問題。技術(shù)實(shí)現(xiàn)要素：本發(fā)明提供一種室內(nèi)定位方法及裝置、路側(cè)及車載設(shè)備、車路協(xié)同系統(tǒng)和計(jì)算機(jī)可讀存儲(chǔ)介質(zhì)，針對(duì)相關(guān)技術(shù)中g(shù)ps等衛(wèi)星定位系統(tǒng)容易因環(huán)境因素而無法高效準(zhǔn)確地完成定位功能的技術(shù)問題，給出了便捷的室內(nèi)定位方式，能夠在gps等衛(wèi)星定位系統(tǒng)的信號(hào)易被阻擋的環(huán)境下實(shí)時(shí)獲取有效的車輛位置信息，保證車路協(xié)同系統(tǒng)的有效運(yùn)作。本發(fā)明方面提供一種室內(nèi)定位方法，用于路側(cè)設(shè)備，常州協(xié)同系統(tǒng)費(fèi)用，常州協(xié)同系統(tǒng)費(fèi)用，包括：獲取來自服務(wù)器的uwb定位數(shù)據(jù)，所述uwb定位數(shù)據(jù)由指定區(qū)域內(nèi)的uwb定位基站獲取自所述指定區(qū)域內(nèi)的車載定位標(biāo)簽后發(fā)送至所述服務(wù)器，常州協(xié)同系統(tǒng)費(fèi)用。協(xié)同系統(tǒng)怎么用哪家好，誠(chéng)心推薦無錫功恒精密。常州協(xié)同系統(tǒng)費(fèi)用</p><div style="width:100%;text-align: center;"><img style="max-width: 640px; max-height: 320px;" alt="常州協(xié)同系統(tǒng)費(fèi)用,協(xié)同系統(tǒng)" src="https://tyunfile.71360.com/UploadFile/wxgongheng/637422791031657230/4832648.png"></div><p> p和n分別直流母線電壓輸入正負(fù)端子，ip是直流母線p端正向電流，ip1、ip2、ipn分別是逆變器1、逆變器2、逆變器n的輸入正向電流，ia1、ib1、ic1分別是電機(jī)組一的a、b、c三相真實(shí)電流值，ia2、ib2、ic2分別是電機(jī)組二的a、b、c三相真實(shí)電流值，ian、ibn、icn分別是電機(jī)組n的a、b、c三相真實(shí)電流值，ts是逆變器的開關(guān)周期。具體實(shí)施方式下面結(jié)合附圖和實(shí)施例對(duì)本發(fā)明進(jìn)一步說明。一種基于斬波周期移相電機(jī)群電流傳感器協(xié)同系統(tǒng)，在電機(jī)群控制系統(tǒng)中，將多電機(jī)子系統(tǒng)的變頻器輸入電源端口統(tǒng)一在同一個(gè)直流母線電壓輸入端子，將每一個(gè)電機(jī)子系統(tǒng)的逆變器三相橋臂中點(diǎn)分別與對(duì)應(yīng)的電機(jī)三相繞組相連，將每一個(gè)電機(jī)三相繞組線纜分別正向穿過相應(yīng)的電流傳感器信號(hào)檢測(cè)口，利用電機(jī)群多電機(jī)子系統(tǒng)與直流母線電流的關(guān)聯(lián)性，結(jié)合本發(fā)明提出的各個(gè)電機(jī)子系統(tǒng)斬波分時(shí)移相的控制方法，實(shí)現(xiàn)多電機(jī)子系統(tǒng)電流傳感器誤差的分時(shí)校正，后利用多電機(jī)子系統(tǒng)電流信號(hào)的關(guān)聯(lián)性，實(shí)現(xiàn)電機(jī)群多電機(jī)子系統(tǒng)之間的電流采樣誤差協(xié)同校正。所述基于斬波周期移相電機(jī)群電流傳感器協(xié)同系統(tǒng)的校正方法的步驟如下：步驟1：在圖1中，將電機(jī)群中的多個(gè)電機(jī)子系統(tǒng)的逆變器電源輸入端分別在同一個(gè)直流母線端。常州協(xié)同系統(tǒng)費(fèi)用濱湖區(qū)本地協(xié)同系統(tǒng)哪家好，誠(chéng)心推薦無錫功恒精密。</p><div style="width:100%;text-align: center;"><img style="max-width: 640px; max-height: 320px;" alt="常州協(xié)同系統(tǒng)費(fèi)用,協(xié)同系統(tǒng)" src="https://tyunfile.71360.com/UploadFile/wxgongheng/637422790870172826/3198719.png"></div><p> 場(chǎng)景內(nèi)容是對(duì)仿真環(huán)境中實(shí)體變動(dòng)的描述，例如信號(hào)燈變化、車輛生成等，場(chǎng)景觸發(fā)條件是指場(chǎng)景在仿真環(huán)境中的觸發(fā)方式，例如車輛狀態(tài)、信號(hào)燈狀態(tài)等，場(chǎng)景測(cè)試能力是指車輛測(cè)試能力的特征描述，即車輛測(cè)試針對(duì)的部分；場(chǎng)景庫依據(jù)用戶選擇的測(cè)試內(nèi)容生成對(duì)應(yīng)的場(chǎng)景集，同時(shí)，場(chǎng)景庫系統(tǒng)生成的場(chǎng)景集并不會(huì)全部加載于測(cè)試內(nèi)容上，隨著測(cè)試的進(jìn)行，測(cè)試場(chǎng)景**有選擇地挑選場(chǎng)景，不斷改變測(cè)試場(chǎng)景序列，精確測(cè)量；孿生路網(wǎng)接收真實(shí)環(huán)境數(shù)據(jù)和觸發(fā)事件并進(jìn)行更新，觸發(fā)事件使孿生路網(wǎng)發(fā)生變化，但不影響基礎(chǔ)對(duì)應(yīng)環(huán)境(包括道路條件等)，變化的產(chǎn)生將改變孿生路網(wǎng)中原有的運(yùn)行情況。在測(cè)試運(yùn)行階段，孿生路網(wǎng)中虛擬數(shù)據(jù)也不斷傳出至真實(shí)環(huán)境，虛擬數(shù)據(jù)包括孿生路網(wǎng)中各交通實(shí)體狀態(tài)、各交通實(shí)體可能的檢測(cè)狀態(tài)(如路側(cè)檢測(cè)信息等)以及車輛、行人、非機(jī)動(dòng)車輛等狀態(tài)信息。真實(shí)環(huán)境數(shù)據(jù)通過數(shù)據(jù)交互單元中的外部數(shù)據(jù)接收接口獲得，制式采用標(biāo)準(zhǔn)車路協(xié)同消息集(如t/csae53-2017)傳入，t/csae53-2017制式的真實(shí)環(huán)境數(shù)據(jù)包括bsm、spats、map、rsi和rsm格式，外部數(shù)據(jù)接收接口將真實(shí)環(huán)境數(shù)據(jù)的標(biāo)準(zhǔn)數(shù)據(jù)包接入孿生單元，孿生單元對(duì)數(shù)據(jù)進(jìn)行解包。</p><p> 針對(duì)相關(guān)技術(shù)中g(shù)ps等衛(wèi)星定位系統(tǒng)容易因環(huán)境因素而無法高效準(zhǔn)確地完成定位功能的技術(shù)問題，可通過uwb定位方式獲取車輛位置信息，并將該車輛位置信息通過路側(cè)設(shè)備上傳至服務(wù)器，再由服務(wù)器轉(zhuǎn)發(fā)至車載設(shè)備。由此，能夠在gps等衛(wèi)星定位系統(tǒng)的信號(hào)易被阻擋的橋下或室內(nèi)等環(huán)境中對(duì)車輛位置信息進(jìn)行及時(shí)、準(zhǔn)確的獲取，從而便于路側(cè)設(shè)備與車載設(shè)備相配合執(zhí)行車路協(xié)同功能，增加了橋下或室內(nèi)等環(huán)境中的駕駛安全性能，提升了車輛用戶體驗(yàn)。圖2示出了根據(jù)本發(fā)明的另一個(gè)實(shí)施例的室內(nèi)定位方法的流程圖。如圖2所示，根據(jù)本發(fā)明的另一個(gè)實(shí)施例的室內(nèi)定位方法的流程包括：步驟202，獲取來自服務(wù)器的uwb定位數(shù)據(jù)，所述uwb定位數(shù)據(jù)由指定區(qū)域內(nèi)的uwb定位基站獲取自所述指定區(qū)域內(nèi)的車載定位標(biāo)簽后發(fā)送至所述服務(wù)器。車輛設(shè)置有車載標(biāo)簽，而gps等衛(wèi)星定位系統(tǒng)無法順利工作的指定區(qū)域中的多個(gè)指定位置設(shè)置有uwb定位基站，多個(gè)uwb定位基站通過檢測(cè)到車載標(biāo)簽確定自身與車輛的相對(duì)位置，終，根據(jù)多個(gè)uwb定位基站的位置，及其與車輛的相對(duì)位置，可確定車輛在此指定區(qū)域內(nèi)的車輛位置信息。至此，uwb定位基站將獲得的車輛位置信息上傳至服務(wù)器。宜興本地協(xié)同系統(tǒng)哪家好，誠(chéng)心推薦無錫功恒精密。</p><div style="width:100%;text-align: center;"><img style="max-width: 640px; max-height: 320px;" alt="常州協(xié)同系統(tǒng)費(fèi)用,協(xié)同系統(tǒng)" src="https://tyunfile.71360.com/UploadFile/wxgongheng/637422791377604450/7415728.png"></div><p> 所述廣播消息由所述路測(cè)設(shè)備根據(jù)服務(wù)器于所述指定區(qū)域內(nèi)的uwb定位基站獲取的uwb定位數(shù)據(jù)生成；根據(jù)所述廣播消息，更新車輛位置信息；根據(jù)更新后的所述車輛位置信息，執(zhí)行車路協(xié)同工作策略。在本發(fā)明上述實(shí)施例中，可選地，所述根據(jù)所述廣播消息，更新車輛位置信息的步驟，包括：判斷所述廣播消息對(duì)應(yīng)的個(gè)體信息是否與所述車載設(shè)備所屬的車輛的個(gè)體信息相匹配；基于所述廣播消息對(duì)應(yīng)的個(gè)體信息與所述車載設(shè)備所屬的車輛的個(gè)體信息相匹配的情況，用所述廣播消息覆蓋所述車輛的歷史車輛位置信息，作為更新后的所述車輛位置信息；基于所述廣播消息對(duì)應(yīng)的個(gè)體信息與所述車載設(shè)備所屬的車輛的個(gè)體信息不匹配的情況，在所述車輛的相鄰車輛**中，確定所述廣播消息對(duì)應(yīng)的個(gè)體信息所屬的目標(biāo)相鄰車輛；將所述廣播消息設(shè)置為所述目標(biāo)相鄰車輛的車輛位置信息。在本發(fā)明上述實(shí)施例中，可選地，所述根據(jù)更新后的所述車輛位置信息，執(zhí)行車路協(xié)同工作策略的步驟，包括：判斷更新后的所述車輛位置信息中是否具有車路協(xié)同提示信息；基于更新后的所述車輛位置信息具有所述車路協(xié)同提示信息的情況，執(zhí)行所述車路協(xié)同提示信息對(duì)應(yīng)的車路協(xié)同工作策略。銷售協(xié)同系統(tǒng)哪家好，誠(chéng)心推薦無錫功恒精密。常州協(xié)同系統(tǒng)費(fèi)用</p><p style="text-indent:25px">智能智能制造廠家直供哪家好，誠(chéng)心推薦無錫功恒精密。常州協(xié)同系統(tǒng)費(fèi)用</p><p> 本發(fā)明涉及電機(jī)群控制領(lǐng)域，尤其是一種多電機(jī)群體協(xié)同控制方法。背景技術(shù)：電機(jī)群控制是電機(jī)系統(tǒng)控制領(lǐng)域未來的重要發(fā)展方向之一，特別是針對(duì)需要將多個(gè)電機(jī)進(jìn)行協(xié)同控制的應(yīng)用領(lǐng)域，電機(jī)群控制就格外重要。電機(jī)群控制面臨的一個(gè)重要問題就是各個(gè)電機(jī)子系統(tǒng)對(duì)其反饋?zhàn)兞康母兄驒z測(cè)精度不一致，從而造成各個(gè)電機(jī)子系統(tǒng)性能的不完全統(tǒng)一，終導(dǎo)致整個(gè)電機(jī)群控制無法達(dá)到預(yù)期控制目標(biāo)。在現(xiàn)代電機(jī)控制系統(tǒng)中，電流信息是系統(tǒng)極為重要的反饋量，無論是在常規(guī)驅(qū)動(dòng)系統(tǒng)中，包括矢量控制、直接轉(zhuǎn)矩控制等，還是在無位置傳感器控制等特殊應(yīng)用領(lǐng)域使用的控制方法，電流信息都是電機(jī)系統(tǒng)實(shí)現(xiàn)其控制目標(biāo)所不可或缺的關(guān)鍵信息。電機(jī)控制系統(tǒng)的電流采樣回路主要包含電流傳感器、調(diào)制電阻、運(yùn)放、電壓基準(zhǔn)等，在實(shí)際使用中，受到運(yùn)行工況、環(huán)境、老化等諸多因素的影響，這些電流采樣回路不可避免的會(huì)產(chǎn)生采樣誤差，并且單電機(jī)子系統(tǒng)多個(gè)采樣回路之間的誤差也不相同，這些采樣誤差引入控制系統(tǒng)中，將會(huì)給系統(tǒng)帶來不平衡三相電流、轉(zhuǎn)矩脈動(dòng)、轉(zhuǎn)速波動(dòng)、系統(tǒng)噪聲等不利影響。并且針對(duì)電機(jī)群控制，不同電機(jī)子系統(tǒng)之間所包含的采樣誤差也是不相同的，導(dǎo)致各個(gè)子系統(tǒng)的控制性能趨于不協(xié)調(diào)。常州協(xié)同系統(tǒng)費(fèi)用</p></p><br /><p>文章來源地址: 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