43results about How to "Achieve control objectives" patented technology

The invention discloses a driving shaft torque coordinated distribution control method of a shield tunneling machine cutter head driving system. A two-layer structure composed of a cutter head rotating speed control layer and a driving shaft torque coordination layer is used in the cutter head driving system, the basic torque of each driving motor is output in the cutter head rotating speed control layer, and stable control over the rotating speed of a cutter head is achieved; the torque coordination amount of each driving motor is output in the driving shaft torque coordination layer, and the balanced distribution of the meshing torque of a small gear is achieved. According to the problems about the stable rotating speed of the cutter head and driving shaft torque balanced distribution, controllers are designed respectively, the adaptability of the cutter head driving system to the suddenly changed load is improved, and the problem of driving shaft torque unbalanced distribution caused by the mechanical property difference of the cutter head driving system and meshing tooth space difference is solved.

The invention discloses an anti-slip control method of a direct-current drive locomotive. In the mode of traction, the control value VTout of exciting current of a generator (or a thyristor trigger angle) is generated according to the operational state of the locomotive; the electric current value of each traction motor is detected; the given value VIref of electric current difference is calculated; the feedback value VIfdb of the electric current difference is calculated; direct voltage Vdc is detected and calculated; the given value VAref of the rise rate of the direct voltage is calculated; the feedback value VAfdb of the rise rate of the direct voltage is calculated; the VIref and the VIfdb are input into a proportion-integration-differentiation (PID) closed-loop controller VI of the electric current difference to obtain VIout; the VAref and the VAfdb are input into a PID closed-loop controller VA of the rise rate of the direct voltage to obtain VAout; and according to the minimal value among the VIout, the VAout and the VTout, the exciting current of the generator (or the thyristor trigger angle) is controlled. The method disclosed by the invention can realize the round-the-clock anti-slip control of alternating-direct drive locomotives in the absence of a speed sensor.

The invention discloses a DFIG direct current grid-connected power generation system based on an RMC. The DFIG direct current grid-connected power generation system comprises a plurality of DFIGs and a high-voltage direct current power grid; each DFIG is connected with a stator RMC converter and a rotor RMC converter; each stator RMC converter and the corresponding rotor RMC converter share one controller. Compared with a traditional DFIG grid-connected system, the DFIG system enables an industrial frequency transformer to be smaller in size and lighter in weight. According to the DFIG system, the number of levels of the converters is reduced, a voltage stabilizing capacitor with the large size is replaced by a filter capacitor with the small size and the light weight, and the system is simple in structure and stable in operation performance. The invention further discloses a torque control method of the system, through the synergistic effect of the stator RMC converters and the rotor RMC converters, the constant electromagnetic torque output by the DFIGs and the constant amplitude of air gap flux linkage are guaranteed, and the output active power and the input reactive power of the stator side and the rotor side of a motor are controlled to be equal.

The present invention relates to a trajectory tracking control method of submarine flight nodes with preset performance based on a disturbance observer. The present invention solves the problem that the existing method does not consider the modeling uncertainty and the influence of marine environment disturbance and thruster failure on the OBFN. The present invention comprises: one: establish the nonlinear dynamic model of Fossen outline six degrees of freedom; two: carry out the dynamic model transformation of OBFN to the nonlinear dynamic model established in step 1, obtain the dynamic model of OBFN, according to the dynamics of OBFN The model determines the tracking error equation of OBFN; 3: Establish a performance function; 4: Transform the tracking error of step 3 to obtain the transformed error; 5: According to the transformed error obtained in step 4, the design of the OBFN system is always uncertain Performance Observer and Preset Performance Trajectory Tracking Controller. The invention is used in the field of trajectory tracking control.

The invention discloses a state feedback control method of a soft robot based on a dielectric elastic body actuator, which uses virtual work simulation to establish a dynamic control model of a dielectric elastic body actuator, and then controls the unknown system function in the dynamic control model Constructing a Gaussian radial basis function neural network approximator, and by correspondingly designing its parameter update rate, the parameters of the Gaussian radial basis function neural network approximator are dynamically adjusted online to realize the online approximation to the unknown system function, Finally, a state feedback intelligent controller embedded with the Gaussian radial basis function neural network approximator is constructed in a state feedback control mode, which is used to dynamically adjust the control input of the dielectric elastomer actuator online so that the state tracking error converges to zero , so as to achieve the control goal of soft robots, to enhance the control accuracy and response speed of the control system, and to improve the adaptability and intelligence of soft robots based on dielectric elastomer actuators.

The invention relates to a driving dynamics control system for vehicles, involving at least one signal distribution, to which vehicle data, environmental data and data regarding the driver's intention are fed in the form of input data, and a number of controllable or regulatable subsystems, which modify the dynamics of the vehicle such as a driver-independent adjustable steering system, a driver-independent adjustable chassis, a driver-independent adjustable brake, and a driver-independent adjustable drive train. The invention is characterized in that: the data of the signal distribution are fed to a central determining unit (driving condition recognition, driver's intention recognition); the central determining unit determines a central control target from the data of the signal distribution, and these items of data regarding the central control target are fed to a central regulating variable distribution or to a central driving condition controller that, while interactively communicating with the subsystems, controls these subsystems in such a manner that the control target is converted by the subsystems on the vehicle.