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

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 present invention provides a precise automatic lawnmower distributed beacon laser positioning and trajectory control system. In the aspect of hardware, a distributed communication structure formed by an RS485 bus and a radio frequency module is employed, each module internal algorithm runs independently, the data traffic of the system is reduced greatly, the communication block is eliminated, and the system processing speed is improved. In the aspect of software, the functions of laser automatic scanning, distributed beacon distance measurement, motion trend judgment, ultrasonic distance measurement, wireless communication, trajectory control, automatic collision prevention are combined together, the precise automatic mowing function of the intelligent precise automatic lawnmower is realized, and the requirements of beautifying a lawn and the purpose of saving energy and protecting environment are achieved through intelligent precise and automatic lawn mowing. The system is also applicable to the automatic navigation and track control of an automated guided vehicle (AGV).

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 invention relates to a method for inhibiting the subsynchronous resonance of a wind power system. Based on a controlled series compensation method, a trigger delay angle of a controlled series compensation thyristor valve group is controlled and the current of a valve group reactor L is adjusted, so that controlled series compensation equivalent impedence is controlled, the equivalent impedence is corrected in a closed-loop control mode, and the trigger delay angle is corrected in real time. The method is characterized in that: by adopting a PSCAD / EMTDC software and MATLAB software joint operation mode and based on an MATLAB computing method and phase shift between capacitor voltage zero-crossing moment and synchronous turnover moment, an additional damping control algorithm is designed, the controlled series compensation real trigger delay angle is calculated and the subsynchronous resonance is inhibited.

The invention discloses an RMC-based DFIG (Doubly Fed Induction Generator) direct-current grid-connected power generation system. The system comprises a plurality of DFIGs and a high-voltage direct-current grid, wherein each DFIG is connected with a stator RMC current converter and a rotor RMC current converter which are both connected with a controller; the stator RMC current converter plays the role of converting alternating current output by the DFIG into direct current, boosting the voltage to voltage level of HVDC and meanwhile realizing maximum wind energy tracking operation of the DFIG; and the rotor RMC current converter plays the role of providing excitation for a DFIG rotor and meanwhile realizing stable DFIG stator terminal voltage control. The invention also discloses a magnetic chain directional control method of the system. Transmission of power is directly changed into high-voltage direct current transmission from alternating current transmission by the stator side RMC current converter. The system is simple in structure and stable in running performance, so that the control on the DFIG and direct-current transmission is simplified.

The invention discloses a space robot control method not depending on model parameters. The method comprises the following steps: according to the number of degrees of freedom of the space robot, the number of control channels is determined, and the number of control channels is the same as the number of degrees of freedom; according to a platform attitude angle and an angular velocity of the space robot, and a joint angle and a joint angular velocity of each arm rod of a mechanical arm, an adaptive sliding mode controller for each control channel is determined; according to a high-order state observer of the space robot, a platform angular velocity, an angular velocity estimation amount of each arm rod of the mechanical arm and internal and external disturbance estimation amounts of the space robot are obtained; and the platform angular velocity and the angular velocity estimation amount of each arm rod of the mechanical arm are used for replacing the platform angular velocity and the angular velocity measurement amount of each arm rod of the mechanical arm, and the adaptive sliding mode controller is updated. The method of the invention does not depend on system parameters, and precise control on the space robot can be improved.

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 a mine power network monitoring and guaranteeing system. The mine power network monitoring and guaranteeing system comprises a comprehensive control center, an optic fiber Ethernet exchanger, a KFJ81 underground measurement and control station, a detection and alarm unit, an electric energy information collection unit, an intelligent protection unit and a power source unit, wherein the detection and alarm unit, the electric energy information collection unit and the intelligent protection unit are communicated with the KFJ81 underground measurement and control station through an RS-485 communication mode, and mainly perform state detection, fault early warning, information collection and remote control on a mine power network, the KFJ81 underground measurement and control station exchanges information with the comprehensive control center through two methods of using the optic fiber Ethernet exchanger and a ZigBee wireless network, and the power source unit is composed of a common power source and an emergency power source, and guarantees that the mine power network monitoring and guaranteeing system can run smoothly under various situations. The mine power network monitoring and guaranteeing system achieves the purposes of monitoring and controlling the mine power network from all directions, improves running efficiency and safety level of the mine power network, and provides reliable guarantees for safe production of a mine.

The invention relates to a quadrotor unmanned aerial vehicle attitude control method considering inertia uncertainty. The method comprises the following steps: firstly, establishing a quadrotor unmanned aerial vehicle attitude loop model containing external interference aiming at the influence caused by various factors such as uncertain system inertia and external interference when a quadrotor unmanned aerial vehicle grabs or throws articles; secondly, converting the attitude loop model of the quad-rotor unmanned aerial vehicle into an error equation; thirdly, designing an attitude control lawof the quad-rotor unmanned aerial vehicle; secondly, designing a disturbance observer by utilizing an error equation; and finally, compensating the interference estimation value through a feedforwardchannel, and combining the interference estimation value with a control law. The method has the advantages of high engineering practicability and high anti-interference capability, and is suitable for high-precision attitude control of the quad-rotor unmanned aerial vehicle.

The invention discloses a novel high-voltage circuit breaker and a control method thereof. The novel high-voltage circuit breaker mainly comprises a measuring unit, a DSP control unit, a driving unit,an inversion unit, a brushless DC motor and a high-voltage circuit breaker operating mechanism unit. The control method comprises the following step: improving an observer to enable the observer to have disturbance estimation capability so as to realize disturbance rejection tracking control. The embodiment of the invention provides a novel high-voltage circuit breaker and a control method thereof, so as to realize motion characteristic control of the high-voltage circuit breaker. The mathematical description of the operating mechanism has a certain inexact part, the complex system of the operating mechanism has a non-linear part, and the opening and closing of the operating mechanism are subjected to different electric forces when different line currents exist, which all affect the control of the operating mechanism. The above parts are defined as disturbance, and the disturbance is observed and estimated through an improved control strategy; disturbance elimination is achieved through feedback, and finally the control target of the performance requirement of the high-voltage circuit breaker in the moving process is achieved.

The invention discloses a process for producing die steel by utilizing a converter continuous casting mode. The process comprises a steel making continuous casting process and a steel rolling process. The steel making continuous casting process comprises the following process steps of: converter smelting, LF (Ladle Furnace) refining, continuous casting, slow cooling and other process steps; and the steel rolling process comprises the following process steps of: heating, scale removal by using high pressure water, rolling, straightening, stacking, slow cooling and other steps. By using the die steel produced by the invention, the contents of gas and occluded foreign substances in the die steel can be reduced, the thermal stress and the structural stress for slowing a steel blank down are eliminated, a thick and nonuniform cast structure inside the steel blank is improved, and the problems of flaw detection disqualification and finished product crack of the die steel are solved. By using the process, the aim of producing the die steel by using a converter is achieved, the production cost is reduced, and the economic benefit is increased.

The invention discloses a high-performance double-rate cascade PID control method, device and system, and belongs to the technical field of industrial production process control. The method comprises the steps of firstly designing an inner loop PID controller, obtaining a dynamic model of an inner loop closed-loop control system, then employing the condition that the set value of the inner loop PID controller is not changed in the sampling period of an outer loop, an outer loop dynamic model based on dynamic characteristics of the inner loop PID closed-loop control system is established by adopting a lifting technology, then an outer loop PID controller is designed based on the outer loop dynamic model, and high-performance double-rate cascade PID control is carried out by adopting the determined inner loop PID controller and the outer loop PID controller. According to the invention, the problems that frequent unknown interference or unknown change of dynamic characteristics causes dynamic change, mutual influence and even resonance of the inner loop and the outer loop of the cascade industrial process, and the control target of the cascade industrial process cannot be realized by adopting the conventional cascade PID control technology are solved.

The invention discloses a smooth switching method for a control strategy of a voltage source type converter. The smooth switching method comprises the following steps: acquiring an actual electrical quantity value; after a control strategy switching signal is received, confirming a current control strategy; and enabling the control system to perform initial value setting on the proportional-integral regulator in the control loop, locking a setting value, modifying a control target and switching a control strategy. According to the invention, when the control target of the voltage source type converter is changed, rapid and smooth switching of the control strategy of the voltage source type converter can be realized, transient impact is reduced, and the stability of a power system is improved. According to the invention, an over-current and over-voltage can be prevented in a transient state, the control target of the converter station can be realized in a steady state, and meanwhile, the regulation rapidity is ensured.

The invention provides a new freshness keeping method of high quality red dates. The method comprises the following steps: grading fresh red dates picked in August to October through a grading machine to obtain large, medium and small red dates; respectively placing the dates in a container provided with stirring and containing 50DEG white liquor, cleaning, and timely discharging waste liquor; adding 50DEG white liquor to the container containing the large, medium and small red dates, and immersing the large red dates for 18-22min, the medium red dates for 13-16min and the small red dates for 8-12min; and packaging the immersed fresh red dates in a liquor-free liquid by a vacuum packaging machine, boxing, and reserving at room temperature in a dark place. The large red dates of 7.0cm, the medium red dates of 5.0cm and the small red dates of 3.0cm can be preserved for 12 months, and the preserved red dates have the characteristics of no change of the content of original nutritional components of the red dates, sweet and tasty liquor, and pure fresh taste, and can be sold in four seasons.

A modular converter (10) comprises a plurality of converter cells (36), which are connected in series on a first side and are connected on a second side, wherein each converter cell (36) comprises an AC-to-DC converter (40) connected to the first side and a DC-to-DC converter (42) connected to the second side. A method for controlling the modular converter (10) comprises the steps of: estimating the power transferred by the modular converter (10); comparing the transferred power with a threshold value; when the transferred power is bigger than the threshold value, operating the modular converter in a normal load operation mode (116, 122, 128); when the transferred power is smaller than the threshold value, operating the modular converter in a low load operation mode (114, 120, 126), in which the converter cells (36) are operated, such that switching losses are reduced with respect to the normal load operation mode.

The invention relates to the field of automobile emergency braking, and discloses an ABS control method based on simulation and prediction, according to an algorithm for realizing ABS control by utilizing an MPC method, the algorithm performs vehicle parameter estimation, road surface identification and prediction and pressure distribution relay control through a 7-degree-of-freedom model. According to the method, on a single road surface, optimal combined control of safety and comfort of ABS braking can be achieved. And on other road surfaces, optimal combined control of safety and controllability can be realized. And in the aspect of safety, through control over the optimal slip rates of different road surfaces, optimal pressure control over a brake chamber is achieved, overshoot is avoided, the long pressure reduction process in the ABS braking process is reduced, and the braking distance is shortened as much as possible. And in the aspect of comfort, the optimal pressure is realized in a range with relatively small pressure change, and the longitudinal deceleration change rate is controlled in an acceptable range. In the maneuverability aspect, the steering wheels with small split road surfaces can be corrected by controlling yawing motion caused by inconsistent braking force on the left side and the right side.

The invention provides a micro-grid multi-time scale energy management system based on a power market, which is based on an alternating current micro-grid composed of a photovoltaic system, a wind power system, a super capacitor and a storage battery, and comprises an upper layer energy management controller and a lower layer energy management controller. The upper-layer energy management controller and the lower-layer energy management controller can obtain the control quantity of each layer under the step length by solving the target function of the energy management strategy of each layer in a single time step length in a rolling manner, and the control result of one layer can influence the control of the other layer. The storage battery and the super capacitor can be controlled under different pricing strategies, different prediction time domains and different prediction errors, and a preset control target is achieved.

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 control strategy smooth switching method for a voltage source converter, which includes: collecting actual electrical values; confirming the current control strategy after receiving a control strategy switching signal; controlling the proportional integral regulator in the control loop by the control system Carry out initial value setting, lock the setting value, modify the control target at the same time, and switch the control strategy. The invention can realize fast and smooth switching of the control strategy of the voltage source converter when the control target of the voltage source converter changes, reduces transient impact and improves the stability of the power system. The invention can prevent overcurrent and overvoltage in a transient state, and can realize the control target of a converter station in a steady state while ensuring rapid adjustment.

The invention discloses a process for producing die steel by utilizing a converter continuous casting mode. The process comprises a steel making continuous casting process and a steel rolling process. The steel making continuous casting process comprises the following process steps of: converter smelting, LF (Ladle Furnace) refining, continuous casting, slow cooling and other process steps; and the steel rolling process comprises the following process steps of: heating, scale removal by using high pressure water, rolling, straightening, stacking, slow cooling and other steps. By using the die steel produced by the invention, the contents of gas and occluded foreign substances in the die steel can be reduced, the thermal stress and the structural stress for slowing a steel blank down are eliminated, a thick and nonuniform cast structure inside the steel blank is improved, and the problems of flaw detection disqualification and finished product crack of the die steel are solved. By using the process, the aim of producing the die steel by using a converter is achieved, the production cost is reduced, and the economic benefit is increased.

The invention relates to a main loop-servo loop double closed loop controller of a vehicle ESC system. A main ring controller in the main ring-servo ring double closed-loop controller mainly solves the problem of additional yawing moment decision on a vehicle (controlled object) level so as to realize reasonable regulation and control of vehicle motion conditions. A servo loop controller mainly adjusts the longitudinal slip rate of corresponding wheels through an actuator so as to achieve the control target of a main loop. The main ring-servo ring double closed-loop controller mainly has the following advantages: 1) the structure of a control algorithm is clear, the nonlinear characteristics of tires are not considered when the main ring controller is designed, and the horizontal resultant force of a vehicle is regarded as the control input of a vehicle ESC system, so that the difficulty of control design is reduced; and 2) the non-linear characteristics of the tire which are difficult to process are considered in the optimal distribution of the servo ring tire force, and various limiting conditions including tire-ground attachment and actuator state are considered in the tire force distribution.

The invention relates to the technical field of boilers, in particular to a control method for improving economical operation of a boiler charge returning air blower, comprising the following steps: A. deploying three charge returning air blowers (NO.1, NO.2 and NO.3), operating the NO.1 charge returning air blower when the boiler operates normally and leading the rest of the two charge returning air blowers for standby application; B. presetting an exit wind pressure set value at the exit of each charge returning air blower of the boiler; C. installing pressure sensors at the exit of each returning air blower of the boiler, calculating the exit wind pressure mean value of each returning air blower measured by a pressure sensor and comparing the mean value with the set value; and D. initiating the NO.2 charge returning air blower if the mean value is less than the set value. By utilizing the control method for improving economical operation of boiler charge returning air blower, control logic of the operation of the air blowers is optimized, the purposes of saving energy and reducing energy consumption are achieved, and the control objective of safe operation is realized, thus realizing the control logic of leading one charge returning air blower into operation and the rest of the two charge returning air blowers for standby application.

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 invention discloses a soft robot state feedback control method based on a dielectric elastomer actuator. The method comprises the steps of building a dynamic control model of the dielectric elastomer actuator in a mode of virtual work simulation; building a Gaussian radial basis function neural network approximator for an unknown system function in the dynamic control model; by correspondinglydesigning a parameter updating rate, dynamically adjusting the parameters of the Gaussian radial basis function neural network approximator on line to realize the on-line approximation of the unknownsystem function; and finally, building a state feedback intelligent controller embedded with the Gaussian radial basis function neural network approximator in a state feedback control mode for dynamically adjusting the control input of the dielectric elastomer actuator on line in order to enable a state tracking error to converge to zero to realize a control target of a soft robot. According to the method, the control precision and the response speed of a control system are enhanced, and the adaptability and the intelligence of the soft robot based on the dielectric elastomer actuator are improved.

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 provides a minimum norm stabilization method for a singular vibration system based on initial value condition. The method is used for solving the stabilization problem of part of unstable characteristic values in a singular vibration system. The method comprises the steps that firstly, an acceleration-speed-displacement controller is designed for a differential system model of the singular vibration system, and a closed-loop singular vibration system characteristic equation set is obtained through a controller; secondly, the characteristic equation set is converted into a linear matrix equation set containing acceleration-speed-displacement controller gain, a stabilized characteristic structure and a stable characteristic structure; then, a new iteration sequence and an initial value condition set are constructed; and finally, according to the initial value condition set, the optimal solution of the linear matrix equation set is calculated through the new iteration sequence, and the optimal solution is the minimum norm solution for stabilizing the singular vibration system. According to the method, under the condition of a specific initial value, the norm of the controller is minimum, and energy can be optimally utilized while a control target is achieved.

The invention discloses a PID controller optimization design method, device and equipment and a storage medium. The method comprises the steps of building a controlled object dynamic model which is composed of a linear model and an unknown high-order nonlinear term; designing a first PID controller according to the linear model; superposing an output signal of the first PID controller with an unknown compensation signal to serve as a control input signal; acting the control input signal on the controlled object dynamic model to obtain a closed-loop control system dynamic model; designing the unknown compensation signal according to the dynamic model of the closed-loop control system to obtain a designed compensation signal; and constructing a second PID controller according to the first PID controller and the designed compensation signal. The PID controller optimization design method solves the problem that a traditional PID control technology cannot be applied to a complex industrial process, and has the advantages of being easy to implement, high in safety and high in reliability.

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.