35results about How to "Avoid the impact of control accuracy" patented technology

The invention discloses an automatic driving control method in a complex environment. The automatic driving control method comprises the following steps: 1, collecting data of a target vehicle; 2, separating characteristic data, and positioning the position of a target vehicle and the driving environment of the target vehicle; 3, obtaining the distance between the target vehicle and the lane marker line through calculation, wherein the difference value between the distance and the expected distance is calculated, judgment is conducted according to the difference value, if it is judged that following is kept, the step 6 is executed, and if not, the step 4 is executed; 4, judging whether the target driving environment meets a lane changing condition or not, if yes, executing lane changing, and if not, judging that following is kept, and executing the step 6; 5, enabling the target vehicle to change lanes, and executing the step 6 after lane changing is completed; and 6, regulating and controlling the driving track of the target vehicle according to a car-following keeping method. According to the invention, lane changing control of the target vehicle is ensured to reach enough precision, and reasonable and controllable construction and maintenance cost is ensured.

The invention provides a neural network self-adaptive control method applied to a servo system, aiming to improve the control accuracy of the servo system. The neural network self-adaptive control method realizes nonlinear compensation and interference suppression to the servo system and improves the tracking accuracy of the servo system. The servo system mainly comprises a reference model, a self-adaptive controller and a neural network controller. In addition, based on a speed ring accurate reference model, a position ring controller is very simple in design so that the whole system is rather convenient in design, thereby being easy to carry out in engineering.

The invention discloses a method for controlling the maximum torque-to-current ratio of a built-in permanent magnet synchronous motor, comprising: adopting a simple MTPA formula method, which can calculate the dq-axis reference current based on a constant parameter model in real time without mathematical approximation or lookup table. In addition, the virtual square wave signal is injected into the feedback current, and the MTPA criterion is extracted through the difference of the mechanical power before and after a square wave cycle, and the current deviation caused by the parameter change is corrected, without considering the influence of the real high frequency signal injected into the motor , without considering the impact of the filter on the dynamic performance of the system. Simulation results show that even though R and L d The change of will cause a certain Δi derror , but the combination of the formula method and the virtual square wave injection method can still track the MTPA trajectory more accurately. robustness.

The invention discloses an electro-optic modulator bias control circuit system with high locking precision, belonging to the technical field of Mach-Zehnder modulator operating point control, including a laser module, an electro-optic modulator, an optical fiber beam splitter, and a high-frequency photoelectric detection device, low-frequency photodetector, signal conditioning module, ADC and operating point setting module, MCU control module, DAC module, pilot frequency generation module, and signal mixing module. The present invention adds a 1KHz tiny perturbation signal to the input end of the electro-optic modulator, and processes the optical signal and the pilot signal contained therein separately after being detected by a low-frequency photoelectric detector, respectively improving the measurement accuracy of the two signals; and using The successive approximation method and the FFT algorithm have greatly improved the control accuracy and processing speed of the feedback signal; the PID algorithm is also used to control the ratio K of the amplitude of the DC signal output by the low-frequency detector to the AC signal, which improves the system Locking precision.

The invention relates to a method for testing satellite-earth time synchronization in a satellite semi-physical simulation test. The method comprises the following steps: S1, establishing a satellite dynamics simulation model, and operating the satellite dynamics simulation model in a satellite dynamics simulation computer; S2, generating a synchronous second pulse signal, and separately sending the synchronous second pulse signal to an on-board computer and the satellite dynamics simulation computer; S3, receiving, by the satellite dynamics simulation model, a time signal sent by the on-board computer in real time, comparing the time signal with a time signal corresponding to the second pulse signal, taking the time signal sent by the on-board computer as an orbit calculation time after a judgment is correct, and obtaining a satellite attitude quaternion through calculation; and S4, adopting a star sensor electrical signal source to receive the satellite attitude quaternion sent by the satellite dynamics simulation computer, simulation in-orbit star sky, transmitting the simulated in-orbit star sky to a star sensor, and then forming closed-loop control with the on-board computer through the star sensor. A time delay in data transmission can be reduced, time synchronization between the on-board computer and the ground satellite dynamics simulation computer is guaranteed, and test precision of a satellite control system is improved.

The invention provides an adaptive path tracking method based on a distributed drive electric vehicle, which includes the following steps: establishing a vehicle dynamics model and converting it into a state space equation; according to the vehicle dynamics model, combined with the variation range of tire cornering stiffness, establishing Vehicle vertex dynamics model; calculate the parameter estimation adaptation rate of the vehicle vertex dynamics model, and estimate the adaptive coefficient according to the real-time system state of the vehicle; establish a vehicle state prediction model based on the adaptive coefficient estimation result, and predict the future state of the vehicle and system output ; Establish path tracking optimization objective function, lateral speed constraint objective function and solve them, and obtain the first set of results of the optimal control sequence as the input of the front wheel angle and four wheel driving / braking torques at the next moment of the vehicle. The invention can solve the technical problem that the perturbation of tire cornering stiffness will reduce the control accuracy of the controller and reduce the robustness of the vehicle path tracking control when the vehicle autonomous path tracking is used.

The invention discloses a refining furnace. Through the refining furnace, the pressure in a combustion furnace and reverberatory furnaces can be controlled accurately. According to the key points of the technical scheme of the refining furnace, the refining furnace comprises the combustion furnace and the multiple reverberatory furnaces arranged on the side face of the combustion furnace; the combustion furnace is connected with a main channel; an auxiliary channel is arranged between the main channel and the upper portion of each reverberatory furnace; the main channel communicates with an air draft assembly; valve assemblies matched in the auxiliary channels are arranged in the auxiliary channels; each valve assembly comprises at least two valves rotationally connected in the corresponding auxiliary channel; a plurality of pressure detection assemblies are arranged in the combustion furnace and the reverberatory furnaces; and the valve assemblies and the air draft assembly are connected with a control assembly controlling the valve assemblies and the air draft assembly to operate so as to keep the pressure in the combustion furnace and the pressure in the reverberatory furnaces within the set range.

The invention discloses a method for controlling the temperature of molten iron in the production process of argon-oxygen refining ferroalloy. The method comprises the following steps: step 1, establishing an expert control rule table; Estimating the model design as the transfer function of the auxiliary channel; step 4, assuming that the gas source pressure provided by the oxygen and argon storage tanks is constant; step 5, completing the constant flow control of argon in each period, and at the same time, PLC is used as an inference controller to calculate the oxygen The opening of the flow regulating valve is sent to the oxygen flow regulating valve to complete the reasoning control for the main output, and the above process is repeated until the end of smelting is reached. Beneficial effects: it can solve the difficult problem of unmeasurable smelting temperature in the production process of argon-oxygen refining ferroalloy, and realize real-time control of smelting temperature. It can effectively solve the influence of time-varying decarburization rate and uncertainty on control accuracy during the smelting period. This method has a small amount of calculation, a simple algorithm, good real-time control, and is easy to implement.

The invention discloses an ARC control method based on the expected trajectory and disturbance compensation of a motor servo system, which belongs to the field of electromechanical servo control. The invention is based on the ARC control method, aiming at the uncertainty of system parameters, using a regressor based on the expected trajectory to perform automatic The design of the adaptation law can effectively reduce the impact of measurement noise on parameter estimation; the designed disturbance observer does not need to know the state information of the acceleration, and there is only one adjustable parameter, which effectively reduces the hardware cost and calculation burden, and is more effective. It is beneficial to the application in engineering; the adaptive robust algorithm adopted effectively overcomes the influence of nonlinear characteristics on the control accuracy of the servo system, and through theoretical proof and simulation analysis, the high-precision control performance of the proposed control scheme is verified , which guarantees the global asymptotic stability of the system.

The invention discloses a separate-controlled carburetor applicable to intelligent control, which comprises a main body, a choke, an air throttle, a main spray pipe, an oil needle, an air throttle stepping motor, an oil needle stepping motor, an air throttle stay wire and an oil needle stay wire. In the invention, the air throttle stepping motor and the oil needle stepping motor control the opening of the air throttle and the lift range of the oil needle through the air throttle stay wire and the oil needle stay wire respectively; when in use, the air throttle stepping motor and the oil needle stepping motor are connected with an electronic control unit of the motorcycle carburetor to carry out fine and independent control on gas supply quantity and oil supply quantity respectively according to an instruction of the electronic control unit of the carburetor so as to generate different air-fuel ratio so that an engine outputs proper torque and revolving speed, thus achieving the effects of saving oil and lowering emission; the stay wires replace the existing gear and rack mechanism, thus effectively avoiding influence of clearance among the gears on control accuracy; and the flexible characteristics of the stay wires can also prevent the moving parts pulled by the stay wires from eccentric wear, thus effectively lowering wear and prolonging the service life of the carburetor. Meanwhile, the carburetor has simple structure and low implementation cost.