60results about How to "Guaranteed control stability" patented technology

The invention discloses a communication control method and apparatus for an unmanned aerial vehicle. The method comprises the steps of: detecting whether network parameters corresponding to a current network meet preset conditions; when the network parameters meet the preset conditions, generating a network switching request of a communication network; sending the network switching request to a control terminal; and if receiving a switching confirmation instruction returned by the control terminal in a preset time period, according to the switching confirmation instruction, switching the current network into a target network. Namely, when the unmanned aerial vehicle detects that the current network is interfered, the unmanned aerial vehicle generates the communication network switching request and fulfills the communication network switching aim by communication with the control terminal, so that the problem that the unmanned aerial vehicle is out of control due to interference to the communication network can be avoided, thereby improving control stability and safety of the unmanned aerial vehicle.

The invention relates to a thermal power generating unit coal feed amount control method based on frequency modulation and peak regulation of a power grid. The method includes the following steps that a thermal power generating unit coal feed amount control loop interface based on frequency modulation and peak regulation of the power grid is added to a logical configuration coal feed amount control loop of an original coordination control system; logical configuration of a thermal power generating unit coal feed amount control loop based on frequency modulation and peak regulation of the power grid is carried out, and output of the logical configuration of the thermal power generating unit coal feed amount control loop based on frequency modulation is introduced to the thermal power generating unit coal feed amount control loop interface based on frequency modulation and peak regulation of the power grid to serve as feedforward signals for controlling the coal feed amount; the control system is put into actual operation, according to the real-time operation curve, relevant parameters of the thermal power generating unit coal feed amount control loop based on frequency modulation and peak regulation of the power grid are set online, and finally the expected control effect is achieved. By means of the existing DCS coordination control system, the real time performance is good, the on-site debugging process is simple, and project realization is facilitated. By judging the operating state of the unit, the coal feed amounts of the unit in different operation states are accurately controlled, fast load response of the unit participating in frequency modulation and peak regulation and the stability of main parameters are guaranteed, the labor intensity of operators is reduced, and the safety and the economical efficiency of operation of the unit are greatly improved.

The invention provides a roll-shape configuration method of an ultra-wide six-roll variable-crown cold continuous rolling mill. The method adopts a configuration scheme of a small-side-wave control working roll shape, a continuously-variable-crown middle roll shape and a variable-crown supporting roll shape, wherein the design of the small-side-wave control working roll shape eliminates local wave shapes by reducing the screw-down rate of the edge part of band steel; the continuously-variable-crown middle roll shape mainly controls symmetric secondary wave shapes; and the variable-crown supporting roll shape can lead the contact pressure among rolls to be uniform so as to improve the self retainability of the roll shape. By utilization of the roll-shape configuration method provided by the invention, the wave-shaped problem in the process of producing the ultra-wide six-roll variable-crown cold continuous rolling mill can be obviously solved and the quality of a plate shape can be improved.

An apparatus and method for controlling a linear compressor and a linear compressor and a refrigerator having the same are provided. The apparatus may include a drive configured to drive the linear compressor based on a control signal, a detector configured to detect a motor current of the linear compressor, an asymmetric current generator configured to generate an asymmetric motor current by applying a current offset to the detected motor current, and a controller configured to generate the control signal based on the asymmetric motor current. The current offset may be changed based on a change in a position of a piston of the linear compressor.

The invention discloses a distributed type hybrid power system based on an aviation piston engine and belongs to the technical field of aerospace. The distributed type hybrid power system is mainly composed of the aviation piston engine, a coaxial type electric generator, fuel tanks, a rectifier, a system controller, motors, propellers and the like. The aviation piston engine generates power to drive the coaxial type electric generator to generate electricity, and through conditioning of the rectifier, electric energy of the electric generator or a standby battery is distributed by a system management module to the motors to drive the propellers to generate thrust or lift force.

The invention belongs to the technical field of automatic control of thermal power generating units, and particular relates to a frequency and peak load modulation all condition coordination control method of heat supply unit. The method is used for automatic control during power grid frequency and peak load modulation under various conditions of the heat supply unit, and main parameters are automatically controlled in a reasonable range while rapid and stable responding of frequency and peak load modulation of the unit is guaranteed. Particularly, the power grid frequency and peak load modulation requirements of the heat supply unit under various conditions are automatically met by optimizing control logic of a DSC (distributed control system) of the heat supply unit. Coordination control stability and accuracy while the unit participates in frequency and peak load modulation and main steam pressure control stability and accuracy under various operation conditions of the heat supply unit are guaranteed, the equipment potential is fully developed, and the stability of main parameters is guaranteed while the power grid frequency and peak load modulation requirements are met. The labor intensity of an operator is reduced effectively, the control effect doesn't rely on the technical level of the operator, the real time performance is good, the site commissioning process is simple, and a project can be realized favorably.

An electronically controlled suspension system according to the present invention comprises a sensor unit for extracting and providing a vertical acceleration component of a vehicle body of a vehicle; a signal processing unit for calculating a vertical velocity of the vehicle body using the vertical acceleration component provided by the sensor unit; a control gain determining unit having a control gain set according to the amplitude of the vertical acceleration component, and detecting the amplitude of the vertical acceleration component provided by the sensor unit and extracting a control gain corresponding to the detected amplitude; a control command value calculating unit for calculating a control command value using the control gain provided by the control gain determining unit and the vertical velocity of the vehicle body provided by the signal processing unit; and a damper driving unit for driving the variable damper based in the control command value. According to the present invention described above, a control command value for use in controlling a damping force of a damper is calculated using a nonlinear control gain according to a signal outputted from a speed or vertical acceleration sensor, thereby securing ride comfort and control stability.

The invention discloses a dual-driving servo control device of a large-torque serial swing table. A rolling outer frame of the swing table is driven by double motors, and a pitching inner table top of the swing table is driven by double swing cylinders. A control device comprises an upper computer, a lower computer, a servo control cabinet and a rotary angular displacement sensor. The servo control cabinet is internally provided with a servo controller, a bus communication card, a data collection card, a signal conditioning module and a power amplification module. Control methods include a dual-driving control method of the double motors and a dual-driving control method of the double swing cylinders. According to the invention, the dual-driving servo control methods of the large-torque serial swing table comprises the dual-driving control method of the double motors and the dual-driving control method of the double swing cylinders, and an angular displacement feedback differential inhibition method and a gravitational torque compensation method are utilized, so that the control stability is effectively ensured, and the control precision and the angular displacement waveform distortion degree are improved.

The invention discloses a five-joint robot and a control method thereof. The five-joint robot comprises four mechanical arms connected in sequence and a joint assembly used for driving the mechanicalarms to move, and each mechanical arm comprises a base, a main mechanical arm body, a first horizontal arm, a second horizontal arm, a wrist arm and a rotating part; the main mechanical arm bodies arearranged on the bases and used for achieving movement in the vertical direction; the first horizontal arms are connected with the main mechanical arm bodies and used for achieving rotation in the horizontal rotation; the second horizontal arms are connected with the first horizontal arms and used for achieving rotation in the horizontal rotation; the wrist arms are arranged at the tail ends of the second horizontal arms and used for achieving rotation in the vertical direction; the rotating parts are arranged at the tail ends of the wrist arms and used for achieving axial rotation. Accordingto the five-joint robot, height positioning is achieved through ascending and descending movement of the main mechanical arm bodies, positioning of the horizontal plane at any position is achieved through horizontal rotation of the first horizontal arms and second horizontal arms, flexible space operation is comprehensively achieved by combining movement of the wrist arms and rotating parts, and the control precision is high.

The invention provides a belt type cam phaser. The belt type cam phaser comprises a belt pulley (1), a rear cover plate (2), a rotor (3) and a shell structure, wherein the rear cover plate (2) and the shell structure are connected for forming a working cavity in a sealed mode, the rotor (3) is installed inside the working cavity, and the belt pulley (1) is located on the outer side of the rear cover plate (2) and is connected and fixed to the rear cover plate (2). The working cavity can be formed by connecting a shell (7) and the rear cover plate (2) in a sealed mode or connecting the shell (7), a front cover plate (6) and the rear cover plate (2) in a sealed mode. According to the belt type cam phaser, the belt pulley actually is not involved in sealing of the working cavity of the belt type cam phaser, and therefore the belt pulley avoids the possibility of external leakage of powder metallurgy, the phenomenon that a belt type cam phaser assembly leaks due to the belt pulley is effectively prevented, and the response speed, the control accuracy and the control stability of the belt type cam phaser assembly are guaranteed.

The invention discloses a drive-by-wire air pressure braking system controller and a control method thereof. The controller is composed of a main control chip unit, a driver braking signal collectionunit, a pressure signal collection unit, an ABS solenoid valve driving unit, a front bridge module driving unit and a rear bridge module driving unit; the main control chip unit is internally providedwith a single-chip microcomputer, the driver braking signal collection unit and the pressure signal collection unit are connected with a signal input end of the single-chip microcomputer separately to collect vehicle signals, and the ABS solenoid valve driving unit, the front bridge module driving unit and the rear bridge module driving unit are connected with a signal output end of the single-chip microcompute separately to output braking control signals. According to the control method based on the controller, a double-logic threshold method is adopted for conducting pressure increase and decrease control in sections. The controller highly integrates a signal collection function with a control circuit, the interior of the controller is processed by circuit optimization to improve the anti-interference performance and ensure the control accuracy and stability of a braking system, and by combining the control method, fast pressure generation and accurate pressure control of the systemcan be achieved.

The invention discloses an adaptive process control system of a condenser for a ship, and relates to the field of control for condensers for ships. The adaptive process control system comprises a control unit, an operation display unit, a regulating valve of a circulating water pump, a water level regulating valve, a regulating valve of an air ejector, a thermal deaeration regulating valve, a condensate temperature sensor, a circulating water inlet temperature sensor and a steam flow sensor; the operation display unit, the regulating valve of the circulating water pump, the water level regulating valve, the regulating valve of the air ejector, the thermal deaeration regulating valve, the condensate temperature sensor, the circulating water inlet temperature sensor and the steam flow sensor are respectively connected with the control unit; the four regulating valves are connected with the operation display unit; and the operation display unit is further connected with a pressure sensor and a water level sensor. The operation display unit displays data of the pressure sensor and the water level sensor, transmits operation signals to the four regulating valves and transmits manual / automatic signals of the regulating valves and the data of the sensors to the control unit; and the control unit receives the data and valve position feedback signals of the four regulating valves and simultaneously transmits valve position control signals to the corresponding regulating valves. The adaptive process control system has a condenser process control strategy self-adaptation function specific to different control modes, and the reliability and the safety of the process control system of the condenser for the ship are improved.

The invention discloses a course control method for reducing invalid steering. The method comprises the steps of calculating a broad-spectrum wave filter coefficient; resolving a coefficient matrix required in the step of control component filtering; and carrying out a Kalman filtering state quantity calculation step. A result provides a step of calculating a basic control quantity and the step ofcontrol component filtering, because the basic control quantity and the filtering control component are calculated at the same time, large-phase lag caused by the fact that a band elimination filteris adopted for filtering firstly and then participates in calculation of the control quantity can be avoided, and therefore the control precision and stability of a ship course control system can still be guaranteed during filtering. After the calculated final rudder control quantity is sent to a steering engine control unit, effective control over the course can be achieved at a low steering frequency under the interference of stormy waves, and mechanical abrasion of ship steering engine equipment can be reduced.

The invention provides a production method of high-quality PPTA (poly(p-phenylene terephthalamide)) resin and a PPD (p-phenylenediamine) stirring vessel, and belongs to the technical field of polymermaterials. The method for obtaining the high-quality PPTA resin comprises the following steps: blending of an NMP / CaCl2 complex solvent; preparation of a PPD solution; measuring of TPC (terephthaloylchloride); condensation polymerization; blank treatment. The PPD stirring vessel is also provided, PPD dissolution parameters such as temperature, stirring speed, dissolution time and the like are optimized, and all PPD can be dissolved and participate in the condensation polymerization. Pre-polymerization and the condensation polymerization are carried out in the same reactor, the technological process is short, the total molar ratio is easy to control, repeated transfer of materials is avoided, and influence of residues in the system on the molar ratio and influence of deterioration of deposited materials at dead corners of a conveying system on the reaction are avoided.

The invention relates to a control device for a steering wheel of an unmanned vehicle. The control device comprises a driver and a driver supporting arm, wherein the driver comprises a steering wheel toggle clip, a base supporting frame, a reduction gearbox and a motor; the steering wheel toggle clip is fixed on the steering wheel of the unmanned vehicle; the base supporting frame is fixedly connected with the steering wheel toggle clip; the motor is connected with the base supporting frame through the reduction gearbox; the driver supporting arm comprises a vacuum chuck, a universal joint direction adjuster, a supporting extending arm and a connecting bracket; the vacuum chuck is arranged on a front windshield; the connecting bracket is arranged on the reduction gearbox; the universal joint direction adjuster and the supporting extending arm are connected between the vacuum chuck and the connecting bracket in turn; the reduction gearbox and the motor are supported and fixed by the driver supporting arm; the base supporting frame is driven to rotate by the motor through the reduction gearbox; the steering wheel is driven to rotate by the base supporting frame through the steering wheel toggle clip. Compared with the prior art, the control device provided by the invention has the advantages of no damage to a vehicle body, convenience in mounting, safety, reliability and the like.

The invention provides an improved decoupling control method for a hybrid energy storage system based on a quantum particle swarm algorithm and bilinear interpolation, and the method comprises the steps: obtaining a delta-type equivalent circuit according to a Y-delta conversion principle for a circuit of the hybrid energy storage system, solving an equivalent inductance L and an inductive currenti according to the delta-type equivalent circuit, and calculating the soft switching characteristics and switching tube loss; and then calculating the influence of converter soft switching characteristics and switching tube loss on decoupling parameters on the basis of traditional decoupling control, and improving a decoupling model. And finally, solving the improved decoupling model according toa quantum particle swarm algorithm; obtaining a corresponding table of the current value and the phase angle of the stable working point; obtaining a steady-state working point by inputting a currentreference value and looking up a table, and substituting into a bilinear interpolation method for operation, so that the control precision is improved under the condition of low resolution, decoupling control parameters of the hybrid energy storage system are obtained, decoupling control is further realized, the pressure of real-time calculation of a controller is reduced, and the control precision of the hybrid energy storage system is improved.

The invention relates to a non-vehicle-mounted charging and discharging control system and method based on the Hamiltonian control principle. The non-vehicle-mounted charging and discharging control system and method are applied to a non-vehicle-mounted charging and discharging machine to achieve friendly and stable charging and discharging control over an electric vehicle. The non-vehicle-mountedcharging and discharging machine adopts a bidirectional DC / DC and DC / AC two-stage main circuit topology. A virtual synchronous machine control method based on the Hamiltonian principle is introducedinto a bidirectional DC / AC interface, and passive control over charging and discharging is achieved through active adjustment control, rotor motion control, flux linkage control, virtual impedance control and voltage and current loop control. According to the invention, the Hamiltonian control method is combined with the virtual synchronous machine technology, a novel control system with passivityand inertia friendliness is provided for off-board charging and discharging, the energy attribute of the electric automobile can be brought into full play, the bidirectional friendly interaction capacity of the electric automobile and a power grid is improved, and stable and reliable interface guarantee can be provided for the electric automobile to participate in power grid frequency and voltageadjustment.

The invention belongs to the field of electric vehicle networked control technologies and systems, and particularly relates to an electric vehicle networked control system robust predictive control device and a control method thereof. The device comprises an input module, a decision-making module and an output module which work cooperatively, and high-performance prediction control of an electricvehicle networked system can be achieved. The electric vehicle networked control system control device can fully compensate adverse effects of network time lag on system control performance, improvesreal-time performance of a vehicle prediction control device with low time delay as a main characteristic, enhances robustness of an electric vehicle networked control system, ensures vehicle controlstability, and technical method support is provided for designing a high-performance vehicle controller and improving vehicle operation safety.

The present invention provides a heterojunction bipolar transistor that combines stable control of its fabrication and a low collector-voltage dependence of base-collector capacitance. An HBT includesa semiconductor substrate having first and second principal surfaces opposite each other; and a collector layer, a base layer, and an emitter layer stacked in this order on the first principal surface side of the semiconductor substrate. The collector layer includes a first semiconductor layer with metal particles dispersed therein, the metal particles each formed by a plurality of metal atoms bonded with each other.

The invention provides a power supply device, apparatus and control method. The power supply device is provided with: a power supply which is mounted to an apparatus; a switch which is operated when the apparatus is started and stopped; a conversion module which is provided with a plurality of conversion units capable of performing voltage conversion on power supplied by the power supply, and in which the plurality of conversion units are electrically connected in parallel; a selection unit for selecting, for each operation number, i.e. the number of conversion units which are to perform voltage conversion, one pattern from among a plurality of patterns indicating combinations of the conversion units which are to perform voltage conversion; and a control unit for controlling the conversionmodule such that the conversion units indicated by the pattern selected by the selection unit perform voltage conversion. The selection unit changes the selected pattern when the switch is operated.In the plurality of patterns, the combinations of conversion units which are to perform voltage conversion differ from each other in at least one operation number.

The invention discloses a rotation control method and device of a coarse pointing device for space optical communication. The method comprises the following steps: S1, acquiring a path curve of the coarse pointing device rotating from a current position angle to a target position angle; S2, discretizing the path curve by taking the control period as a sampling period, and decomposing the data to obtain a target angle corresponding to each control period; and S3, controlling the coarse pointing device to rotate towards the target position angle until the actual position angle of the coarse pointing device is equal to the target position angle, and controlling the coarse pointing device to rotate to the target angle corresponding to the control period in each control period in the rotating process. According to the invention, the coarse pointing device stably rotates to the target position angle along with the planned path curve, the angular velocity and the angular acceleration are restrained, shaking and power fluctuation generated when the laser communication coarse pointing device works can be greatly reduced, the control stability of the whole satellite is guaranteed, the impacton a power source is reduced, and the power consumption of the satellite is reduced.

The invention discloses an intelligent winding coating method, which is implemented in an intelligent winding coating production line. The intelligent winding coating production line includes a coating working area, a coil storage area, an intelligent control center and an intelligent coil loading and unloading system. ;The coating work area is equipped with more than 2 coil coating machines; the intelligent coil loading and unloading system mainly includes the loading and unloading execution unit and the track, the track passes the coating work area and the coil storage area; the coil storage area is divided into different storage areas. For rolls of different types of coils, different partitions are identified by partition barcodes; the coil coating method mainly includes the coating process, the coil loading and unloading process, and the coil storage and removal process. These three work processes are controlled by intelligence The center autonomous control is completed. The intelligent control center collects the coating process information of each coil coating machine in real time and forms a process file. The process file is mapped one-to-one with the product barcode of each roll of the coated flexible film coil.

The invention discloses a column type gas tank device for an edge sealing process. The column type gas tank device comprises an edge sealing machine body, wherein a first unit is arranged on one side in the edge sealing machine body, a second unit is arranged at the position, in the edge sealing machine body on the side of the first unit, a third unit is arranged at the position, in the edge sealing machine body on the side, far away from the first unit, of the second unit, the third unit is internally provided with a front air inlet and outlet column type gas tank, and the second unit is internally provided with two sets of side air inlet and outlet stand column type gas tanks. By using the column type gas tank device disclosed by the invention, operation of the first unit, the second unit and the third unit is effectively ensured, one machine with a plurality of gas storage tanks is further achieved, air can be well supplied in sections, the pressure and a flow of a gas source are ensured, a distance between the gas source and a unit mechanism is shortened at the same time, the reliability and the control stability of the units are ensured, and moreover, the sufficient gas demand quantity of the first unit, the second unit and the third unit is ensured.

The invention discloses an unmanned boat track tracking control method based on a disturbance observer and a fuzzy system. Aiming at the three control difficulties of system nonlinearity, model uncertainty and external interference in the track tracking control process of the unmanned boat, the present invention designs a track tracking control method of the unmanned boat based on the interference observer and the fuzzy logic system. . Design a disturbance observer to observe and compensate for external disturbances such as sea wind, waves, and currents encountered by the unmanned vehicle during navigation, and design a fuzzy logic system to estimate and compensate for the uncertainty of the model of the unmanned vehicle system. Based on the nonlinear dynamics of the unmanned vehicle The sliding mode controller is designed by the learning model to ensure the stability and effectiveness of the navigation control of the unmanned boat.

The invention discloses a multi-body coupling attitude control method and system based on zero-force control. The method comprises the following steps: acquiring disturbance torque generated between a satellite platform and a rotating mechanism due to movement of the rotating mechanism; and calculating a compensation torque according to the disturbance torque and an expected zero torque, and controlling a corresponding rotating mechanism to act according to the compensation torque so as to counteract the influence of the movement of the rotating mechanism on satellite platform control. The rotating mechanism between the satellite platform and the effective load is used as an intermediate medium, and the satellite platform is compensated by controlling the rotating mechanism to act according to the compensation torque, so that the influence of load rotation on satellite platform control is reduced, the attitude control precision and stability of the satellite platform are improved, and the reliability of the satellite platform is improved. Decoupling of satellite platform control and load rotation is achieved, and the requirement for satellite platform control when different space pointing directions of multiple loads are provided at the same time can be met.

The invention discloses an automobile driving mode emission testing method. During a test, an automobile is located in a testing environment chamber and in an aerial state, and the testing environment chamber provides temperature and environment simulation; then, according to a testing standard, an accelerator pedal of the automobile is stepped to accelerate wheels to the testing standard speed, the speed is maintained unchanged for a period of time according to the testing standard, and then the automobile exhaust gas emission is detected whether reaches the standard or not. The automobile driving mode emission testing method is characterized in that a mechanical structure throttle control device of the automobile driving mode emission test is obtained in advance, and the mechanical structure throttle control device is installed on the testing automobile to replace manual power to step the accelerator pedal to control. The automobile driving mode emission testing method has the advantages that in the driving mode emission test, the manual power can be replaced to achieve the accelerator stepping action, the stability of throttle control is guaranteed, the testing precision is improved, the integrity of the testing automobile can be guaranteed, meanwhile, the implementation is simple, and the operation is convenient, rapid, stable and reliable.

The invention discloses a building small crane and an achieving method thereof. The building small crane comprises a crane body. A traction box, a supporting column, stability maintaining columns, a winding and unwinding barrel, an extension rod and a controller are arranged on the crane body. The center position of the bottom end of the traction box is fixedly connected with the top end of the supporting column. The winding and unwinding barrel and the controller are arranged in the traction box. The front end of the extension rod is rotationally connected with the top end of the supporting column. The extension rod is provided with a support rod. The support rod and the extension rod can rotate. A hard rubber pad is arranged at the bottom end of the support rod. The controller is electrically connected with a touch screen. The touch screen is embedded in the front surface position of the traction box. When the building small crane is actually applied, hoisting is stable, the structure is firm, winding and unwinding strength is high, and the pull force is large; the effects that the hoisting length in the horizontal direction can be adjusted, the hoisting power is large, noise islow, and stability is high are achieved; and the whole device is installed and transported conveniently and rapidly, and the building small crane and the achieving method thereof are suitable for application and popularization.

The invention relates to a method for controlling the primary air volume of a thermal power unit based on power grid frequency modulation and peak regulation. The steps are as follows: in the logic configuration of the original coordinated control system, increase Thermal power unit primary air volume control loop interface based on power grid frequency and peak regulation; carry out logical configuration of thermal power unit primary air volume control loop based on grid frequency and peak regulation, and introduce its output to the thermal power unit primary air volume control circuit interface based on power grid frequency and peak regulation It is used as the feed-forward signal of the hot primary air main pipe pressure at the outlet of the primary fan and the primary air volume control of a single coal mill; the control system is put into actual operation, and according to the real-time operation curve, the primary air volume control loop of the thermal power unit based on frequency modulation and peak shaving of the power grid is adjusted online Relevant parameters, and finally achieve the expected effect of the control line. Through the existing DCS coordination control system, the present invention has good real-time performance, simple on-site debugging process, and is convenient for engineering realization.