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

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.

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.

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 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.

An apparatus for controlling an MDPS system may include: a column torque sensor configured to sense column torque applied to a steering column of a vehicle; a vehicle velocity sensor configured to sense vehicle velocity of the vehicle; an MDPS basic logic unit configured to decide a first assist command current for driving an MDPS motor in a manual driving mode of a driver; an autonomous driving control unit configured to decide a second assist command current for driving the MDPS motor in an autonomous driving mode of the vehicle; and a mode switching control unit configured to decide a weight into which the driver's steering intention is reflected, and apply the decided weight to the first and second assist command currents to decide a final assist command current for driving the MDPS motor when the vehicle is switched from the autonomous driving mode to the manual driving mode.

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.

An inverter control device is disclosed. The device is configured: for determining a fundamental-wave magnitude of a phase-voltage corresponding to a modified voltage; for performing a proportional-integral (PI) operation of an error between the fundamental-wave magnitude of the phase-voltage and a magnitude of a reference voltage, and for outputting a compensation voltage; configured for adding the compensation voltage to the magnitude of the reference voltage to obtain an output; and for over-modulating the output and for outputting the over-modulated output as the modified voltage.

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 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 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 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 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 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.