213results about How to "Improve control performance" patented technology

The invention discloses a nonlinear output feedback flight control method for a quad-rotor unmanned aerial vehicle. The nonlinear output feedback flight control method for the quad-rotor unmanned aerial vehicle comprises the following steps of: (1) determining a kinematic model of the quad-rotor unmanned aerial vehicle under an inertial coordinate system and a kinematic model of the quad-rotor unmanned aerial vehicle under a body coordinate system; (2) designing an attitude control system of the quad-rotor unmanned aerial vehicle; defining tracking errors of the attitude angle and the angular speed of the quad-rotor unmanned aerial vehicle; designing a filter to perform online estimation on an angular speed signal and obtain an open loop dynamic equation of the tracking errors; and estimating unknown functions in the open loop dynamic equation by adopting neural network feedforward, and designing attitude system control output of the quad-rotor unmanned aerial vehicle; and (3) designing a height control subsystem of the quad-rotor unmanned aerial vehicle; defining height tracking errors and defining auxiliary filtering tracking errors; and designing a height subsystem controller. According to the nonlinear output feedback flight control method for the quad-rotor unmanned aerial vehicle disclosed by the invention, the polarity problem is effectively avoided, a wide-range stable control effect is achieved, the robust performance of the system is greatly improved, and the dependence of a flight controller on an airborne sensor is greatly reduced.

A surface acoustic wave device is provided. The surface acoustic wave device includes a piezoelectric substrate and an IDT which is disposed on the piezoelectric substrate and made of Al or an alloy containing Al as a main component and using an SH wave as an excitation wave, wherein the piezoelectric substrate is a rotated Y-cut quartz plate having a cut angle θ set to a range of −64.0°<θ<−49.3° rotated counterclockwise from a Z crystalline axis and a propagation direction of a surface acoustic wave set to a direction of 90°±5° with respect to an X crystalline axis, wherein, when a wavelength of an excited surface acoustic wave is denoted by λ, an electrode film thickness H / λ normalized with wavelength of the IDT is set to a range of 0.04<H / λ<0.12, and wherein, when a line occupancy rate mr of electrode fingers constituting the IDT is defined to be electrode finger width / (electrode finger width+electrode finger spacing), the line occupancy rate mr is set to a range of 0.53≦mr≦0.65.

The invention discloses a moment control gyro frame disturbance moment restraining method. The disturbance moment is a main factor for influencing the control accuracy of a moment control gyro frame system. In the prior art, the restraining capacity to the large low-frequency disturbance moment is insufficient, the restraining capacity to the high-frequency disturbance is obviously insufficient, and the key problem which restrains the continuous improvement on the frame control accuracy exists. According to the moment control gyro frame disturbance moment restraining method, robust control, angle accelerated speed disturbance observation and repeated control are used for achieving effective restraining on the non-linear low-frequency disturbance moment led in through the factors such as the gyro moment, and particularly, the high restraining capacity on the high-frequency disturbance moment led in through the unbalanced vibration of a rotor is achieved. Compared with the prior art, the moment control gyro frame disturbance moment restraining method can further improve the moment control gyro frame control performance.

The invention discloses a hydraulic servo rolling mill for producing battery pole sheets, which comprises a pedestal, a frame arranged on the pedestal, a lower mill roller and an upper mill roller both arranged inside the frame, a computer-controlled press-down servo hydraulic cylinder connected on a bearing seat for holding the rollers, and computer-controlled roller-bending hydraulic cylinders respectively arranged outside the lower bearing seat of the lower mill roller and the upper bearing seat of the upper mill roller to adjust the bearing clearance between the lower and the upper mill rollers. The invention has three control modes of constant-pressure, constant-clearance and constant-thickness rolling of battery pole sheets, achieves on-line real-time control of position and pressure of the roller and the thickness of the battery pole sheet, ensures the arbitrary switch among the three control modes, thereby meeting higher requirement for the accuracy of battery pole sheets.

A flow control valve includes a main body 1, bonnet 2, spring receiving portion 3, piston 4, spring 24, first diaphragm 27, first valve member 5, second valve member 6 and base plate 7, wherein an opening area of a hydraulic control portion composed of a valve element of the second valve member and a valve seat of the main body is changed according to a motion of the piston.

The invention relates to the implantation field of broadband ion beams, and discloses a mass analyzing magnet for broadband ion beams. The mass analyzing magnet comprises a magnet and a coil connected with a power supply. The magnet comprises magnetic poles, a magnet yoke and magnetic shielding plates, the magnetic poles comprise an upper magnetic pole and a lower magnetic pole, the magnetic shielding plates comprise an upper magnetic shielding plate and a lower magnetic shielding plate, and a magnetic field space for the broadband ion beams to pass in a certain route is arranged between the upper magnetic pole and the lower magnetic pole. The invention further discloses an implanter system, which comprises an ion source, an extraction electrode unit, a deflection speed-reducing unit, a mass analyzing magnet, a target workpiece and workpiece transmitting unit, a beam flux measuring and diagnosing unit and a control unit. The invention has the beneficial effect of high quality resolution and nearly zero system aberration, and can generate pure broadband ion beams of 300mm, 450mm and even 1000mm, thereby improving the quality of ultra-low energy ion beams generated by a speed reducer and decreasing the angular dispersion of the ultra-low energy ion beams.

The invention discloses a direct-current pre-excitation starting method for the VVVF (Variable Voltage Variable Frequency) control of an asynchronous motor under flux linkage control, belonging to the technical field of the starting control of asynchronous motors. The direct-current pre-excitation starting method for the VVVF control of the asynchronous motor under the flux linkage control is characterized in that an included angle for synthesizing an excitation current vector and a starting voltage vector in a starting process is 90 degrees; a current is decomposed according to a known voltage vector direction for the VVVF control to obtain a reactive current feedback value; and the reactive current feedback value is converted into a voltage regulation value by gain amplification to control the flux linkage. In the invention, the direct-current pre-excitation and the starting process are controlled sequentially by using a DSP (Digital Signal Processor) chip. The method has an inhibition effect on the peak current subsequently appearing in the starting process.

The invention discloses a device for detecting the brake performance of a disk damper brake of a friction type elevator. A speed photoelectric encoder is mounted at the shaft end of a friction roller; the speed photoelectric encoder is connected with a programmable controller of a data detection processing and control center; an electric eddy displacement sensor is mounted on a butterfly-shaped spring cylinder body of the disk damper brake; and the end face of the electric eddy displacement sensor and the end face of a damper brake shoe subjected to maximum wear maintain the same plane. The device can be applied to a mine friction type elevator and also can be applied to a mine winding type elevator and other mechanical equipment using the disk damper brake as a brake device.

The invention provides an adjacent five-vector SVPWM (space vector pulse width modulation) method based on five-phase six-line topology, belongs to the field of motor control, and aims to solve the problem that the control performance of the conventional SVPWM method under a five-phase five-line topology structure is poor. The method comprises the following steps of step 1, as 12 power switch pipes in five-phase six-line topology carrying out SVPWM has 64 switch states, calculating voltage space vectors corresponding to the 64 switch states, and obtaining 64 voltage space vectors; step 2, judging the position of a reference voltage space vector, selecting five adjacent non-zero voltage space vectors and two zero vectors as action vectors according to the position of the reference voltage space vector; step 3, calculating the action time of the action vectors; and step 4, outputting a bridge arm switch signal by adopting a symmetric modulation mode according to the action vectors and the action time, thereby realizing SVPWM.

The present disclosure provides a touch display panel including a self-capacitance or mutual-capacitance type touch display panel, a manufacturing method and a method driving for the same and a display device. The self-capacitance type touch display panel includes an array substrate having a first metal layer and self-capacitance touch electrodes, and a touch control chip. Each touch electrode includes common electrodes, first metal layer includes touch lead wires corresponding to the touch electrodes, and each touch electrode is connected with the touch control chip via a corresponding touch lead wire. The touch lead wire is configured to transmit a common electrode signal to the touch electrode during a display stage, to transmit a touch scan signal to the touch electrode during a touch stage, and to transmit a touch signal, which is generated by the touch electrode at a position where a touch operation occurs, to the touch control chip.

The invention discloses a high-precision thermostat and method based on fuzzy self-adaptive PID control, and belongs to the technical field of automatic control. The control method comprises a model establishment step, a fuzzy PID self-adaptive control step, a Kalman filtering step and an object control step. The thermostat comprises a master control chip, a temperature data acquisition module, a heating and cooling module and an input and display module. According to the invention, data fusion is performed on a theoretical temperature value of the fuzzy self-adaptive PID control and a temperature value measured by a thermocouple through a Kalman filtering algorithm and the heating and cooling module is driven to realize accurate temperature control, such that the constant-temperature controller has a quite accurate control effect, and the error rate is only 0.02%.

The invention relates to a safe and efficient operation active adhesion controlling method for a motor train unit. The method comprises the following steps: S1, designing an adhesion torque observer for estimating an adhesion torque il between train wheels and a rail in real time according to a single-axis dynamical model and the full-dimensional state observer principle; S2, deriving an adaptive limiting torque Tlim of a traction motor according to the adhesion torque il, a body acceleration value a and a variable step length algorithm; and S3, designing an adhesion controller according to the daptive limiting torque Tlim of the traction motor and a motor output torque index value Tm* given by a superior traction control system, to coordinate traction control and adhesion control. The method effectively improves the traction braking efficiency of a train, reduces wheel-rail wear, strengthens safe and stable operation of the train, prolongs the service lives of wheels and rails, improves the comfort of passengers and reduces energy consumption of the train.

The invention provides an electric wheel automobile steering road feeling and whole automobile stability control method. The method comprises the steps of firstly, building a steering and whole automobile system dynamics model, then, designing an ideal steering road feeling characteristic diagram, then, obtaining a steering road feeling controller, providing the proper steering road feeling for adriver, and finally obtaining a whole automobile stability controller so that the whole automobile can kept in stable running under various working conditions. By considering factors such as externaldisturbance, road surface parameter changes and sensor noise, robust mixed road feeling control is performed; then, by synthesizing the influence of road feeling control on the automobile state, wholeautomobile stability robust control is performed. Accordingly, the steering road feeling and control stability of an electric wheel automobile can be effectively improved.

A control technique controls a process in a manner that reduces the number of controller changes provided to a controlled device, and so reduces the power consumption of the controlled device along with the loading of a process control communications network disposed between the controller and the controlled device. This technique is very useful in a control system having wirelessly connected field devices, such as sensors and valves which, in many cases, operate off of battery power. Moreover, the control technique is useful in implementing a control system in which control signals are subject to intermittent, non-synchronized or significantly delayed communications and / or in a control system that receives intermittent, non-synchronized or significantly delayed process variable measurements to be used as feedback signals in the performance of closed-loop control.

The invention relates to a production method for medium plates used in bridges with the high strength and toughness of 460Mpa and belongs to the technical field of bridge steels. The smelting production technique with the carbon content of 0.07 percent to 0.10 percent is used, and the carbon content is less than or equal to 0.040 percent by the converter endpoint; and the carbon adding is controlled by using silicon ferromanganese iron and micro-carbon ferromanganese to be matched with manganese, desulfurizating the large argon with the opening of 100 percent and heating the argon with the opening of 30 percent; the micro-alloying of Nb, V and Ti is used; the micro-alloying is treated in vacuum after being refined in a ladle furnace; the sheet slab constant casting speed casting technique guarantees the casting blank quality; two stages of control rolling are carried out on a heavy plate mill, and the rerolling temperature is 850 DEG C to 950 DEG C, and the finish rolling temperature is 790 DEG C to 810 DEG C; a rolled control cooling system with the finish cooling temperature of 630 DEG C plus or minus 20 DEG C and the cooling temperature of 10 to 15 DEG C / S is used for obtaining ferrite and pearlite tissues; the yield strength of the steel plate is more than or equal to 460Mpa, the toughness under the low temperature of minus 40DEG C is more than or equal to 100J. The production method for the medium plates has the advantages that the tissue, the property and the welding adaptability of the steel plates can be controlled stably and a trail is blazed in the technical route of producing the bridge steel plates with the high strength and toughness of 460Mpa.

The present invention relates to a rotating inverted pendulum, belonging to an experimental equipment for teaching and scientific research. It includes pendulum bar, motor, driving component, supporting frame and its control system. The pendulum bar is connected with motor shaft by means of driving component, the driving component is a rigid rotating arm, its one end is fixedly connected with motor shaft and another end is hinged with pendulum bar, the motor shaft is horizontal, and the surfaces of revolution of the rotating arm and pendulum are vertical.

The invention discloses a full-degree-of-freedom underwater vehicle and a control method thereof, and relates to the technical field of ROVs. A cabin part and a propeller part of the underwater vehicle are fixed to an integral support part and connected through a cable. The propeller part is composed of eight propellers, the propeller part is provided with a symmetry plane I, a symmetry plane II and a symmetry plane III, every two of the symmetry plane I, the symmetry plane II and the symmetry plane III are orthogonal, and the rotating directions of adjacent propeller blades are opposite. Theeight propellers are completely and symmetrically arranged, and blades of the adjacent propellers rotate differently, so that the underwater vehicle can complete actions of advancing, retreating, floating, diving, left-right translation, left-right turning, left-right tilting and overturning, low-head-rising rotation and fixed-depth hovering posture, and full-degree-of-freedom movement of front-back, left-right and up-down movement and overturning of the underwater vehicle is realized. In the process, translation and rotation are mutually independent, the resultant force during translation isonly a force vector coinciding with the translation direction, the resultant force during rotation is only a couple coinciding with the rotation direction, and the control effect is stable.

The invention discloses a nickel-nano-diamond composite plating solution, which is in blend composition with the size ratio 0.1-2:22 through the modified nano-diamond water or dilute sulfuric acid solution and the water solution of nickel sulfate, nickel chloride, boric acid, saccharin and butynediol. The invention also discloses the preparation method of the composite plating solution. The composite plating solution of the invention has a high degree of stability, in which the key issues existed in the composite plating technique of nano-diamond that the nano-diamond is easy to be in agglomeration and settlement and the plating solution is unstable are resolved. Moreover the composite plating solution is in favor of the stable control of the structure and properties of the composite coating. During the preparation process, the ultrasound technology and the organic surface-active agent are not required to use, which is not only help reduce the plating cost, but also the environmental problems resulted from the adoption of the organic surface-active agents comprising sulfur, phosphorous and other elements are avoided. The composite coating obtained from the plating solution through a simple plating process is bright and smooth. Compared with the coating that the nano-diamond is not comprised and obtained under the same conditions, the micro-hardness of the composite coating can be increased at most by 38%, and the coefficient of friction can be reduced by 29%.

The invention discloses a direct-current side voltage control method for a flexible multi-state switch at an unbalanced power grid voltage; the method comprises the following steps that when multipleports of the flexible multi-state switch suffer from the unbalanced power grid voltage at the same time, a direct current side voltage active power fluctuation mathematical model is established; positive-sequence and negative-sequence synchronous rotation coordinates are established under the traditional UdcQ control, wherein in the positive sequence, the traditional PI control voltage outer ringis adopted to inhibit transient voltage fluctuation; meanwhile, the two-frequency-frequency fluctuation amount of the direct-current side voltage is transformed into a negative-sequence current instruction after passing through a resonance controller, a resonance closed loop is formed to directly restrain the two-frequency ripples of the direct-current side voltage; and finally, floating control is realized by adopting positive and negative sequence current inner ring PI control. According to the method, the two-frequency voltage fluctuation caused by unbalanced power grid voltage can be effectively inhibited, and the service life of the capacitor is prolonged; and meanwhile, generation of harmonic current is avoided, and the method is suitable for single-port and multi-port unbalanced conditions.

The invention discloses an absolute-type grating control system and a control method based on an industrial Ethernet bus. A numerical-control system main station is sequentially connected with an input / output (IO) unit, a digital main-shaft drive device, a feeding shaft drive device and a grating adapter slave station protocol data unit (PDU) through the industrial Ethernet bus, and the grating adapter slave station PDU is connected with an X-axis linear grating, a Y-axis linear grating, a Z-axis linear grating and an angle grating. The grating adapter slave station is flexibly adaptive to different grating devices, so that higher communication throughput, higher communication rate and shorter communication period can be realized, direct high-speed cross communication between a servo system and the grating devices can be realized, and a simple and powerful technical support can be provided for the implementation of a closed-loop vibration inhabitation function. Meanwhile, a closed-loop control system adopts an annular topology, so that simplicity in connection can be realized, the slave station device can be flexibly expanded, the closed-loop control system has multiple system protection functions, and the safety and efficiency for running the system can be guaranteed.

The invention discloses a wearable gesture control device for controlling movement of a robot in human-computer collaborative remanufacturing, which belongs to the field of robot control, so as to solve the problem that the existing control performance on the robot is poor. The control device comprises a wearable device and an upper computer, wherein the wearable device comprises a single chip microcomputer and at least three six-axis movement sensors; the at least three six-axis movement sensors are arranged on fingers of an operator for acquiring angle velocity and acceleration information; the single chip microcomputer is used for determining a gesture of the operator according to the velocity information acquired by the six-axis movement sensors; and the upper computer is used for controlling the six-axis robot to move according to the determined gesture. Human-computer interaction in remanufacturing can be realized, the defect of a tedious robot control process can be solved, and the control performance on the robot by the person can be improved.

The invention relates to modulation method and implementation circuit for a unit vector to carrying out the time-delay superimposition of a multi-level space vectors, belonging to the field of electrical energy conversion and solving the problem that a cascading type inverter is modified by adopting a traditional multi-level SVM (Support Vector Machine) method, vector selection is needed, and a calculating method is complicated. The modification method comprises the following steps of: equalizing the unit of each stage of a three-phase N-stage unit cascading type inverter into two double-level three-phase inverters; calculating the output voltage vector of a left bridge arm equivalent inverter of the first-stage unit at the beginning time of a calculating period by adopting a double-level space vector modification method; acting the voltage vector on a left bridge arm equivalent inverter of an ith-stage unit after the voltage vector is delayed by (i-1)Ts / 2N; and after delaying, acting on a right bridge arm equivalent inverter of the ith-stage unit so as to realize the output of a multi-level PWM voltage wave form. The implementation circuit consists of a DSP (Digital Signal Processor) chip and a field programmable gate array (FPGA). The invention is used for Modulating the multi-level space vector of the cascading type inverter.

The invention discloses a fuzzy PID control method, device and system. The method comprises the steps: calculating a PID control parameter through a first preset algorithm; calculating a fuzzy algorithm parameter through a second preset algorithm, wherein the fuzzy algorithm parameter is used for calculating a fuzzy control parameter, and the first preset algorithm or the second preset algorithm is a single-variable distribution estimation algorithm; obtaining the output quantity and target quantity of a controlled object, wherein the controlled object is a control object of a fuzzy PID controller, and the target quantity of the controlled object is a preset target output quantity of the controlled object; determining the control parameter of the controlled object according to the output quantity and target quantity of the controlled object, the PID control parameter and the fuzzy algorithm parameter; and inputting a determined control parameter to the controlled object. According to the invention, the method solves a problem that the control performance of a fuzzy PID control method in the related technologies is poorer.

The invention relates to a right control method for a network appliance system. The right control method comprises the following steps that activated network appliances are bound by a registered user, and a network server distributes the ownership of the network appliances to the registered user; the ownership of the network appliances only can be activated once; and the registered user with the ownership distributes the control right of the network appliances. The appliances in a network only have a fixed owner; large interaction data caused by unclear ownership are avoided; reasonable attribution distribution of the control right on the network appliances can be effectively guaranteed; and the control performance of the network appliances can be improved.

The invention relates to a comprehensive cooling control method of a new energy vehicle driving motor. The control method comprises the following steps: firstly, introducing two parameters, namely anenvironment temperature Tamb and a vehicle speed Vhost, which have great influence on cooling of a driving motor M into control of a water cooling system; in combination with a specific algorithm, obtaining a target heat dissipating capacity Qaim needing auxiliary heat dissipation of a water cooling system, and further obtaining a target water inlet temperature Taim for cooling the driving motor M; calculating the rotating speed requirements of the water pump P and the fan F based on the temperature, and fusing the operation control logic to obtain the control duty ratios of the water pump P and the fan F; and finally, outputting pulse width modulation control PWM signals through a controller hard wire, and achieving starting, stopping and rotating speed control over the water pump P and the fan F. According to the control method, the two parameters of the environment temperature Tamb and the vehicle speed Vhost are introduced into control over the water cooling system, the heat dissipation requirement of the driving motor M is considered and calculated more comprehensively and meticulously, work of the water pump P and work of the fan F can be controlled more accurately based on the requirement, and energy consumption for heat dissipation is effectively reduced.

The embodiment of the invention discloses a high-precision positioning method applied to a rotary cutter. For the adjustment of the lap of a cutter head, a mechanical structure and an electric structure of the rotary cutter are combined together to simplify the calculation process and change the control mode of a servo motor into a speed mode control. The high-precision positioning method overcomes mechanical clearance errors of the superposition of a plurality of gears; and the horizontal clearance is controlled by an improved mechanical clearance compensation method to eliminate the influence on the positioning precision of the cutter head because of the mechanical clearance changes caused by abrasion. The high-precision positioning method has the advantages of high positioning precision, simple program implementation algorithm, stable control effect and quick response speed, can improve the trimming material yield of strip steel and reduce the time for variable specification adjustment, and is very helpful for improving the output of acid cleaning strip steel and increasing the economic benefit of a production line.

A control unit for a switching converter has an inductor element coupled to an input and a switch element coupled to the inductor element. The control unit generates a command signal with a switching period to control the switching of the switch element and to determine a first time period where an inductor current is flowing in the inductor element for storing energy and a second time period where energy is transferred to a load. The second time period has an end portion where the inductor current drops to zero. The control unit determines the duration of the first time period based on a comparison between a sensing voltage, indicative of the peak value of the inductor current, and a reference voltage. A pre-distortion stage pre-distorts the reference voltage in order to compensate for a corresponding distortion on an input current of the converter compared to a desired sinusoidal characteristic.

An optical head apparatus is made to be downsized while obtaining an sufficient driving force of an objective lens actuator. The optical head apparatus includes a first optical system including a first objective lens for focusing a light beam upon an optical disc; a second optical system including a second objective lens for focusing a light beam upon an optical disc having an information recording density smaller than the optical disc which the first optical system irradiates upon, the second objective lens having a numerical aperture smaller than the first objective lens; and an up-orienting prism including a first reflecting surface for deflecting a light beam to an optical axis of the first objective lens in the first optical system, and a second reflecting surface for deflecting a light beam to an optical axis of the second objective lens in the second optical system.