32results about How to "Meet real-time control requirements" patented technology

The invention discloses a legged robot stability control method and system with the environmental adaptation. The control method comprises the following steps of: comparing the relevant parameter information of a previous earth contact process with a control target expected to reach; carrying out feedback control to the horizontal kinematic velocity of a flight phase and total system energy; predicting and controlling the earth contact angle, and carrying out system energy compensation control; and finally, realizing the expected stable periodic motion of a legged robot serial line internet protocol (SLIP) equivalent model under different ground environments. The system comprises a system status detection module and a stable control module. According to the legged robot stability control method and system with the environmental adaptation, a specific robot dynamics model does not need to be built, an accurate fixed-point earth contact angle does not need to be calculated, and dominated convergence is realized by feedback control. The control method is simple and is quick in calculating, and the problems of insufficient control instantaneity, insufficient adaptability and the like in the traditional method can be better solved. In addition, the control system has a better unknown environment adaptability, and a better solution is provided for the legged robot stability control.

The invention discloses a control method for high voltage electricity safety protection of a passenger vehicle. The control method comprises the following working processes of: power-on self-test, high voltage switch-on control, high voltage circuit state detection and high voltage electricity switch-off control; and a high voltage circuit is detected and controlled. In the mode, high voltage faults such as a high voltage circuit insulation fault, a high voltage interlocking fault, a grounding fault, a pre-charging fault and the like can be monitored by the control method; and the control method has the advantages that: working stability, accuracy and reliability are achieved, dynamic response speed is high, and the requirement of real-time control of a new energy passenger vehicle is well met.

The invention discloses a linear active disturbance rejection control modeling method for large-scale pressurized water reactor axial power distribution belonging to the field of electrical digital data processing; first, the original nonlinear model is used for model transformation to obtain an active disturbance rejection controller The designed second-order nonlinear model; then design the corresponding LESO, and then use the pole configuration method to derive the LESO gain parameters; determine the LESO bandwidth parameter ω based on the second-order model time scale and the total disturbance term time scale o ; and use the maximum possible deviation and the maximum allowable action speed of the actuator to determine the PD bandwidth ω c range, and based on ω c After setting the proportional gain and differential gain; tune the LESO bandwidth parameter ω o and PD controller bandwidth ω c , it is determined that the reactor power control system has completed ADRC. The invention solves the problems of nonlinearity, parameter uncertainty and external disturbance faced by the axial power distribution control design of a large pressurized water reactor, and satisfies the real-time control requirement.

The invention relates to a dynamic gas elastic foil bearing with stability and adaptive control functions, comprising a bearing casing, a plurality of bearing pads, an elastic foil, and a piezoelectric ceramics micro displacement actuator. The dynamic gas elastic foil bearing is characterized in that the bearing pads are uniformly distributed along the inner wall of the bearing casing; the bearingpads are welded with a bottom bump foil and one end of a top foil; the other end of the top foil is lapped over an adjacent top foil, wherein the piezoelectric ceramics micro displacement actuator with one end fixed on a set screw and the other end arranged on a jig is connected with two bearing pads; the piezoelectric ceramics micro displacement actuator is connected with a feedback controller PID; an input of the feedback controller PID is connected with an eddy current displacement sensor. The dynamic gas elastic foil bearing with stability and adaptive control functions has the advantagesof strengthened equivalent rigidity and equivalent damping of the elastic foil, restrained vibration of rotor system, improved bearing capacity and stability of the bearing, reduced size and structure, increased control precision of displacement, and quickened response speed.

The invention discloses a method for collecting data of a converter of an energy storage power station. The method comprises: step 1, a collector sends reading and writing instruction frames to the converter; step 2, when the value of a type code domain in the reading and writing instruction frames is the designated value, step 3 is conducted; step 3, the converter analyzes the bits in a function code domain in the reading and writing instruction frames from the first bit to the fortieth bit one by one, and the efficient value of a corresponding command register in a data domain is extracted; step 4, the converter analyzes the bits in the function code domain in the reading and writing instruction frames from the forty-first bit to the eightieth bit one by one, and the efficient value of a corresponding state register is written in the data field; step 5, responding frames are formed according to the structure of the reading and writing instruction frames and are sent back to the collector, when the value of the type code domain in the responding frames is the designated value, step 6 is conducted; and step 6, the collector analyzes the bits in a function code domain in the responding frames from the forty-first bit to the eightieth bit one by one, and the efficient value of the corresponding state register in the data domain is extracted. The method for collecting the data of the converter of the energy storage power station is capable of improving efficiency and real time performance of Ethernet communication.

The invention provides a real-time decision-real-time control mode-based safe and stable control system ("on-line real-time stable control system" for short). The system adopts an implicit fine integration method, a lesser degree minimum active precursor node number optimization algorithm, a multi-channel set sparse vector method, generator node voltage prediction, an on-line dynamic equivalence algorithm, an ultra-real-time transient stability simulation algorithm of an early termination calculation algorithm, as well as a power vacancy line searching algorithm, and a real-time stable controldecision algorithm for system damping characteristic distinguishing, instability energy and comprehensive sensitivity; and an adaptive control strategy rapid optimization algorithm and a high-speed communication technology are adopted for different instability types, so that a safe and stable control system of a "real-time decision-real-time control" mode is realized, and accurate closed-loop self-adaptive stable control is completed according to the real-time running state and fault information of a power grid.