35results about How to "Precise Tracking Control" patented technology

The invention discloses a robust adaptive underactuated surface ship path tracking control method based on a fuzzy unknown observer. The robust adaptive underactuated surface ship path tracking control method based on the fuzzy unknown observer comprises the following steps that an unmanned ship kinematics and dynamics model is established; a path tracking error dynamic state is built; a line-of-sight guidance law with variable speed is proposed; a fuzzy logic system is established; and a controller based on the fuzzy unknown observer is designed. In a guidance subsystem, the line-of-sight guidance law with the variable speed is proposed, the control flexibility and robustness of a guidance system are improved, and the position error is enabled to be asymptotically stabilized to zero; andin a control subsystem, the fuzzy unknown disturbance observer is designed to estimate the unknown disturbance quickly and accurately, and effective compensation is carried out on the designed speed and a heading controller, so that the tracking error between a guidance signal and actual quantity is asymptotically stabilized back to zero. The involved algorithm framework can enable a whole closed-loop system to be globally asymptotically stabilized, and the control flexibility and tracking accuracy of a path tracking control system are greatly improved.

The invention discloses an accurate control method for a path tracking of an unmanned ship based on a dual guidance of the speed and the heading. The method comprises the following steps of: establishing a kinematics model and a dynamics model of the unmanned ship; constructing an error dynamics of the path tracking; designing a dual guidance law of the speed and the heading; and designing a finite-time interference observer. According to the accurate control method for the path tracking of the unmanned ship based on the dual guidance of the speed and the heading, the dual guidance law of thespeed and the heading provided by the control method can simultaneously guide the speed and the heading angle according to the path tracking errors, and improves the stability and flexibility of the path tracking control system. The finite-time interference observer constructed by the control method can accurately observe the complex external disturbances; ensures that the observation error is zero for a finite time; and can avoid the limitations of bounded observations and asymptotic observations. The control method designs a speed and heading tracking controller combining the design of a finite time observer and the back stepping control technology, so that the guidance signal can be accurately tracked in the presence of a complex interference, thereby achieving the accurate control forthe path tracking of the unmanned ship.

The invention provides a quadruped robot biped support phase force hybrid force control method. The method comprises the steps of (S1) projecting the overall movement of a robot to a radial plane and a normal plane, (S2) establishing a control model, simplifying the movement of the robot along the radial plane as a plane seven-connection-rod model, and simplifying the movement along the normal plane as a linear inverted pendulum model, and simplifying the plane seven-connection-rod model as a plane virtual telescoping leg model, wherein the control target of the plane virtual telescoping leg model is a mass center height, a body pitch angle and a horizontal displacement, (S3) carrying out hybrid controlling according to a control model, establishing the kinetic equation of the plane virtual telescoping leg model and establishing the kinetic equation through a Newton-Euler method, controlling the mass center height and the body pitch angle through a position servo method, and using the double-ring control method of outer ring position and inner ring foot end force for the horizontal displacement of a virtual telescoping leg plane model. The method has the advantages of good control effect and the improvement of robot adaptability.

An optical disk of the present invention includes a substrate and a recording layer disposed above the substrate, and reproduces an information signal by a DWDD system, using light incident from the substrate side. The optical disk further includes a first dielectric layer disposed between the substrate and the recording layer and a second dielectric layer disposed on the recording layer opposite to the substrate, wherein the recording layer is initialized with light having a wavelength lambd incident from the second dielectric layer side, and the thickness of the second dielectric layer is in a range of lambd / (12xn) to lambd / (2xn) (where n is a refractive index of the second dielectric layer).

The invention provides a method and a system for automatically tracking sun for solar heat collectors. The system comprises an intelligent control unit, a two-quadrant photoelectric detector, a signal conditioning-amplifying circuit, an electronic control module, a servo motor, a speed reducer and a slot-type paraboloid reflecting mirror. The electronic control module provides corresponding working signal instructions for the servo motor and a brake device, and drives the slot-type paraboloid reflecting mirror to be in alignment with the sun. The invention performs closed-loop feedback-type control by taking clock program control as a main means and taking the real-time contrasting and monitoring of the two-quadrant photoelectric detector as an auxiliary means, so as to obtain stable reliable sun-tracking control effect. The invention replaces the prior oil pressure mode with a mechanical transmission mode, allows a heat collector to be more stable to rotate and position in the process of tracking light, and cannot be disturbed by external factors. In addition, as the invention does not need oil pressure stations, the invention saves construction input and is more convenient in construction.

The invention discloses a multi-joint heavy-load hydraulic robot system and a high-precision motion control method. The multi-joint heavy-load hydraulic robot system consists of a power system, a sensing detection and data acquisition system, a computer control system and a mechanical arm body system. According to the high-precision motion control method, a dynamic model of a hydraulic robot is established, the system is compensated by considering the uncertainty of the system and modeling errors, and accurate tracking and control are achieved without changing parameters under different loading mass; the mechanically and hydraulically coupled system is layered through a nonlinear adaptive robust control method, an adaptive updating rate is introduced, the uncertainty of the system and theinfluence of external interference are overcome, the joint angle tracking error gradually tends to zero, and the transient state, the steady state performance and the anti-interference capability of the system are improved; the physical meaning of parameters of a controller is clear, the number of the parameters is small, and the tuning of the parameters of the controller is simple and has a theoretical basis; and the stability and convergence of the system are guaranteed by using a Lyapunov stability function, so that the overall robust stability of all signals is ensured.

The invention discloses a photovoltaic array maximum power point tracking method based on chaos optimization search. By sampling the direct-current voltage Vpv and the current Ipv which are output by a photovoltaic array in real time, the output power p(k) of the photovoltaic array is calculated and compared with the current maximum power value p* prestored by an MPPT controller; if p(k)>p*, the value of p(k) is assigned to p*, and the value of Vpv is assigned to the output voltage x* of the MPPT controller; otherwise, the value of p(k) is abandoned, and the value of p* and the value of x* are kept unchanged. Then, the voltage x* output by the MPPT controller and the voltage Vpv output by the photovoltaic array are added to a summator, and a generated error voltage is added to the in-phase end of the summator after being subjected to the proportion-integration link and then compared with a sawtooth voltage added to the anti-phase end of a comparator, so that the duty ratio of gate drive signals of a switch tube in a DC / DC converter is changed, the parameters of a DC / DC conversion circuit are regulated and controlled, and maximum power tracking control can be achieved. The photovoltaic array maximum power point tracking method based on chaos optimization search is high in tracking speed and control precision.

An image processing device which performs a tracking control with respect to a moving object which is travelling forward, based on the controlled variable of the own vehicle includes, an image processing unit which specifies an area of a moving object from an input image, sets the specified area of the moving object as a reference image area after starting tracking control, and sets an area of the moving object after a predetermined time as a comparison image area; a comparison unit which compares the set reference image area and the comparison image area with each other, and calculates travelling information relating to the moving object; and a controlled variable calculation unit which calculates a controlled variable of the own vehicle from travelling information which is calculated in the comparison unit.

In a method and device for controlling and / or monitoring the function of a secondary air supply in an emission control system of an internal combustion engine, the emission control system includes at least two catalytic converters situated in succession in an exhaust duct, it being possible for the second catalytic converter to be implemented as a combination of catalytic converter and particulate filter. For a secondary air diagnosis and for secondary air control, a two-point lambda probe is situated, with respect to a direction of flow of exhaust gas, downstream of the first catalytic converter. Measures are applied for compensating tolerance and aging effects of the two-point lambda probe. This results in particular in cost advantages in emission control systems for fulfilling stricter emission requirements. In particular, this makes it possible to operate the particulate filter in optimized fashion.

The invention provides an anti-interference tracking control system and a control method thereof for the compensating current of an active power filter, and belongs to the field of inverter current tracking and control. The system comprises a voltage reference circuit, a D / A conversion circuit, an A / D conversion circuit, a synchronous sampling and holding circuit, a network-side voltage zero-crossing detection circuit, a gate driving pulse circuit, a current detection signal conditioning circuit, a DSP control unit and a storage unit. The system integrates a high-performance digital signal processor with the advanced linear self-disturbance rejection control algorithm, so that the control precision and the control effect are greatly improved. The rapid real-time tracking of the compensating current on the directive current can be realized. According to the technical scheme of the invention, the following five technical effects are realized. Firstly, the system is simple in hardware structure and convenient to operate. Secondly, the DSP is powerful in digital signal processing capability, fast in execution speed, and good in real-time performance. Thirdly, the advanced linear self-disturbance rejection control strategy enables the tracking control of the compensating current to be more accurate and more accurate, so that the effect is better. Fourthly, the system is better in anti-interference performance. Fifthly, the active filtering performance is improved.

The invention discloses a self-adaptive inverse tracking control method for a super-magnetostrictive tracking platform. The self-adaptive inverse tracking control method comprises the following stepsthat firstly, a left inverse model of a super-magnetostrictive actuator is obtained through offline identification; secondly, based on a Filtered-epsilon LMS algorithm, two completely identical nonlinear filters are used for copying the left inverse model of the super-magnetostrictive actuator; finally, an error signal obtained by output subtraction of the two nonlinear filters is utilized to finda controller in a self-adaptive mode, the weight coefficients of the filters are adjusted online by adopting the LMS algorithm till the output of the super-magnetostrictive actuator is identical to the output of a reference model, wherein the input of one of the two completely identical nonlinear filters is an object output, and the input of the other nonlinear filter is the output of the reference model. By offsetting the delaying portion of the super-magnetostrictive actuator, accurate tracking control of the super-magnetostrictive actuator is achieved.

The invention provides a control system of a constant-temperature and constant-humidity air supply device for pharmaceutical equipment. With the control system of the invention adopted, temperature and humidity control precision can be improved; and the performance of the system in tracking outlet air temperature and humidity control is improved. The control system comprises a control unit, a high-power rear heater, a low-power rear heater, an incoming air temperature and humidity sensor (2), a differential pressure sensor (3), a front surface cold temperature and humidity sensor (6), a rear surface cold temperature sensor (9) and an outgoing air dew point and temperature and humidity sensor (13). According to the control system of the invention, the control quantity of an outlet air temperature control loop acts on the high-power rear heater and the low-power rear heater through a split-ranging control algorithm, so that the precision of temperature control over outlet air is improved, and the response time of the temperature control is shortened; existing humidity open-loop control is changed into closed-loop control, and the humidity control effect of a regeneration heater is realized, and therefore, humidity control precision is jointly improved, and the performance of the system in tracking outlet air humidity control is improved.

The invention discloses a photovoltaic array maximum power point tracking method based on chaos optimization search. By sampling the direct-current voltage Vpv and the current Ipv which are output by a photovoltaic array in real time, the output power p(k) of the photovoltaic array is calculated and compared with the current maximum power value p* prestored by an MPPT controller; if p(k)>p*, the value of p(k) is assigned to p*, and the value of Vpv is assigned to the output voltage x* of the MPPT controller; otherwise, the value of p(k) is abandoned, and the value of p* and the value of x* are kept unchanged. Then, the voltage x* output by the MPPT controller and the voltage Vpv output by the photovoltaic array are added to a summator, and a generated error voltage is added to the in-phase end of the summator after being subjected to the proportion-integration link and then compared with a sawtooth voltage added to the anti-phase end of a comparator, so that the duty ratio of gate drive signals of a switch tube in a DC / DC converter is changed, the parameters of a DC / DC conversion circuit are regulated and controlled, and maximum power tracking control can be achieved. The photovoltaic array maximum power point tracking method based on chaos optimization search is high in tracking speed and control precision.

The invention belongs to the technical field of welding robot control, and discloses an embedded visual tracking control system of an autonomous mobile welding robot, comprising: a laser for generating structured light and projecting the structured light to the surface of a weldment, the structured light generating an image of distorted stripes at a weld joint of the weldment; the industrial camera is used for collecting a welding seam image containing distortion stripes, a welding gun position image and an inclination angle image of the surface, needing to be welded, of a weldment and transmitting the images to the embedded image processing controller through the 5G network transmission module; the embedded image processing controller is used for processing the weld seam image of the distorted stripes to realize weld seam tracking; and according to the deviation of the welding gun position image and the identification of the inclination angle image of the to-be-welded surface of the weldment, the wheel type moving platform and the cross slide block mechanism are controlled to move coordinately. Embedded visual tracking control is adopted, the professionality is high, precise tracking control over the welding robot is achieved through hardware and software control, and the automation level of the welding robot can be improved.

An optical disc apparatus has: an optical head 400 for emitting a light beam onto a predetermined track of an optical disc 300 before tracking control in order to detect reflected light with a photodetector; an arithmetic circuit 130 for generating measurement signals each indicative of a time-varying change of light received on a respective one of a plurality of light receiving areas of the photodetector; an A / D converter circuit 140 for A / D converting each measurement signal; a microcomputer 190 for determining a correction value based on a difference, in terms of high- and low-frequency components, between measurement signals having been A / D converted; and an adder circuit 180 for adding the correction value to a driving value output from a tracking control circuit 170, so that the driving value is corrected.

The invention discloses a photovoltaic power generation single-axis tracking control system. The photovoltaic power generation single-axis tracking control system comprises a controller, a signal detection unit for converting an acquired optical signal into an electric signal and transmitting the electric signal to the controller, a motor controlled by the controller and used for driving a photovoltaic module to rotate synchronously so as to track sunlight, and a first position detection unit and a second position detection unit both respectively for detecting an initial rotation position and an ended rotation position of the photovoltaic module, wherein the first position detection unit and the second position detection unit compose a detection device used for limiting a rotation angle range for tracking the sunlight of the photovoltaic module; the controller controls the motor based on the signals detected by the first position detection unit and the second position detection unit; and the motor is in transmission connection with the photovoltaic module. The photovoltaic power generation single-axis tracking control system has a simple structure, a rational design, convenient and simple operation, low cost, good use effects, and capabilities of solving the problems of a complex structure, fussy control process, high investment cost and great difficulty in the assembling and maintaining process of the conventional photovoltaic power generation single-axis tracking control system.

An optical disc apparatus has: an optical head 400 for emitting a light beam onto a predetermined track of an optical disc 300 before tracking control in order to detect reflected light with a photodetector; an arithmetic circuit 130 for generating measurement signals each indicative of a time-varying change of light received on a respective one of a plurality of light receiving areas of the photodetector; an A / D converter circuit 140 for A / D converting each measurement signal; a microcomputer 190 for determining a correction value based on a difference, in terms of high- and low-frequency components, between measurement signals having been A / D converted; and an adder circuit 180 for adding the correction value to a driving value output from a tracking control circuit 170, so that the driving value is corrected.

A diffraction element for an optical pick-up apparatus is capable of precisely controlling the tracking of the pick-up apparatus. The diffraction element includes a diffraction grating divided into a first, a second, and a third region. The second region is located between the first and third regions. Any one of the first region and the third region is inclined at a predetermined angle θ with respect to the second region.

The invention discloses a turnover box warehousing system. According to the turnover box warehousing system, carrying out information tracking on a turnover box thorugh information flow mode; readingthe information of the turnover box from the warehousing process; performing automatic tracking on turnover stack type information along a turnover box warehousing conveying assembly line path; recognition and judgment through detection devices are not needed, photoelectric sensors used for detecting the appearance of a turnover box by an unstacker crane is avoided, meanwhile, information trackingcontrol is more accurate, the situation that turnover box appearance information is judged wrongly due to factors of the photoelectric sensor is avoided, and the technical problem that existing turnover box warehouse-in control is high in error rate is solved.

The invention discloses an automatic parking path tracking method based on transverse and longitudinal decoupling, and the method comprises the steps: calculating the distance DTH from the real-time position of a vehicle to a target point according to the real-time position coordinates of the vehicle and the position coordinates of the target point, and outputting the calculated distance to a vehicle longitudinal control module; the method comprises the following steps: calculating a course angle error EYaw by using a target track and a real-time vehicle course angle, calculating a transverse position error EPos by using the target track and a real-time vehicle position coordinate, calculating a target curvature by using the target track, and outputting the calculated course angle error, transverse position error and target curvature results to a vehicle transverse control module. According to the method, tracking control can be accurately carried out according to the planned path, and the posture of the vehicle is adjusted in real time, so that the vehicle is accurately parked to the target position.

The invention provides a method and a system for automatically tracking sun for solar heat collectors. The system comprises an intelligent control unit, a two-quadrant photoelectric detector, a signal conditioning-amplifying circuit, an electronic control module, a servo motor, a speed reducer and a slot-type paraboloid reflecting mirror. The electronic control module provides corresponding working signal instructions for the servo motor and a brake device, and drives the slot-type paraboloid reflecting mirror to be in alignment with the sun. The invention performs closed-loop feedback-type control by taking clock program control as a main means and taking the real-time contrasting and monitoring of the two-quadrant photoelectric detector as an auxiliary means, so as to obtain stable reliable sun-tracking control effect. The invention replaces the prior oil pressure mode with a mechanical transmission mode, allows a heat collector to be more stable to rotate and position in the process of tracking light, and cannot be disturbed by external factors. In addition, as the invention does not need oil pressure stations, the invention saves construction input and is more convenient in construction.

An image processing device which performs a tracking control with respect to a moving object which is travelling forward, based on the controlled variable of the own vehicle includes, an image processing unit which specifies an area of a moving object from an input image, sets the specified area of the moving object as a reference image area after starting tracking control, and sets an area of the moving object after a predetermined time as a comparison image area; a comparison unit which compares the set reference image area and the comparison image area with each other, and calculates travelling information relating to the moving object; and a controlled variable calculation unit which calculates a controlled variable of the own vehicle from travelling information which is calculated in the comparison unit.

The invention discloses a self-adaptive inverse tracking control method for a super-magnetostrictive tracking platform. The self-adaptive inverse tracking control method comprises the following stepsthat firstly, a left inverse model of a super-magnetostrictive actuator is obtained through offline identification; secondly, based on a Filtered-epsilon LMS algorithm, two completely identical nonlinear filters are used for copying the left inverse model of the super-magnetostrictive actuator; finally, an error signal obtained by output subtraction of the two nonlinear filters is utilized to finda controller in a self-adaptive mode, the weight coefficients of the filters are adjusted online by adopting the LMS algorithm till the output of the super-magnetostrictive actuator is identical to the output of a reference model, wherein the input of one of the two completely identical nonlinear filters is an object output, and the input of the other nonlinear filter is the output of the reference model. By offsetting the delaying portion of the super-magnetostrictive actuator, accurate tracking control of the super-magnetostrictive actuator is achieved.

The invention discloses a path tracking control method of an automated driving vehicle. Firstly, left-and-right wheel drive voltages are obtained according to the state equation (1) of the left-and-right wheel drive voltages of the automated driving vehicle and the steering angle of the automated driving vehicle, and then the control voltage analog quantity is obtained through the linear relationbetween the left-and-right wheel drive voltages and the control voltage analog quantity and input in a motor controller; finally, the motor controller controls the left-and-right wheel drive voltagesaccording to the control voltage analog quantity, and path tracking control is achieved. According to the path tracking control method, large deviations existing in the driving process can be rapidlyand smoothly corrected, and precise path tracking control is achieved.

The invention discloses a tracking control method, device and medium of a redundant manipulator. The method includes: initializing the joint angle of the manipulator, the first CMAC network model and the second CMAC network model; obtaining the first joint angle and obtaining the target displacement ;According to the first joint angle and the target displacement, the first adjustment angle is obtained through the first CMAC network model; according to the first adjustment angle, the second joint angle is determined, and the movement of the mechanical arm is controlled according to the second joint angle; the third joint angle is obtained , and determine the target Jacobian matrix through the second CMAC network model according to the third joint angle; obtain the first position and the second position; update the first CMAC network model and the second CMAC network model according to the difference between the first position and the second position , take the third joint angle as the first joint angle, and then return to the step of obtaining the target displacement until the tracking control of the manipulator is completed. The technical scheme of the invention can deal with the interference brought by various uncertain factors to the model parameters.

The invention provides a constant temperature and humidity air supply device control system for pharmaceutical equipment, which can improve the temperature and humidity control accuracy and improve the tracking performance of the system to the outlet air temperature and humidity control. The control system includes a control unit. Heater, low-power rear heater, air inlet temperature and humidity sensor (2), pressure difference sensor (3), front surface cold temperature and humidity sensor (6), rear surface cold temperature sensor (9), air outlet dew point and temperature and humidity sensor (13). In the present invention, the control amount of the outlet air temperature control loop is applied to the high-power post-heater and the low-power post-heater through a split-range control algorithm, thereby improving the temperature control accuracy of the outlet air and speeding up the response time of temperature control; the existing humidity The open-loop control is changed to closed-loop control, combined with the control effect of the regenerative heater on the humidity, the control accuracy of the humidity is jointly improved, and the tracking performance of the system for the control of the outlet wind and humidity is improved.

The invention discloses a system and method for tracking and controlling the position of a steel plate of a moderate-thickness plate thermal treatment furnace. The method comprises the steps of calculating the process running speed and running logic of the steel plate according to a heating curve formulated by a process control model, issuing the process running speed and the running logic to a roller frequency converter in the furnace for execution, feeding back the actual speed of the steel plate according to an encoder, precisely tracking the position of the steel plate in the furnace, correcting the tracking position of the steel plate according to trigger signals fed back by a detector in a tracking area, enabling the running logic of the steel plate to be safely interlocked with the furnace feeding and discharging operations, controlling swing of the steel plate in process segments of the thermal treatment furnace, calculating and controlling the safety distance of the steel plate in the thermal treatment furnace, implementing the safety anti-collision strategy, drawing a steel plate dynamic graphics on a production monitor terminal in real time, and displaying the position information, the process information and the speed information of the steel plate in real time. According to the system and method, the difficult problems of precise tracking, speed control, safe interlocking, anti-collision control and the like of a moderate-thickness plate in the thermal treatment furnace can be solved well.

This application discloses a turnover box storage system. This application adopts the information flow method to track the information of turnover boxes, reads the information of the turnover boxes from the warehousing process, and automatically tracks the stacking type information of the turnover boxes along the transportation line path of the turnover boxes into the warehouse. It is no longer necessary to use detection devices for identification and judgment, eliminating the need for photoelectric sensors used in disassembling palletizers to detect the appearance of turnover boxes. At the same time, information tracking and control is more accurate, avoiding the situation of incorrect judgment of the appearance information of turnover boxes due to factors such as photoelectric sensors. , which solves the technical problem of high error rate in the existing turnover box storage control.

The invention provides a sunlight position finder simple in structure and low in cost for a single-axis solar trajectory tracking device. The sunlight position finder mainly comprises a light-shielding body, a first photosensitive element, a dustproof cover, a base and a second photosensitive element; wherein the first photosensitive element and the second photosensitive element are separated by the light-shielding body which is a wedge with two side surface having an intersection angle of 5 degrees; the first photosensitive element and the second photosensitive element are fixed on the base and form an angle of 45 degree with the base; the lead wire of the photosensitive members are led out of the lower portion of the base, and is connected to the single-axis solar trajectory tracking device; the dustproof cover covers the light-shielding body, the first photosensitive element, the base and the second photosensitive element and is entirely transparent. The sunlight position finder user a few components, is low in overall cost, and simple in structure and can precisely control the single-axis solar trajectory tracking.