45results about How to "Satisfied with the control effect" patented technology

The invention particularly relates to a design and setting method for an active disturbance rejection control system of a time delay system. According to the method, based on the active disturbance rejection technology, firstly, complex controlled objects are fit into a one-order inertial element plus dead time delay mathematic model, meanwhile, time delay comes down to the disturbance quantity, a time delay reduction linear extended state observer is applied to estimation of unknown total disturbance including the time delay, active compensation for the influences of the total disturbance on the system is achieved, the time delay system is restored into a system in an integrator tandem type in an ADRC standard, and then compensation for the time delay system is achieved; finally, a closed-loop transfer function of the system is deduced, a dead time delay link in a characteristic equation is eliminated, and the numerical relationship between an ADRC single-parameter setting formula with universality and adjustable parameters is correspondingly provided. The simulation result verifies that designed practical ADRC has good stability, rapidity, accuracy and disturbance rejection.

The invention relates to a device for identifying a non-linear process dynamic model, which comprises an experimental module and an identifying module. The experimental module is connected with a non-linear industrial process through DCS or PLC or other control machines and is connected with the identifying module. The experimental module generates an experimental signal and automatically carries out an experiment; and the identifying module uses the current process experimental data input by the experimental module to automatically identify the non-linear process dynamic model to check the quality of the model and send an adjusting signal according to the quality of the model, and the adjusting signal is input into the experimental module to adjust the current experimental parameter. The device for identifying the non-linear process dynamic model can be used for carrying out an identifying experiment and model identification for the non-linear industrial process, wherein the non-linear industrial process can be continuous, intermittent or feeding intermittent. An obtained non-linear process dynamic model can be used for model predictive controllers, conventional PID (proportion, integral and differential) controllers and other advanced process controllers, and can be also used for inference models for predicting product quality and soft measuring equipment.

The invention discloses an aquiculture pond dissolved oxygen control system comprising a data acquisition and transmission layer and a data storage and sharing layer, which communicate with each other in a wireless way. By studying the characteristics of nonlinearity, greater inertia, long time delay and time-variation of dissolved oxygen change in an aquiculture pond and the difficult problem that a larger culture area is hard to control, and according to the invention, an aquatic product pond dissolved oxygen control system based on a wireless sensor network is designed, comprises the data acquisition and transmission layer and the data storage and sharing layer and forms a wireless sensor network monitoring system for detecting, intelligently controlling and managing dissolved oxygen in the culture pond.

The invention provides a linear optimization control method for a hypersonic aircraft. The linear optimization control method comprises the following steps that 1, uncertainty of parameters in a mathematical model of the unpowered reentry process of the hypersonic aircraft, unmodeled dynamics and external disturbance are combined together and regarded as total disturbance, and an attitude loop model and an angular speed loop model are established; 2, a linear expansion state observer is designed, output estimation values and total disturbance estimation values of all the loops are obtained; 3,according to the output estimation values and the total disturbance estimation values obtained in the step 2, control input including a total disturbance compensation link and an error feedback control law is designed; and 4, a grey wolf optimization algorithm is adopted to adjust gains of the linear expansion state observer in the step 2 and gains of the error feedback control law in the step 3.According to the linear optimization control method for the hypersonic aircraft, design and parameter optimization of an auto-disturbance-rejection controller of the hypersonic aircraft are achieved,and the dynamic performance, the robust performance and the anti-disturbance performance of the hypersonic aircraft are improved.

The disclosed control method for large-power active filter comprises: detecting harmonic current on power-network / load side and calculating the compensation for harmonic current; detecting the fundamental current and dc side voltage of filter branch to obtain the dc side capacitance voltage control usage; synthesizing all compensation to obtain the control signal for the inverter of an active filter. This invention avoids voltage overshoot, and improves system filter and robustness.

The invention discloses a prepared traditional Chinese medicinal preparation for treating coronary disease and angina pectoris, which is prepared mainly from Chinese angelica root, root of red rooted saliva, radix paeoniae rubrathe, Ligusticum wallichii, curcuma aromatica, lilyturf root, cassia twig and root of bidentate achyranthes.

The invention relates to a loose conditioning moisture control method based on fuzzy PID. According to the method, the mode that a fuzzy control block and a PID control block are connected in parallel and overlaid is adopted, a digital PID controller is used in the PID control end of the entire model of the PID control block, feeding-back and inputting are conducted through the proportion (P), integration (I) and differentiation (D) operation, and a closed loop feedback mode is used for improving control accuracy. The fuzzy control block comprises a fuzzification interface, a rule base, a data base, an inference engine and a defuzzification interface. The fuzzy control block conducts fuzzification on PID output quantity first, afterwards, the established data base and the defined rule base are cited for calculation in the inference engine in order to make timely adjustment, finally data format reduction is carried out through the defuzzification interface, and output interfaces are overlaid ultimately. By means of the loose conditioning moisture control method based on the fuzzy PID, the requirement for exact match control can be met, an incoming material moisture pre-judgment mechanism can achieve timely self-regulation, and thus the purpose for improving moisture control ability is achieved.

The invention provides a coordination control system of double metal spiral compound pipe molding and welding, which is mainly composed of a general control system (1), a coordination control subsystem (2) for delivering steel bands and operating a forming machine, a switch coordination control subsystem (3) of inner and outer welding guns and protective gas, a coordination control subsystem (4) of welding speed and steel band molding speed and a control subsystem (5) of welding line tracking and welding quality, wherein, the general coordination control system (1) adopts a programmable logiccontroller (PLC) as an upper computer main controller and is connected with each subsystem; and each subsystem respectively adopts a single chip microcomputer or a DSP to be served as a lower computer subsidiary controller to carry out intelligent control on the subsystems. The control system in the invention has simple and direct composition, simple and applicable structure, low cost, easy debugging and maintaining, and can realize the coordination control of the compound pipe molding and welding with steadiness, accuracy and high precision.

The present invention provides an agricultural chemical enhancer composition comprising a mixture of (a) a fermentation product of one or more of red beans, peas, yellow corn, white corn, white rice,yucca, potatoes, manioc root, starch from vegetables sources, inorganic minerals, non-iodized sea salt, urea or another equivalent nitrogen source, biodynamic water and an inoculum selected from the group consisting of bacillus microorgasnisms or spores and yeast; and (b) an essential oil such as banana oil, cinnamon oil, coconut oil, vanilla oil and mixtures thereof; and urea or another equivalent nitrogen source and an extract of a plant material selected from the group consisting of marranero fern foliage ( Pteridium aquilinum), cola de caballo (horsetail fern) leaves (esquisetum arvense),powdered cinnamon (cinnamomum zeylanicum), garlic cloves (allium sativum), tabasco pepper fruits (capsicum frutescens), pasto kikuyo seeds (pennisetum clandestinum) and mixtures thereof. The enhancerof the invention is combined with agrochemicals to augment their activity.

A composite biogenous insecticide for the green vegetable field contains proportionally tween-60 or tween-80, citric acid, methylcellulose, diatomite, sodium benzoate, HD-73, etc.

The invention discloses an indoor LED intelligent illumination system based on multi-sensor data fusion, and belongs to the technical field of indoor illumination. The system comprises a low-power-consumption power supply, a multi-sensor module, a data processing fusion module, an intelligent control module, an LED drive module, an LED lamp, and a wireless communication module. The multi-sensor module collects the data of indoor illumination, person moving and lamp temperature, and transmits the data into the data processing fusion module for preprocessing and feature extraction and recognition, carries out the independent decision of a detected target, carries out the information fusion of all independent decisions through employing a D-S evidence theory, and forms an illumination decision. The intelligent control module generates a corresponding PWM signal according to the illumination decision, and drives the LED drive module to control the adaptive change of the LED lamp. The system generates corresponding illumination control strategies for different indoor illumination demands, improves the illumination effect and comfort, saves the electric energy, and prolongs the service life of the lamp.

The invention discloses a nitrogen blockage prevention and control method for an argon generation system of an air separation device. The nitrogen blockage prevention and control method comprises the steps that the measured values of the important indicators including the argon content of an argon fraction, the argon fraction temperature and the argon content at the top of a crude argon column II are selected as manipulated variables, wherein the argon content of the argon fraction and the argon fraction temperature serve as the first line of defense for monitoring whether nitrogen blockage occurs or not, and the argon content at the top of the crude argon column II serves as the second line of defense; the gaseous oxygen taking-out quantity, the upper column pure liquid nitrogen backflow quantity and the crude argon extraction quantity are selected as operating variables; the optimal control increment of each operating variable is calculated through a predictive control algorithm, wherein the gaseous oxygen taking-out control increment and the upper column pure liquid nitrogen backflow control increment are used for adjusting the argon fraction argon content and the argon fraction temperature of a main column, and the crude argon extraction control increment is used for adjusting the argon content at the top of crude argon column II; and in addition, a feedforward control function is further designed for a controller, the switching pressure-increasing process, affecting the argon fraction argon content and the argon fraction temperature, of a molecular sieve purifier is used as an event variable and introduced into the disturbance variable of the controller, and feedforward information is provided for the two operating variables including the gaseous oxygen taking-out quantity and the pure liquid nitrogen backflow quantity.

The invention relates to a STATCOM current control method of multi-model fuzzy neural network PI controllers. The STATCOM current control method of the multi-model fuzzy neural network PI controllers comprises the steps that S1 a system is divided into a plurality of models Mi (i=1, 2, ..., n) with a load power factor serving as the basis of model dividing, S2 d-axis second-stage fuzzy neural network PI controllers PIdi (i=1, 2, ..., n) and q-axis fuzzy neural network PI controllers PIdi (i=1, 2, ..., n) are respectively designed for each model, and S3 when load current is connected in, corresponding models are selected, parameters kP and ki of the d-axis second-stage fuzzy neural network PI controllers and the q-axis fuzzy neural network PI controllers in each model are set through the fuzzy neural network to achieve the ideal control effect. The STATCOM current control method of the multi-model fuzzy neural network PI controllers can rapidly adapt to the changes of a load and achieve high accuracy.

The invention discloses a positioning control method, device and system for an under-activated marine crane within finite time. The method comprises the steps of (1) constructing a two-order sliding mode surface based on a kinetic model of a drivable portion of a marine crane system, and introducing a nonlinear bounded function relevant to a positioning error signal to construct a nonlinear controller; (2) receiving physical parameters of the set marine crane system; (3) receiving boom pitching angle, rope length, load tilt angle and hull roll angle due to sea wave interferences, which are acquired in real time; (4) inputting the received data to the nonlinear controller, and calculating and controlling boom pitching and rope length input force and torque; (5) driving a boom and a rope tomove to a target position within finite time, thereby eliminating residual rocking of a load.

The invention relates to a pesticide for vegetable field, which is the composite agent of Bacillus thuringiensis Bt and success, each 100ml of the agent contain Bacillus thuringiensis Bt spores of the following number: 2X10<9> to 7X10<9>, and success 0.01-0.04ml. The agent has quick effect.

The invention discloses a weed control method for a rosa chinensis planting piece of field. According to the technical scheme, a pesticide which is composed of 250g / L fomesafen, 108g / L high-efficiency haloxyfop-methyl, 100g / L cyhalofop-butyl and water in a proportion (mass ratio) of 1: (1.8-2.2): (1.8-2.2): (1580-1620) is prepared while being used; the pesticide is sprayed to rosa chinensis and weeds, wherein the dosage of the pesticide is 45-55 kg per 667 square meters; the pesticide is free of pesticide hazards to rosa chinensis and has a relatively good preventing and treating effect to grassy weeds and broadleaf weed in the rosa chinensis planting piece of field. The pesticide disclosed by the invention is wide in material source, simple to prepare, low in cost, low in toxicity, low in residue and convenient to use, and can be directly sprayed to rosa chinensis and weeds. Testes indicate that the preventing and treating effect can reach over 80%.

The skin care cream as a kind of skin care or medicine composition consists of emulsion matrix containing oil phase component, water phase component and humectant in 25000 weight portions and atropine sulfate in 6-9 weight portions compounded together. The Yumeijing chidren's skin cream has the effect of preventing and treating frost bite and has also the high effect of preventing and treating newly born baby's skin erosion, limb chap, bedsore, pruritus, etc.

The invention relates to a nonlinear process dynamic model identification method, which includes using an experiment module and an identification module, the experiment module is connected with the nonlinear industrial process through DCS or PLC or other control machines, and the experiment module and the identification module are connected to each other. The experiment module generates experiment signals and performs automatic experiments; the identification module uses the existing process experiment data input by the experiment module to automatically identify the nonlinear process dynamic model, checks the quality of the model, and adjusts it according to the quality of the model The signal is input to the experiment module to adjust the current experiment parameters. The invention can carry out identification experiment and model identification on the nonlinear industrial process, and the nonlinear industrial process can be continuous, intermittent or feeding intermittent. The obtained nonlinear process dynamic model can be used in model predictive controllers, conventional PID (proportional, integral and differential) controllers and other advanced process controllers, and can also be used in reasoning models and soft sensors for product quality prediction .

The invention belongs to the technical field of environment control systems, and particularly relates to a greenhouse environment control system and a control method, which is fast in speed and strong in anti-interference ability. The system comprises a CANH bus, a CANL bus, a computer, an EPP interface, a CAN controller, a CAN transceiver, an A / D input module, a D / I input module, a first relay output module, a second relay output module, a temperature and humidity transmission, an illumination transmission, a CO2 transmission, a wind speed transmission, a rain and snow sensor, a wind direction sensor, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a switch, a solenoid valve, a skylight, an inner sun shading net, a wet curtain, a fan, a sprayer, a hot air blower, a sodium lamp and a CO2 steel cylinder. The system is characterized in that the computer, the EPP interface, the CAN controller and the CAN transceiver are sequentially connected.

The invention discloses an active-disturbance-rejection control device and a control method based on the same. Two stages are included in the process that the active-disturbance-rejection control device is applied to control controlled objects, as for the first stage, the initial value is obtained, the corresponding state variable in an extended state observer is assigned, and the extended state observer, a state error feedback controller and a disturbance compensator are not started to operate; and as for the second stage, the extended state observer, the state error feedback controller and the disturbance compensator are started to operate to control the controlled objects. Even if the active-disturbance-rejection control device is used for controlling the controlled object with the output initial amount being not zero and / or the controlled object with large initial total disturbance, the control errors between the output and target values of the controlled objects can still be keptwithin a small range, and thus the satisfactory control effect is achieved.

The invention discloses a nonlinear increment self-adaptive dynamic optimization control method for a helicopter. The method comprises the following steps: establishing a helicopter maneuvering flight dynamic mathematical model; establishing an incremental control law model of a helicopter angular rate ring; establishing a control law model of a helicopter attitude ring; establishing an optimal increment control law model of a helicopter speed ring, and completing the design of a helicopter three-ring control model; and based on a helicopter three-ring control model, taking a maneuvering flight dynamic mathematical model as a tracking signal, realizing helicopter non-linear increment adaptive dynamic optimization control, and verifying the trajectory tracking performance of the helicopter. According to the method, a general mathematical description establishment method is provided for a maneuvering flight trajectory, a helicopter overall control law is designed, when a trajectory signal is given, tracking control is carried out on the maneuvering trajectory under the condition that the flight characteristics of the helicopter are met, and a satisfactory control effect is achieved.

The disclosed control method for large-power active filter comprises: detecting harmonic current on power-network / load side and calculating the compensation for harmonic current; detecting the fundamental current and dc side voltage of filter branch to obtain the dc side capacitance voltage control usage; synthesizing all compensation to obtain the control signal for the inverter of an active filter. This invention avoids voltage overshoot, and improves system filter and robustness.

The invention discloses a fine analysis method for the parameter space of an active control system for structural vibration. The method takes the active control system model with multiple time delays in the field of modern structural vibration control engineering as the research object, and studies the optimal combination of state information and control parameters. , to illustrate the mixing delay effect. The fine analysis method of the parameter space of the structure active control system provided by the present invention, in the past research on the time-delay effect in the active control of structural vibration, usually examines the influence of the time-delay on the stable domain and its boundary, or for a given time-delay, Investigate its influence on the control effect. Based on the fine structure diagram, the present invention expounds the influence law of different time-delay combinations on various control performance indicators, reveals which control performance indicators can be optimized through time-delay combinations, and clarifies which time-delay combinations can be optimized. The combination of delays is beneficial to improve the control effect, and the time delay that is beneficial to improve the control effect is given.

The present invention provides a hypersonic vehicle linear optimization control method, comprising the following steps: Step 1: combining the uncertainty of the parameters in the mathematical model of the unpowered reentry process of the hypersonic vehicle, unmodeled dynamics and external disturbances To generate the total disturbance, establish the model of the attitude loop and the angular rate loop; Step 2: Design a linear expansion state observer to obtain the estimated output value of each loop and the estimated value of the total disturbance; Step 3: According to the estimated output value and the total estimated value obtained in Step 2 Disturbance estimation value, design control input including the total disturbance compensation link and error feedback control law; Step 4: Using the gray wolf optimization algorithm, the gain of the linearly extended state observer and the gain of the error feedback control law in step 2 and step 3 are calculated set. The invention realizes the design and parameter optimization of the linear active disturbance rejection controller of the hypersonic aircraft, and improves the dynamic performance, robust performance and anti-interference performance of the hypersonic aircraft.

The invention particularly relates to a design and setting method for an active disturbance rejection control system of a time delay system. According to the method, based on the active disturbance rejection technology, firstly, complex controlled objects are fit into a one-order inertial element plus dead time delay mathematic model, meanwhile, time delay comes down to the disturbance quantity, a time delay reduction linear extended state observer is applied to estimation of unknown total disturbance including the time delay, active compensation for the influences of the total disturbance on the system is achieved, the time delay system is restored into a system in an integrator tandem type in an ADRC standard, and then compensation for the time delay system is achieved; finally, a closed-loop transfer function of the system is deduced, a dead time delay link in a characteristic equation is eliminated, and the numerical relationship between an ADRC single-parameter setting formula with universality and adjustable parameters is correspondingly provided. The simulation result verifies that designed practical ADRC has good stability, rapidity, accuracy and disturbance rejection.

The invention discloses a positioning control method, device and system for an under-activated marine crane within finite time. The method comprises the steps of (1) constructing a two-order sliding mode surface based on a kinetic model of a drivable portion of a marine crane system, and introducing a nonlinear bounded function relevant to a positioning error signal to construct a nonlinear controller; (2) receiving physical parameters of the set marine crane system; (3) receiving boom pitching angle, rope length, load tilt angle and hull roll angle due to sea wave interferences, which are acquired in real time; (4) inputting the received data to the nonlinear controller, and calculating and controlling boom pitching and rope length input force and torque; (5) driving a boom and a rope tomove to a target position within finite time, thereby eliminating residual rocking of a load.

The invention relates to a method and system for parameter setting of a Tornambe type nonlinear robust controller as well as the Tornambe type nonlinear robust controller. The method comprises the following steps that: firstly, initial values of to-be-set parameters of the Tornambe type nonlinear robust controller are set, wherein values of other to-be-set parameters except k0 and k r-1 are 0; secondly, a controlled object is controlled and operated and whether the output of the controlled object is stable or not is determined; and if not, the k r-1 is adjusted until the output of the controlled object is stable; thirdly, whether an overshoot which the output of the controlled object responds to is in an expected range of a preset overshoot is determined; and if not, the k0 is adjusted until the overshoot which the output of the controlled object responds to is in expected range of the preset overshoot; and fourthly, the above-mentioned process is repeated until a performance index of the controlled object meets a preset expected performance index value. According to the invention, the efficiency of a parameter setting process of the Tornambe type nonlinear robust controller is improved; the method for parameter setting of the Tornambe type nonlinear robust controller is engineered; and the Tornambe type nonlinear robust controller can be applied to an actual industrial control process conveniently.