34 results about "Fuzzy self tuning" patented technology

The invention provides a servo control method for the gasoline engine speed in a hydraulic system of a legged robot. The servo control method comprises the following steps: (1) calculating the engine speed error e and the engine speed error change rate ec; (2), after the fuzzy logic calculation of e and ec, outputting the proportionality coefficient increment delta kp and the integral coefficient increment delta ki; (3) calculating the proportionality coefficient and the integral coefficient according to the following formulas correspondingly: kp = kp0 + delta kp and ki = ki0 + delta ki; (4) calculating the accelerator opening degree according to the following formula: S1 = S1_old + kp*ec + ki*e; (5) calculating the accelerator opening degree change caused by the hydraulic oil flow rate change according to the following formula: S2 = kQ*detal Q; and (6) calculating the final accelerator opening degree Sf = S1 + S2, wherein the rotation of a steering engine is controlled through the accelerator opening degree in the PWM form, the air inlet volume is controlled by controlling the opening degree of an engine throttle valve through an accelerator cable, and finally the engine speed is controlled. The servo control method provided by the invention has the advantages that the feedforward control is adopted, so that the stable engine speed can be guaranteed well under the circumstance that the flow rate changes suddenly; parameters are modified online by adoption of fuzzy self-tuning, so that the different control requirements can be met; and accordingly, the hydraulic system can have the good dynamic property and static property.

The invention provides a method for controlling the furnace pressure in the isolation section of a continuous annealing furnace for silicon steel. The furnace pressure P01 in the 1# furnace area, the furnace pressure P02 in the 2# furnace area and the furnace gas pressure in the 1# isolation section are measured by a pressure transmitter. P12 is sent to the PLC control system; the PLC control system executes the PID parameter fuzzy self-tuning program, calculates the PID parameters, and then outputs the MV from the PID controller, and sends it to the associated operation controller; at the same time, the PLC control system also uses the normal distribution function Obtain the correction coefficient J12 of the relief valve in the 1# isolation section, and finally calculate the output opening of the relief valve in the 1# isolation section through the associated calculation controller MV12=J12×MV, and assign the calculation result of MV12 to the relief valve in the 1# isolation section to adjust the isolation Section furnace gas furnace pressure. The invention reduces the frequency of starting the nitrogen protection program to reduce the interference to the pressure and atmosphere in the furnace under the condition of ensuring the airflow isolation function of the isolation section and the micro positive pressure state of the isolation section.

The present invention relates to the technical field of ship equipment, in particular to a welding robot for ship erecting plates based on remote correction, including a follow-up welding robot, an active robot, a control system and a human-computer interaction system; the end of the follow-up welding robot is equipped with structured light vision scanning Device, welding torch, welding robot controller is installed on the follow-up welding robot, welding torch model and force application handle are installed on the end of the active robot, active robot controller is installed on the top of the active robot, and a force sensor is installed on the bottom of the force application handle; Robot controllers include impedance controllers, fuzzy self-tuning controllers, and inverse dynamic models. The follow-up welding robot of the present invention is controlled by the follow-up of the active robot, and by applying external force to the force-applying handle, the position and force compliance control of the end of the active robot can be realized, so that the welding track of the follow-up welding robot returns to the autonomous scanning range. , to achieve remote calibration.