55results about "Electric controllers" patented technology

The invention belongs to the technical field of optical device control, and discloses a fast reflector sliding mode control method and related equipment, and the method comprises the steps: building a closed-loop error model of a fast reflector; the closed-loop error model comprises a lumped disturbance item jointly formed by external disturbance and system parameter measurement deviation; setting a fixed time RBF disturbance observer; the fixed-time RBF disturbance observer is used for estimating a lumped disturbance item so as to output a lumped disturbance estimated value, and the fixed-time RBF disturbance observer is configured with a weight updating law which enables an estimation error to converge within fixed time irrelevant to an initial state; constructing a sliding mode controller based on a lumped disturbance estimated value output by the fixed-time RBF disturbance observer and a closed-loop error model; a sliding mode controller is used for controlling the fast reflecting mirror; therefore, the control precision and the anti-interference capability are improved, and the problems that the controller depends on the disturbance upper bound and the disturbance estimation convergence time depends on the initial state are solved.

The invention discloses an intelligent regulation and control domestic sewage and initial rainwater cooperative treatment system and method, and the method comprises the steps: S1, separating the severely polluted initial rainwater from clean middle and later rainwater, and guiding the initial rainwater to a regulation and storage pool; s2, storing the seriously polluted initial rainwater in the regulation and storage tank, and homogenizing the water quantity and the water quality; s3, directly introducing the homogenized initial rainwater into the tail end of a sewage treatment system, namely a biochemical treatment unit; s4, the introduced initial rainwater and domestic sewage from the front end of the sewage treatment system are fully mixed in a biochemical treatment unit, subjected to nitrification, denitrification and organic matter degradation together and then enter a subsequent secondary sedimentation tank to be subjected to mud-water separation, and supernate obtained through sedimentation is disinfected and then discharged or recycled after reaching the standard; the initial rainwater is directly introduced into the biochemical treatment unit, so that the ineffective circulation of the initial rainwater in the front-end physical treatment unit is avoided, and the strong pollutant degradation capability of the biochemical treatment unit is fully utilized.

The invention discloses an axle box body cleaning and polishing station automatic deviation rectification control method and system, and relates to the technical field of industrial visual inspection and automatic control, and the method comprises the steps: recognizing the model of a workpiece through an RFID reader-writer, and loading corresponding standard template parameters; acquiring a characteristic region image of the axle box body through a visual detection unit; extracting a reference surface contour line and a positioning hole circle center coordinate by adopting edge detection and Hough circle transformation; matching the extracted features with a standard template to calculate translation deviation and rotation deviation; the deviation is converted into an executing mechanism compensation correction amount through coordinate transformation; according to the method, the problems of secondary positioning accumulative errors, tool tolerance superposition, poor model switching adaptability and the like in multi-station circulation of the axle box body are solved, the deviation correction precision is superior to + / -0.2 mm and + / -0.1 degree, and the time consumed for single deviation correction is less than 3 seconds.

In ERIT, it is necessary to set a reference model for generating a target command for an ideal response before FF control design, and if an appropriate reference model cannot be set, coupled vibration caused by a plurality of structures cannot be suppressed. Further, when the characteristics of the plant are partially or entirely unknown, it is practically impossible to provide an appropriate reference model. Therefore, an object of the present invention is to provide a design method and a design device for data-driven damping feedforward control that can eliminate the need to set a complicated reference model.SOLUTION: A feedforward control design method has a controller structure in which a plurality of feedforward controllers to be designed are provided, a denominator polynomial of each feedforward controller is common, and a numerator polynomial is a free parameter, and the free parameter is designed by solving an optimization problem for minimizing a deviation between a target command generated by one feedforward controller among the plurality of feedforward controllers and a predicted response.SELECTED DRAWING: Figure 2

The application discloses a kind of intelligent regulation and control domestic sewage and initial rainwater collaborative processing system and method, comprising: S1, seriously polluted initial rainwater is separated from clean middle and late rainwater, and initial rainwater is guided to regulation and storage pool;S2, seriously polluted initial rainwater is stored in the regulation and storage pool, and water quantity and water quality are homogenized;S3, after homogenization, initial rainwater is directly introduced into the end of sewage treatment system, i.e.biochemical treatment unit;S4, introduced initial rainwater and domestic sewage from the front end of sewage treatment system are fully mixed in biochemical treatment unit, after experiencing nitrification, denitrification and organic matter degradation process, enter subsequent secondary sedimentation tank for mud-water separation, and the supernatant obtained by precipitation is discharged or reused after disinfection;By directly introducing initial rainwater into biochemical treatment unit, it avoids ineffective circulation in front-end physical treatment unit, and fully utilizes the powerful pollutant degradation capacity of biochemical treatment unit.

The present invention relates to stations (10, 20, 30, 40, 50) for changing a nappy of a baby or small child. A station has a moveable barrier (13) and a device (18, 53) for automatically detecting a guardian. The device for automatic detection is designed such that it moves the moveable barrier into an open state when the device for detection detects a guardian.

The invention discloses an automatically-controlled full-automatic cell culture system control scheme, relates to the technical field of cell culture and automatic control, and constructs a distributed control network with an industrial personal computer in a man-machine interaction system as a central command center. Real-time and two-way communication with local control panels of all functional systems is established through various field bus protocols, and each system is an execution unit with independent processing capacity and is responsible for receiving high-level process instructions and analyzing the high-level process instructions into accurate pulse control over a bottom servo motor and a stepping motor, so that the control precision of the system is improved. According to the framework, the central controller can efficiently arrange space-time action sequences of the six-axis robot, the electric clamping jaw and all functional systems in a task scheduling mode, whole-course automatic assembly line work from taking out of a cell bottle from a storage rack, transferring, uncovering, pipetting, liquid adding and centrifuging to finally putting into an incubator is achieved, manual intervention nodes are eliminated, and the working efficiency is improved. And the absolute standardization and repeatability of the operation are ensured.

Systems and methods use a computer vision camera to determine where bridles and other rigging items are positioned and provide that information to a control system. This information is used to place the elements of the rigging system before each live performance.

The application discloses a method and device for intelligent monitoring and regulation of polymerization reaction based on spectral analysis, and relates to the technical field of intelligent monitoring.The method comprises the following steps: constructing a particle size-track contrast feature library based on a prior polymerization reaction knowledge base, combining a track feature vector prior threshold of different particle size intervals, decoupling a mixed spectral signal of a current polymerization reaction, and outputting spectral signals and track feature vectors of different particle size intervals; comparing the track feature vectors with the prior threshold, performing abnormal deviation analysis, and triggering a corresponding directional regulation strategy according to an analysis result.The application solves the technical problems that the existing polymerization reaction monitoring method has poor real-time performance, low precision, and cannot effectively cope with abnormal fluctuations in the reaction process, achieves intelligent monitoring and signal decoupling based on spectral analysis, realizes real-time and accurate regulation of the polymerization reaction process, and thus improves the product quality and production efficiency.

Control system for water supply system, provided by a method, system and storage medium for intelligent optimization and adjustment of water pressure in a water supply system through use of sensors an

Systems, methods, and apparatus for smart electric power grid communication are disclosed in the present invention. At least one grid element transmits at least one registration message over an Internet Protocol (IP)-based network to at least one coordinator. The at least one coordinator registers the at least one grid element upon receipt of the at least one registration message. The at least one grid element automatically and / or autonomously transforms into at least one active grid element for actively functioning in the electric power grid. The at least one coordinator tracks based on revenue grade metrology an amount of power available for the electric power grid or a curtailment power available from the at least one active grid element.

To provide a molten metal surface level controller and a molten metal surface level control method which can suppress periodic bulging disturbance while maintaining a wide control bandwidth of feedback control.SOLUTION: A molten metal surface level controller CT according to the present invention, controls a molten metal surface level of a continuous casting machine CM by using feedback control to control an adjustment device that adjusts a molten steel quantity supplied to a casting mold of the continuous casting machine CM. The molten metal surface level controller CT includes: an FF compensator 12 that determines a feed-forward compensation amount composed of a sinusoidal wave component having an amplitude, a period, and a phase for eradicating outer disturbance to be applied to a molten metal surface level on the basis of the molten metal surface level, a manipulation amount of the adjustment device, and a transfer function of the continuous casting machine CM related to the molten metal surface level: and an adder 13 that, when performing control by using the feedback control, adds the feed-forward compensation amount determined by the FF compensator 12 to a feedback compensation amount in the feedback control.SELECTED DRAWING: Figure 2

This invention relates to a vehicle sunshade control method and device based on user behavior learning, belonging to the field of vehicle manufacturing technology. The method includes acquiring historical operation records of user control of the vehicle sunshade and multi-dimensional environmental data corresponding to the historical operation records; training a machine learning model based on the historical operation records and the multi-dimensional environmental data to obtain a user behavior prediction model; in response to the fulfillment of the sunshade function activation conditions, acquiring current environmental data and inputting the current environmental data into the user behavior prediction model to obtain the user's control intention for the vehicle sunshade in the current scenario; and executing a control strategy for the windshield sunshade and linked vehicle equipment corresponding to the control intention, thereby improving the intelligence of sunshade control.

To provide a method of individually configuring at least one automatic function of a door with at least one electrically or electronically controllable actuator for performing the automatic function especially in publicly accessible areas.SOLUTION: The method includes a step of receiving configuration information from an electronic device 26 associated with an individual within the proximity area of a door 10, a step of configuring the automatic function based on the received configuration information, and a step of controlling an actuator 18 that performs at least one automatic function according to the configuration. Further, it relates to a door control device 20 that electrically or electronically controls at least one actuator 18 that performs at least one automatic function of the door 10 especially in publicly accessible areas.SELECTED DRAWING: Figure 1

The application discloses an automatic deviation rectification control method and system for shaft box cleaning and polishing stations, and relates to the technical field of industrial visual detection and automatic control. The method comprises the following steps: identifying the workpiece model and loading corresponding standard template parameters through an RFID reader; collecting shaft box feature area images through a visual detection unit; extracting reference surface contour lines and positioning hole center coordinates through edge detection and Hough circle transformation; matching the extracted features with the standard template to calculate translation deviation and rotation deviation; converting the deviation into an actuator compensation correction amount through coordinate transformation; and driving the actuator to complete deviation rectification through closed-loop iterative control. The application solves the problems of secondary positioning cumulative error, tool tolerance superposition and poor model switching adaptability in the multi-station circulation of shaft boxes, and the deviation rectification accuracy is better than ±0.2mm and ±0.1°, and the single deviation rectification time is less than 3 seconds.

The preferred embodiment of the present invention is a building elevating system, including a frame, a plurality of piles and a pulley system. The frame is connectable to an underside of a floor to form a building. The plurality of piles are driven into a ground surface. The frame is slidably retainable about the piles. The pulley system including a pully wheel, a cable, a counterweight and a motor. The cable is connected to the frame on one end and the counterweight on another end. The cable is operably connected to the pulley wheel. The pulley wheel is drivable by the motor to move the building between a lowered position and an elevated position.

This invention provides an action control device and program that can appropriately synthesize drive signals from two systems to suppress synchronization errors and improve processing speed. The invention includes: a first drive signal output unit that outputs a drive signal from the first system, i.e., a first drive signal; a second drive signal output unit that outputs a drive signal from the second system, i.e., a second drive signal; a transmission characteristic acquisition unit that acquires the transmission characteristics of the position control of the first system; a correction unit that uses the acquired transmission characteristics to correct the output first drive signal into a correction drive signal; a first action speed calculation unit that calculates the action speed of the first system based on the correction drive signal as a first action speed; a second action speed calculation unit that calculates the action speed of the second system based on the second drive signal as a second action speed; a synthesized drive signal generation unit that synthesizes the correction drive signal and the second drive signal to generate a synthesized drive signal; and an action control unit that uses the first action speed, the second action speed, and the synthesized drive signal to control the action of the second system.

Control for a drive mechanism (2) driven by a plurality of motors (13, 23), the control comprising according to the motors (13, 23): a position command calculation unit (10) that calculates a position command value to drive the drive mechanism (2); a position detection unit (14, 24) that detects a position of the motor (13, 23); a speed command calculation unit (11, 21) which calculates a speed command value based on a position error value determined from the position command value calculated by the position command calculation unit (10) and a position sensing value sensing by the position sensing unit (14, 24); a speed detection unit (15, 25) which calculates a speed detection value from the position detection value detected by the position detection unit (14, 24); a torque command calculation unit (12, 22) that calculates a torque command value from a speed error value determined from the speed command value calculated by the speed command calculation unit (11, 21) and the speed sensing value detected by the speed sensing unit (15, 25); and a preload torque superposition unit (30) that superimposes a set preload torque onto the torque command value, wherein, when a state in which the output of the motors (13, 23) is zero shifts to a state in which the output is non-zero, such that the preload torque is provided by the preload torque superposition unit (30), at least one of the motors (13, 23) forms a contact section between the drive mechanism (2) and the motor (13, 23) by speed control based on the speed sensing value detected in the speed sensing unit (15, 25), such that the preload torque is provided; and wherein the control unit controls the motors (13, 23) such that in a state in which the contact section is designed to remove a gap between one side of the drive mechanism (2) and one side of the motor (13, 23), the motor (13, 23) subject to speed control is switched to position control based on the position command value calculated by the position command calculation unit (10), so that the preload torque is provided.

This technology offers advantages in improving control accuracy through feedforward control, even in environments containing disturbances with low reproducibility. [Solution] The control device includes a determination unit that determines the gain of the feedforward controller based on a control deviation data sequence showing the change in the control deviation of the controlled object and a response data sequence showing the response characteristics of the controlled object when a specific manipulated variable is applied to the controlled object. The determination unit generates a representative value data sequence consisting of representative values ​​of the control deviation of the controlled object at each time based on a plurality of control deviation data sequences acquired multiple times, and determines the gain based on the representative value data sequence and the response data sequence.

The present invention relates to a system for determining a swing boom angle of an excavator 1, wherein the excavator 1 comprises a vehicle frame 2 comprising a cabin 3 and a swing boom 4 arranged on the vehicle frame 2 and configured to be rotated relative to the vehicle frame 2 about a rotation axis 5 that an actual swing boom position defines a swing boom angle. The system comprises a first measuring sensor 10 configured to be mounted on the vehicle frame 2 or the swing boom 4, wherein the first measuring sensor 10 is configured to determine a first interim swing boom angle of the swing boom 4 relative to the vehicle frame 2. The first interim swing boom angle is one of a discrete amount of one or more intermittent first interim swing boom angles, each of the discrete amount of one or more intermittent first interim swing boom angles being spaced from each other by at least a value of one degree. The system further comprises a second measuring sensor configured to be mounted on the swing boom 4 and to determine a second interim swing boom angle of the swing boom 4 relative to the vehicle frame 2, the second interim swing boom angle being from an indiscrete angle range and a processing unit. The processing unit is configured to receive first interim swing boom angle and the second interim swing boom angle and determine the swing boom angle by applying at least one of a filter and an algorithm to the first interim swing boom angle and the second interim swing boom angle.

The invention provides an assembly method and device, electronic equipment, a storage medium and a program product, and relates to the technical field of automatic control. The method comprises the steps of obtaining an assembly order, determining a plurality of assembly processes of a target object and assembly information of each assembly process according to a target object identifier carried by the assembly order, and determining a production mode of the target object according to the plurality of assembly processes. And generating a control instruction based on the multiple pieces of assembly information of the multiple assembly processes and the production modes, and sending the control instruction to target object assembly equipment to control the target object assembly equipment to assemble the to-be-assembled target object to obtain the target object. According to the method, personalized assembly of the target object can be realized based on the assembly order, and the production efficiency of the target object is improved.

The present invention improves the response performance of valve control in a fluid control device, while reducing the influence of a nozzle. The present invention is a valve control method for controlling a valve 3 in a fluid control device 100, wherein an input flow-rate setting value Qset is multiplied by a target response transfer function F to generate a target response function Y(Qset), the target response function Y(Qset) is corrected for non-linearity between the driving voltage and the flow rate of a valve 2 to generate a target voltage function Y(Vset), the target voltage function Y(Vset) is corrected for the delay characteristics of the valve 3 to generate a feedforward voltage signal VFF, a feedback voltage signal VFB is generated by a feedback contrller 4d1 from the deviation between the target response function Y(Qset) and a measured flow-rate value Qmeas of a flow-rate sensor 2, a corrected instruction voltage signal VCMD is generatedby using the feedforward voltage signal VFF and the feedback voltage signal VFB, and the valve 3 is controlled according to the corrected instruction voltage signal VCMD.

There is provided a method performed by a DC voltage controller for a HVDC converter, the method comprising: generating a synchronous phase angle from a DC voltage error, wherein the DC voltage error is generated from a measured DC voltage and a demanded DC voltage; generating an AC grid phase angle from an AC grid signal; generating a DC power compensation function based at least in part on the measured DC voltage; and generating, for the HVDC converter, a phase angle demand based on at least one of: the synchronous phase angle, the AC grid phase angle, and the DC power compensation function.

This provides a simplified measurement method for data-driven cascade control systems. [Solution] When considering a normative model for a cascade control system, a "linear representation" is applied to the nonlinear equations relating to the controller parameters. By iteratively applying the least squares method to the resulting "linearly represented regression model," it is possible to sequentially optimize the controller parameters. This method allows for the design of data-driven cascade control systems.

The present disclosure relates to a plant cultivation apparatus and a method for controlling water supply in the plant cultivation apparatus. The plant cultivation apparatus of the present disclosure may supply feed water to a bed according to whether or not the feed water supplied to the bed to cultivate plants remains to prevent the feed water from being supplied more than necessary.

This application belongs to the field of optical device control technology and discloses a sliding mode control method and related equipment for a fast reflector. The method includes: establishing a closed-loop error model of the fast reflector; the closed-loop error model includes a lumped disturbance term composed of external disturbances and system parameter measurement deviations; setting a fixed-time RBF disturbance observer; the fixed-time RBF disturbance observer is used to estimate the lumped disturbance term to output a lumped disturbance estimate, and the fixed-time RBF disturbance observer is configured with a weight update law that makes the estimation error converge within a fixed time independent of the initial state; based on the lumped disturbance estimate output by the fixed-time RBF disturbance observer and the closed-loop error model, a sliding mode controller is constructed; the sliding mode controller is used to control the fast reflector; thereby improving control accuracy and anti-interference capability, while avoiding the problems of controller dependence on the upper bound of the disturbance and disturbance estimation convergence time dependence on the initial state.

This compensates for the deviation that is insufficient when using feedforward control alone. [Solution] The data processing device 1 includes a controlled object model storage unit 10, a controlled variable slope information designation unit 11 that designates the slope ΔMV of the controlled variable MV, a controlled variable information generation unit 12 that executes a simulation to simulate the control response of a virtual control system consisting of a controlled object represented by the controlled object model and a controller that performs feedforward control and feedback control, using the slope ΔMV as a constraint condition, and calculates a change pattern of the controlled variable MV and a change pattern of the controlled variable PV that conform to specified evaluation conditions, a controlled variable information storage unit 13 that stores time series data of the change pattern of the controlled variable PV, and a controlled variable information storage unit 14 that stores pattern information for generating time series data of the change pattern of the controlled variable MV.

A method and system for collecting data in an industrial environment and a method and system for using the collected data are provided. [Solution] The system includes a platform including a computing environment connected to a local data collection system having a first sensor signal and a second sensor signal from a first machine, a first sensor in the local data collection system connected to the first machine, a second sensor in the local data collection system, and a crosspoint switch having a plurality of inputs including a first input of the first sensor and a second input of the second sensor and a plurality of outputs, the plurality of outputs configured to be switchable between a state in which the first output switches between delivering the first sensor signal and delivering the second sensor signal and a state in which there is simultaneous delivery of the first sensor signal from the first output and the second sensor signal from the second output.

The invention relates to the technical field of water flow control, in particular to a water flow control method and system for a pulse type electromagnetic valve, and the method comprises the steps: obtaining the upstream water pressure, the downstream water pressure, the actual flow and the target flow of the pulse type electromagnetic valve, and carrying out the preprocessing of the obtained original data, and obtaining a pressure difference and a control demand; the pressure difference and the control requirement are input into a fuzzy controller, and a pulse duty ratio reference value is generated through fuzzification processing, fuzzy rule reasoning and defuzzification calculation; the pulse duty ratio reference value is corrected to obtain a pulse duty ratio smooth value, the pulse duty ratio smooth value is subjected to single-step variable quantity constraint to obtain a pulse duty ratio actual value, and the pulse duty ratio actual value is output to the pulse type electromagnetic valve to control the water flow. According to the invention, the problem of output jump of traditional fuzzy control in a boundary region can be effectively avoided, and continuous and stable control of water flow is ensured.