43results about How to "Achieve control objectives" patented technology

The invention discloses a preset performance ocean bottom flying node trajectory tracking control method based on a disturbance observer, relates to a preset performance ocean bottom flying node trajectory tracking control method, and aims to solve the problems that an existing method does not consider modeling uncertainty and ocean environment disturbance and propeller faults affect the OBFN (Ocean Bottom Flying Node). The method comprises the following steps that: 1: establishing a Fossen outline six-degree-of-freedom nonlinear kinetic model; 2: carrying out OBFN kinetic model transformationon the nonlinear kinetic model established in S1 to obtain an OBFN kinetic model, and determining an OBFN tracking error equation according to the OBFN kinetic model; 3: establishing a performance function; 4: carrying out error transformation on the tracking error in the S3 to obtain a transformed error; and 5: according to the transformed error obtained in S4, designing an OBFN system total uncertainty observer and a preset performance trajectory tracking controller. The method is used in the field of trajectory tracking control.

The invention relates to a method for inhibiting the subsynchronous resonance of a wind power system. Based on a controlled series compensation method, a trigger delay angle of a controlled series compensation thyristor valve group is controlled and the current of a valve group reactor L is adjusted, so that controlled series compensation equivalent impedence is controlled, the equivalent impedence is corrected in a closed-loop control mode, and the trigger delay angle is corrected in real time. The method is characterized in that: by adopting a PSCAD/EMTDC software and MATLAB software joint operation mode and based on an MATLAB computing method and phase shift between capacitor voltage zero-crossing moment and synchronous turnover moment, an additional damping control algorithm is designed, the controlled series compensation real trigger delay angle is calculated and the subsynchronous resonance is inhibited.

The invention discloses an RMC-based DFIG (Doubly Fed Induction Generator) direct-current grid-connected power generation system. The system comprises a plurality of DFIGs and a high-voltage direct-current grid, wherein each DFIG is connected with a stator RMC current converter and a rotor RMC current converter which are both connected with a controller; the stator RMC current converter plays the role of converting alternating current output by the DFIG into direct current, boosting the voltage to voltage level of HVDC and meanwhile realizing maximum wind energy tracking operation of the DFIG; and the rotor RMC current converter plays the role of providing excitation for a DFIG rotor and meanwhile realizing stable DFIG stator terminal voltage control. The invention also discloses a magnetic chain directional control method of the system. Transmission of power is directly changed into high-voltage direct current transmission from alternating current transmission by the stator side RMC current converter. The system is simple in structure and stable in running performance, so that the control on the DFIG and direct-current transmission is simplified.

The invention discloses a space robot control method not depending on model parameters. The method comprises the following steps: according to the number of degrees of freedom of the space robot, the number of control channels is determined, and the number of control channels is the same as the number of degrees of freedom; according to a platform attitude angle and an angular velocity of the space robot, and a joint angle and a joint angular velocity of each arm rod of a mechanical arm, an adaptive sliding mode controller for each control channel is determined; according to a high-order state observer of the space robot, a platform angular velocity, an angular velocity estimation amount of each arm rod of the mechanical arm and internal and external disturbance estimation amounts of the space robot are obtained; and the platform angular velocity and the angular velocity estimation amount of each arm rod of the mechanical arm are used for replacing the platform angular velocity and the angular velocity measurement amount of each arm rod of the mechanical arm, and the adaptive sliding mode controller is updated. The method of the invention does not depend on system parameters, and precise control on the space robot can be improved.

The invention discloses a driving shaft torque coordinated distribution control method of a shield tunneling machine cutter head driving system. A two-layer structure composed of a cutter head rotating speed control layer and a driving shaft torque coordination layer is used in the cutter head driving system, the basic torque of each driving motor is output in the cutter head rotating speed control layer, and stable control over the rotating speed of a cutter head is achieved; the torque coordination amount of each driving motor is output in the driving shaft torque coordination layer, and the balanced distribution of the meshing torque of a small gear is achieved. According to the problems about the stable rotating speed of the cutter head and driving shaft torque balanced distribution, controllers are designed respectively, the adaptability of the cutter head driving system to the suddenly changed load is improved, and the problem of driving shaft torque unbalanced distribution caused by the mechanical property difference of the cutter head driving system and meshing tooth space difference is solved.

The invention relates to a quadrotor unmanned aerial vehicle attitude control method considering inertia uncertainty. The method comprises the following steps: firstly, establishing a quadrotor unmanned aerial vehicle attitude loop model containing external interference aiming at the influence caused by various factors such as uncertain system inertia and external interference when a quadrotor unmanned aerial vehicle grabs or throws articles; secondly, converting the attitude loop model of the quad-rotor unmanned aerial vehicle into an error equation; thirdly, designing an attitude control lawof the quad-rotor unmanned aerial vehicle; secondly, designing a disturbance observer by utilizing an error equation; and finally, compensating the interference estimation value through a feedforwardchannel, and combining the interference estimation value with a control law. The method has the advantages of high engineering practicability and high anti-interference capability, and is suitable for high-precision attitude control of the quad-rotor unmanned aerial vehicle.

The invention discloses a process for producing die steel by utilizing a converter continuous casting mode. The process comprises a steel making continuous casting process and a steel rolling process. The steel making continuous casting process comprises the following process steps of: converter smelting, LF (Ladle Furnace) refining, continuous casting, slow cooling and other process steps; and the steel rolling process comprises the following process steps of: heating, scale removal by using high pressure water, rolling, straightening, stacking, slow cooling and other steps. By using the die steel produced by the invention, the contents of gas and occluded foreign substances in the die steel can be reduced, the thermal stress and the structural stress for slowing a steel blank down are eliminated, a thick and nonuniform cast structure inside the steel blank is improved, and the problems of flaw detection disqualification and finished product crack of the die steel are solved. By using the process, the aim of producing the die steel by using a converter is achieved, the production cost is reduced, and the economic benefit is increased.

The invention discloses a smooth switching method for a control strategy of a voltage source type converter. The smooth switching method comprises the following steps: acquiring an actual electrical quantity value; after a control strategy switching signal is received, confirming a current control strategy; and enabling the control system to perform initial value setting on the proportional-integral regulator in the control loop, locking a setting value, modifying a control target and switching a control strategy. According to the invention, when the control target of the voltage source type converter is changed, rapid and smooth switching of the control strategy of the voltage source type converter can be realized, transient impact is reduced, and the stability of a power system is improved. According to the invention, an over-current and over-voltage can be prevented in a transient state, the control target of the converter station can be realized in a steady state, and meanwhile, the regulation rapidity is ensured.

The invention provides a new freshness keeping method of high quality red dates. The method comprises the following steps: grading fresh red dates picked in August to October through a grading machine to obtain large, medium and small red dates; respectively placing the dates in a container provided with stirring and containing 50DEG white liquor, cleaning, and timely discharging waste liquor; adding 50DEG white liquor to the container containing the large, medium and small red dates, and immersing the large red dates for 18-22min, the medium red dates for 13-16min and the small red dates for 8-12min; and packaging the immersed fresh red dates in a liquor-free liquid by a vacuum packaging machine, boxing, and reserving at room temperature in a dark place. The large red dates of 7.0cm, the medium red dates of 5.0cm and the small red dates of 3.0cm can be preserved for 12 months, and the preserved red dates have the characteristics of no change of the content of original nutritional components of the red dates, sweet and tasty liquor, and pure fresh taste, and can be sold in four seasons.

The invention provides a micro-grid multi-time scale energy management system based on a power market, which is based on an alternating current micro-grid composed of a photovoltaic system, a wind power system, a super capacitor and a storage battery, and comprises an upper layer energy management controller and a lower layer energy management controller. The upper-layer energy management controller and the lower-layer energy management controller can obtain the control quantity of each layer under the step length by solving the target function of the energy management strategy of each layer in a single time step length in a rolling manner, and the control result of one layer can influence the control of the other layer. The storage battery and the super capacitor can be controlled under different pricing strategies, different prediction time domains and different prediction errors, and a preset control target is achieved.

The invention relates to a main loop-servo loop double closed loop controller of a vehicle ESC system. A main ring controller in the main ring-servo ring double closed-loop controller mainly solves the problem of additional yawing moment decision on a vehicle (controlled object) level so as to realize reasonable regulation and control of vehicle motion conditions. A servo loop controller mainly adjusts the longitudinal slip rate of corresponding wheels through an actuator so as to achieve the control target of a main loop. The main ring-servo ring double closed-loop controller mainly has the following advantages: 1) the structure of a control algorithm is clear, the nonlinear characteristics of tires are not considered when the main ring controller is designed, and the horizontal resultant force of a vehicle is regarded as the control input of a vehicle ESC system, so that the difficulty of control design is reduced; and 2) the non-linear characteristics of the tire which are difficult to process are considered in the optimal distribution of the servo ring tire force, and various limiting conditions including tire-ground attachment and actuator state are considered in the tire force distribution.

The invention relates to the technical field of boilers, in particular to a control method for improving economical operation of a boiler charge returning air blower, comprising the following steps: A. deploying three charge returning air blowers (NO.1, NO.2 and NO.3), operating the NO.1 charge returning air blower when the boiler operates normally and leading the rest of the two charge returning air blowers for standby application; B. presetting an exit wind pressure set value at the exit of each charge returning air blower of the boiler; C. installing pressure sensors at the exit of each returning air blower of the boiler, calculating the exit wind pressure mean value of each returning air blower measured by a pressure sensor and comparing the mean value with the set value; and D. initiating the NO.2 charge returning air blower if the mean value is less than the set value. By utilizing the control method for improving economical operation of boiler charge returning air blower, control logic of the operation of the air blowers is optimized, the purposes of saving energy and reducing energy consumption are achieved, and the control objective of safe operation is realized, thus realizing the control logic of leading one charge returning air blower into operation and the rest of the two charge returning air blowers for standby application.

The invention discloses a soft robot state feedback control method based on a dielectric elastomer actuator. The method comprises the steps of building a dynamic control model of the dielectric elastomer actuator in a mode of virtual work simulation; building a Gaussian radial basis function neural network approximator for an unknown system function in the dynamic control model; by correspondinglydesigning a parameter updating rate, dynamically adjusting the parameters of the Gaussian radial basis function neural network approximator on line to realize the on-line approximation of the unknownsystem function; and finally, building a state feedback intelligent controller embedded with the Gaussian radial basis function neural network approximator in a state feedback control mode for dynamically adjusting the control input of the dielectric elastomer actuator on line in order to enable a state tracking error to converge to zero to realize a control target of a soft robot. According to the method, the control precision and the response speed of a control system are enhanced, and the adaptability and the intelligence of the soft robot based on the dielectric elastomer actuator are improved.

The invention discloses a PID controller optimization design method, device and equipment and a storage medium. The method comprises the steps of building a controlled object dynamic model which is composed of a linear model and an unknown high-order nonlinear term; designing a first PID controller according to the linear model; superposing an output signal of the first PID controller with an unknown compensation signal to serve as a control input signal; acting the control input signal on the controlled object dynamic model to obtain a closed-loop control system dynamic model; designing the unknown compensation signal according to the dynamic model of the closed-loop control system to obtain a designed compensation signal; and constructing a second PID controller according to the first PID controller and the designed compensation signal. The PID controller optimization design method solves the problem that a traditional PID control technology cannot be applied to a complex industrial process, and has the advantages of being easy to implement, high in safety and high in reliability.