150results about How to "Avoid Compensation Errors" patented technology

A double-input and double-output NDCS unknown time delay hybrid control method belongs to the technical field of a multiple-input and multiple-output NDCS having a limited bandwidth resource. A method using a real network data transmission process between all nodes in a TITO-NDCS to replace a network time delay compensation model between the nodes is brought forward aiming at the problems that, for the TITO-NDCS double input signals and double output signals of which are influenced and coupled with each other and which needs decoupling processing, stability of each closed-loop control circuit is influenced, stability of the whole system is influenced and that even loss of stability of the TITO-NDCS is resulted in due to network time delay of network data during transmission between the nodes. SPC and IMC are separately applied to a circuit of the TITO-NDCS. Measurement, estimation or identification of the network time delay between the nodes can be avoided, a clock signal synchronization requirement is reduced, an influence of a network uncertain time delay on TITO-NDCS stability is lowered, and the control performance quality of the system is improved.

The invention discloses a power grid neutral point flexible grounding current compensation system, which comprises a grounding transformer, a power electronic device, a controller and a rectifying circuit, wherein a neutral point of a primary winding of the grounding transformer is grounded, a phase line and a neutral line of a secondary winding of the grounding transformer are connected to an output end of the power electronic device, the controller is connected to each phase of a power grid bus and the power electronic device and is used for measuring voltage and current of the power grid bus and voltage and current of each circuit of the power electronic device and controlling the power electronic device to input current into the secondary winding of the grounding transformer, and the rectifying circuit provides direct current for the power electronic device. The system disclosed by the invention can realize various power grid neutral point grounding modes and can switch the various power grid neutral point grounding modes online, and solves a problem that the power electronic device bears high voltage.

The invention provides an improved adaptive droop control method for a hybrid energy storage system in a DC micro-grid and relates to the stable running field of the DC micro-grid. The method is characterized in that, based on the improved hybrid energy storage system in the DC micro-grid, a lithium battery is connected with a DC bus through a DC / DC converter I. A super capacitor is connected with the DC bus through a DC / DC converter II. In this way, a hybrid energy storage system of a parallel connection structure is formed. According to the technical scheme of the invention, the effective energy compensation problem of the lithium battery for the super capacitor of the hybrid energy storage system in the DC micro-grid can be is effectively solved. Meanwhile, an improved adaptive droop control method is provided for the hybrid energy storage system in the DC micro-grid.

The invention provides a compensation method of random time-delay of the external forward and internal feedback paths of a network cascade control system, belonging to the technical field of the network control system. The method uses the actual external forward network path nodes of the network cascade control system and adopts the network data transmission process between the internal feedback network path nodes to replace the compensation model of network time-delay between the nodes, avoid the measurement, observation, estimation or identification of the network data transmission random time-delay between the nodes and remove the synchronization requirement on the node clock signal. By adopting the method, the influence of the random network time-delay on the system stability can be reduced and the performance quality of system control can be imprved. The method of the invention is suitable for the dynamic compensation and control of random network time-delay when the mathematicalmodels of the main controlled object and auxiliary controlled object are known and the network only exists in the external forward and internal feedback paths of the cascade control system.

The invention discloses a hybrid control method for an uncertain time delay of a two-input and two-output network control system (TITO-NCS), and belongs to the technical field of multi-input and multi-output network control systems with limited bandwidth resources. Aiming at the problems that the two input signals and two output signals of the TITO-NCS are mutually affected, the stability of one closed loop control circuit is affected and the stability of another closed loop control circuit is also affected due to a network time delay generated by transmission of network data among nodes, or even loss of the stability of the TITO-NCS is caused, a compensation model for replacing the uncertain time-delay with network data transmission process among all real nodes in the TITO-NCS is provided; and IMC and SPC hybrid control is carried out on two circuits separately, so that measurement, estimation or recognition of the network time delay among the nodes can be avoided, the requirements of clock signal synchronization of the nodes are avoided, the influence of the uncertain time delay on the stability of the TITO-NCS can be reduced and the control performance quality of the system is improved.

The invention belongs to the technical field of bandwidth resource limited MIMO-NCSs (multiple-input multiple-output networked control systems) and relates to a two-input two-output networked control system delay compensation SPC (smith predictor control) and IMC (internal model control) method. In order to solve the problems that two-input two-output signals in a TITO-NCS (two-input two-output networked control system) have mutual effect, network delay due to the transmission of network data between nodes affects the stability of one closed-loop control circuit of the system and may also affect the stability of another closed-loop control circuit while even stability loss is caused to the TITO-NCS, it is presented that an inter-node network delay compensation model is replaced by network data transmission process between all true node s in the TITO-NCS, with dynamic feedforward as well as SPC and IMC applied to the two circuits; by using the method of the invention, it is possible to omit the measurement, estimation or identification of inter-node network delay, omit the requirement on node clock signal synchronization, reduce the effect of network delay upon TITO-NCS stability, and improve the control performance quality of the system.

The present invention discloses a power network neutral point flexible ground system. The system comprises a grounding transformer, a power electronic device, a controller and a rectifying circuit. Primary winding of the grounding transformer is accessed into a power network busbar and a neutral ground, the secondary winding of the grounding transformer is arranged an open-mouth triangular structure, the secondary winding is accessed into the output end of the power electronic device, the controller is connected to the power network and the power electronic device, the controller measures the voltage and the current of the power network and the voltage and the current of the power electronic device and controls the power electronic device to input current to the secondary winding of the grounding transformer, and the rectifying circuit provides direct current of the power electronic device. The system can realize a plurality of power network neutral point grounding modes and online switching so as to solve the problem that the power electronic device bears high voltage.

The invention provides a time-varying network time delay compensation method of a forward access of a networked cascade control system (NCCS), belonging to the technical field of networked control system. In the method, a network data transmission process among forward access nodes is used instead of a network time delay compensation model among the forward access nodes so as to avoid measurement, observation, estimation or recognition of time-varying time delay when network data among the real forward access nodes are transmitted and prevent the requirements of synchronization of node clock signals. By using the method, the influence of the time-varying network time delay on the stability of a system can be reduced and the control performance quality of the system can be improved. The method is suitable for dynamic compensation and control of the time-varying network time delay when a network only exists in the forward access of the networked cascade control system under the condition that a mathematical model of a main controlled object is known or uncertainly known, a mathematical model of a vice controlled object is known, and certain interference signals exist in the system.

The invention provides a method for compensating for an unknown network time delay in a forward path of a network cascade control system and belongs to the technical field of network control systems. A real network data transmission process between forward path nodes is adopted to substitute for a network time delay compensation model between the nodes; the measurement, the observation, the estimation or the identification of a network data transmission unknown time delay between the forward path nodes are eliminated; and the requirement on the synchronization of a node clock signal is eliminated. By the method, the influence of the unknown network time delay on the stability of the system can be reduced and the control performance quality of the system is improved. The method is applied to the dynamic compensation and control of the unknown network time delay only existing in the forward path of the network cascade control system, in which the main and secondary controlled target mathematical models are known or unknown, the network has a certain amount of packets, and the network time delay can be more than several even over ten sampling periods.

The invention provides a TITO-NDCS variable network delay compensation method, and belongs to the technical field of bandwidth resource limited MIMO-NDCS. Aiming at the problems of loss of stability of TITO-NDCS and influencing the stability of each closed control loop and influencing the stability of the whole system due to network delay generated by transmission of network data between nodes in the TITO-NDCS in which two-input and two-output signals are mutually influenced and coupled and require to be decoupled, the method that the network data transmission process between all the real nodes in the TITO-NDCS replaces a network delay compensation model is put forward, and two-degree-of-freedom IMC and SPC are performed on the two loops respectively so that measurement, estimation or identification of the network delay between the nodes can be omitted, the synchronization requirement of node clock signals can be omitted, the influence of the variable network delay on the stability of the TITO-NDCS can be reduced and the system control performance quality can be improved.

The invention provides a delay compensation method for a network control system, belonging to the technical field of network control systems. True network data transmission processes from a transmitter node to a controller node and from the controller node to an actuator node are adopted in the method to replace network delay compensation models between the transmitter node and the controller node and between the controller node and the actuator node, thereby omitting measurement, estimation or identification on network data transmission delay between nodes and also avoiding the requirement on the node clock signal synchronicity. When an offset exists between an estimated model of a controlled object and a true model, a model offset correction controller can enhance the robustness and theantijamming capability of a system. By adopting the method, the influence of delay on the stability of the system can be lowered and the quality of the control performance of the system can be improved. The method is suitable for sectional, real-time, on-line and dynamic compensation and control on the delay of a network control system of which the network exists between the transmitter node and the controller node and between the controller node and the actuator node and of which the mathematical model of the controlled object is known or incompletely known.

The invention provides a compensation method for unknown network delay of a network cascade control system, belonging to the technical field of network control systems. The method adopts a network data transmission process among all forward and feedback network path nodes of the actual network cascade control system to replace a network delay compensation model thereof, avoids measurement, observation, estimate or identification for unknown delay of network data transmission among the nodes, and also avoids the synchronization requirement on node clock signals. The method can reduce the influence of unknown network delay on stability of the system and improve the control performance quality of the system. The method is suitable for dynamically compensating and controlling unknown network delay in all forward and feedback network paths of network simultaneously existing in the network cascade control system, when mathematical models of main auxiliary controlled objects are known or unknown, the system has unknown interference, and the network exists a certain amount of data packet losses.

The invention provides a network delay compensation method between a transmitter node and a (control) actuator node, and belongs to the technical field of network control systems. In the method, an actual network data transmission process between the transmitter node and the (control) actuator node is used for substituting a network delay compensation model of the process, so that measurement and estimation or identification of network data transmission delay between nodes and requirements on node clock signal synchronization are eliminated. By the method, the influence of delay on stability of a time system can be reduced and the control performance quality of the system can be improved. The method is suitable for delay dynamic compensation and control of a network control system in which a controlled object mathematic model is known, the network only exists between the transmitter node and the (control) actuator node and a certain number of data packets are lost in the network.

The invention provides a method for compensating unknown external feedback and inner loop network time delay of a network cascade control system, which belongs to the technical field of network control systems. A network data transmission process between an external feedback network path node and an inner loop network path node of a true network cascade control system is used instead of a networktime delay compensating model, so that the measurement, observation, estimation or identification of unknown network data transmission time delay between the nodes is eliminated and the requirement on the synchronization of a node clock signal is eliminated. The method can reduce the influence of unknown network time delay on the system stability and improves the system control performance and quality. The invention is suitable for dynamically compensating and controlling unknown network time delay when a network only exists in the external feedback and inner loop paths of the network cascadecontrol system, the mathematical models of main and auxiliary controlled objects are known or uncertain, unknown interference exists in the system and a certain quantity of packet losses exist in thenetwork.

The invention discloses a random time delay compensation method for a TITO-NDCS (two-input and two-output networked decoupling control system) and belongs to the technical field of multiple-input and multiple-output networked decoupling control systems with limited bandwidth resources. As for the TITO-NDCS with two-input and two-output signals mutually affected and coupled requiring decoupling, in consideration that network time delay generated in a transmission process of network data among nodes affects stability of respective closed-loop control loops and the whole system and even leads to that the TITO-NDCS loses stability, the method for substituting a network data transmission process among all real nodes in the TITO-NDCS for a network time delay compensation model is put forward, so that measurement, estimation or identification of the network time delay among the nodes can be avoided, requirements on clock signal synchronization are lowered, influences of random time delay on stability of the TITO-NDCS are lowered and system control performance quality is improved.

The invention provides a long delay compensation method for two-input and two-output networked decoupling control systems, and belongs to the technical field of bandwidth resource limited MIMO-NDCS. Aiming at the problems of loss of stability of TITO-NDCS and influencing the stability of each closed control loop and influencing the stability of the whole system due to network delay generated by transmission of network data between nodes in the TITO-NDCS in which two-input and two-output signals are mutually influenced and coupled and require to be decoupled, the method that the network data transmission process between all the real nodes in the TITO-NDCS replaces a network delay compensation model is put forward, and SPC and IMC are performed on the two loops respectively so that measurement, estimation or identification of the network delay between the nodes can be omitted, the synchronization requirement of clock signals can be reduced, the influence of long delay on the stability of the TITO-NDCS can be reduced and the system control quality can be improved.

The invention provides a method for compensating uncertain network delay of a forward passage of a network cascade control system, belonging to the technical field of a network control system technology. A real network data transmission process among forward passage nodes is adopted instead of a network delay compensation model; the measurement, observation, estimation and identification of the uncertain delay of network data transmission among the forward passage nodes are omitted; and requirements on the clock signal synchronization of the nodes are eliminated. By adopting the method, the influence of uncertain network delay on the system stability can be reduced, and the control performance quality of the system is improved. The method provided by the invention is suitable for compensating and controlling the uncertain delay for which the mathematical models of the primary and secondary controlled objects are known, the network only exists in the forward passage of the network cascade control system, and the network delay is greater than several or even dozens of sampling periods.

The invention relates to a method for compensating the uncertain time delay of a double-input-output network decoupling control system, belongs to the technical field of multi-input-output network decoupling control systems with limited bandwidth resources, and aims to solve the problems that the double-input-output signals of TITO-NDCS affect each other and are coupled and need to be decoupled, the time delay generated during network data transmission among nodes affects the stability of each closed-loop control loop and the stability of the whole system, and even TITO-NDCS instability is caused. The method which uses the network data transmission process among all real nodes in the TITO-NDCS to replace network time delay compensation models among the nodes has the advantages that measuring, estimation or identification of the network time delay among the nodes can be avoided, clock signal synchronization requirements are lowered, influence of the uncertain network time delay on TITO-NDCS stability is lowered, and system control performance quality is improved.

The invention discloses a chattering restraining method of optical axis of a rapid deflecting mirror based on a support vector machine. The chattering restraining method comprises the steps that modeling and identifying of rapid deflecting mirror linear dynamics are carried out, data collecting and processing are carried out, piezoelectric drive rapid deflecting mirror nonlinear hysteresis dynamics modeling is carried out, and the feed-forward feedback composite controller design of rapid deflecting mirror nonlinear hysteresis dynamics is carried out. Compared with the prior art, the chattering restraining method of the optical axis of the rapid deflecting mirror based on the support vector machine does not need parameter identifying of a specific hysteresis model, an accurate inverse piezoelectric hysteresis model is established based on an LS-SVM method and used for compensating the influence on the control precision of piezoelectric drive rapid deflecting mirror by the nonlinear hysteresis effect, and introducing compensating errors introduced by model parameter identifying is avoided; and meanwhile, a pruning method of support vector is designed to reduce model complexity and calculation time-consumption, the support vector of the model is removed, and the model identifying process is simplified; and on the basis of piezoelectric nonlinear hysteresis feed-forward compensating, feedback control is carried out on linear dynamics partial design of the piezoelectric drive rapid deflecting mirror, and control precision of the system is improved.

The invention provides a network delay compensation method of two-input and two-output networked decoupling control systems (TITO-NDCS), and belongs to the technical field of bandwidth resource limited MIMO-NDCS. Aiming at the problems of loss of stability of the TITO-NDCS and influencing the stability of respective closed control loops and influencing the stability of the whole system due to network delay generated by the transmission process of network data between nodes in the TITO-NDCS in which two-input and two-output signals are mutually influenced and coupled and require to be decoupled, the method that the network data transmission process between all the real nodes in the TITO-NDCS replaces a network delay compensation model is put forward so that measurement, estimation or identification of the network delay between the nodes can be omitted, the synchronization requirement of clock signals can be reduced, the influence of the network delay on the stability of the TITO-NDCS can be reduced and the control performance quality of the system can be improved.

The invention discloses a time-varying time delay compensation method for a TITO-NDCS (two-input and two-output networked decoupling control system) and belongs to the technical field of multiple-input and multiple-output networked decoupling control systems with limited bandwidth resources. As for the TITO-NDCS with two-input and two-output signals mutually affected and coupled requiring decoupling, in consideration that network time delay generated in a transmission process of network data among nodes affects stability of respective closed-loop control loops and the whole system and even leads to that the TITO-NDCS loses stability, the method for substituting a network data transmission process among all real nodes in the TITO-NDCS for a network time delay compensation model is put forward, so that measurement, estimation or identification of the network time delay among the nodes can be avoided, requirements on clock signal synchronization are lowered, influences of time-varying time delay on stability of the TITO-NDCS are lowered and system control performance quality is improved.

The invention provides a time-varying delay compensation method for an external forward and internal feedback channel of a network cascade control system, which belongs to the technical field of network control systems. A network delay compensation model is replaced by a network data transmission process between an external forward channel node and an internal feedback channel node of a real network cascade control system, so that measurement, observation, estimation or identification of network data transmission time-varying delay between the nodes is avoided and the requirement on the synchronization of node clock signals is eliminated. Due to the adoption of the method, the influence of time-varying network delay on system stability can be reduced and the control performance quality ofthe system is improved. The method is suitable for dynamic compensation and control of time-varying network delay when a main controlled object mathematical model is known or unknown, an auxiliary controlled object mathematical model is known, a certain number of data packet losses can exist in a network and the network only exists in the external forward and internal feedback channel of the network cascade control system.

The invention discloses an unknown time delay hybrid control method of a two-input two-output networked decoupling control system and belongs to the technical field of a MIMO (multiple-input multiple-output)-NDCS (networked decoupling control system) with limited bandwidth resources. Aiming at a TITO (two-input two-output)-NDCS with two-input two-output signals mutually influenced and coupled and needing to be processed through decoupling, network time delay caused by transmission of network data among nodes has influence on both stability of each closed-loop control loop and stability of the whole system and even leads to instability of the TITO-NDCS, a network of using the network data transmission process among all real nodes in the TITO-NDCS to replace a network time delay compensation model thereamong is put forward, and SPC (Smith predictor control) and IMC (internal model control) are respectively implemented on two loops, so that measurement, estimation or recognition of network time delay among the nodes can be omitted, clock signal synchronization requirements can be lowered, influence of unknown network time delay on stability of the TITO-NDCS can be lowered, and control quality of the system can be improved.

The invention provides a two-input two-output NDCS unknown time delay compensation and IMC method and belongs to the technical field of bandwidth resource limited multiple-input-multiple-output networked decoupling control systems. For the TITO-NDCS, where two-input and two-output signals are mutually influenced and coupled, and need decoupling processing, since network delay of network data generated in the inter-node transmission process not only influences stability of each closed-loop control loop, but also influences stability of the whole system, or even causes loss of stability of the TITO-NDCS, a method of using a real network data transmission process between all nodes in the TITO-NDCS to replace network delay compensation models is proposed, and IMC is carried out on loops thereof, thereby avoiding measurement, estimation or identification of network delay between nodes, reducing requirement for clock signal synchronization, reducing influence of unknown time delay on stability of the TITO-NDCS, and improving quality of control performance of the system.

The present invention claims a delay compensation method with double adjustment function between transducer and (controller) executer, belonging to the technical field of network control system. The method uses a real network data transmission procedure between a transducer node and a (controller) executer node to displace a network delay compensation model therebetween; measurement, estimation or identification to the network data transmission delay between nodes are avoided; and requirements to synchronization of node clock signal is avoided. When there is provided difference between a controlled object predicted model and a real model parameter, a secondary regulator can increase the robustness and disturbance resistant capacity of the system. By the method, the influence of network delay to system stability can be reduced, and the control performance quality of the system is improved. The method of the present invention is suitable for the condition that the mathematical model of the controlled object is known or not completely known, and network only has the network control delay compensation and control between the transducer node and the (controller) executer node.

The invention provides a forward channel random network time-delay compensation method for a network cascade control system, and belongs to the technical field of network control systems. The real network data transmission process between forward network channel nodes is adopted to replace a network time-delay compensation model therebetween, the measurement, the observation, estimation or identification of network data transmission random time delay between the forward network channel nodes is avoided, and the requirement on node clock signal synchronization is avoided. The method can reduce the influence of the random network time delay on the system stability and improve the dynamic performance quality of the system. The compensation method is applied to dynamic compensation and control of the random network time delay in a forward channel of the network cascade control system in a network with certain data packet loss and known mathematical models of master / slave controlled objects.

The invention belongs to the technical field of bandwidth resource limited MIMO-NCSs (multiple-input multiple-output networked control systems) and relates to a two-DOF (degree of freedom) IMC (internal model control) and SPC (smith predictor control) method for compensating uncertain delay in TITO-NCS (two-input two-output networked control system). In order to solve the problems that two-input two-output signals in a TITO-NCS (two-input two-output networked control system) have mutual effect, network delay due to the transmission of network data between nodes affects the stability of one closed-loop control circuit of the system and may also affect the stability of another closed-loop control circuit while even stability loss is caused to the TITO-NCS, it is presented that an inter-node network delay compensation model is replaced by network data transmission process between all true nodes in the TITO-NCS, with dynamic feedforward as well as two-DOF IMC and SPC applied to the two circuits; by using the method of the invention, it is possible to omit the measurement, estimation or identification of inter-node network delay, omit the requirement on node clock signal synchronization, reduce the effect of uncertain network delay upon TITO-NCS stability, and improve the control performance quality of the system.

The invention relates to a two-input and two-output network decoupling control system non-deterministic time delay compensation method and belongs to the technical field of bandwidth resource limited MIMO-NDCSs (multi-input and multi-output network decoupling control systems). Since two-input signals and two-output signals affect and couple each other, a two-input and two-output network decoupling control system (TITO-NDCS) for decoupling processing is required; network delay of the transmission of network data between nodes not only affects the stability of respective closed-loop control loops, and but also affect the stability of the whole system, and even leads to the loss of the stability of the TITO-NDCS, and thus, a network data transmission process between all real nodes in the TITO-NDCS is adopted to substitute the compensation model of the network delay in the TITO-NDCS, and SPC (Smith Predictor Control) and IMC (Internal Model Control) are performed on the two loops, and therefore, measurement, estimation or identification of the network delay of the nodes can be eschewed, clock signal synchronization requirements can be lowered, influence on the stability of the TITO-NDCS caused by non-deterministic network delay can be reduced, and the control quality of the system can be improved.

The invention discloses a two-input and two-output networked decoupling control system large network time delay IMC method, and belongs to the MIMO-NDCS technology field having limited bandwidth resources. By aiming at influences and coupling between two-input and two-output signals, decoupling processing of TITO-NDCS is required, and because of the network time delay generated by transmission of network data among nodes, stabilities of various closed-loop control circuits are affected, and stability of a whole system is affected, and then the problem of the loss of the stability of the TITO-NDCS can be even caused. The method of using the process of the network data transmission among all of the actual nodes of the TITO-NDCS to replace a network time delay compensation model is provided, and two-freedom degree IMC and one-freedom degree are carried out on the two closed loop control circuits, and therefore the measurement, the estimation, or the identification of the network time delay among the nodes are eliminated, a requirement on synchronization of node clock signals is lowered, the influences of the network time delay on the stability of the TITO-NDCS are reduced, and system control performance quality is improved.