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44results about How to "Eliminate static errors" patented technology
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Linear servo motor control method for numerically-controlled machine tool driving
InactiveCN103532459AReduce switching lossesImprove dynamic responsivenessElectronic commutation motor controlAC motor controlAnti jammingControl vector
The invention discloses a linear servo motor control method for numerically-controlled machine tool driving. According to the method, a sine wave linear motor is controlled through a feedback signal detection module, a position control ring, a speed control ring and a current control ring, and the feedback signal detection module comprises a position detection module, a speed detection module and a current detection module, wherein the position control ring adopts a composite control method combining PI (proportional-integral) feedback control and neural network given compensation control, the speed control ring adopts a fuzzy controller with a disturbance observer, and the current control ring adopts a space vector PWM (pulse-width modulation) technology with a PI regulator. The linear servo motor control method has the advantages that the neural network compensation PI control technology, the fuzzy control and the alternating current motor vector control are combined, and the anti-jamming capability, the dynamic response capability and the system stable state precision of a linear servo motor are improved.
Owner:SOUTHEAST UNIV
Road surface self-adaptive driving anti-skid control method and system of distributed driving electric automobile
ActiveCN109421552AAchieving Adaptive ControlEliminate static errorsSpeed controllerOperating modesAdhesion coefficientRoad surface
The invention relates to a road surface self-adaptive driving anti-skid control method and system of a distributed driving electric automobile and belongs to the technical field of vehicle control. According to the road surface self-adaptive driving anti-skid control method of the distributed driving electric automobile, by estimating a current road surface peak adhesion coefficient in real time,a current road surface optimal slip rate is obtained according to a corresponding linear relation between the current road surface peak adhesion coefficient and the current road surface optimal slip rate; by combining a current wheel center speed, a current wheel reference wheel speed is determined; a difference between an actual wheel speed and the reference wheel speed is calculated; according to the wheel speed difference, the moment of a wheel, which slips in a driving state, is controlled by using a sliding mode variable structure controller; and therefore, it is guaranteed that the wheelslip rate is controlled to the current road surface optimal slip rate. According to the road surface self-adaptive driving anti-skid control method of the distributed driving electric automobile, thewheel slip rate is controlled to the current road surface optimal slip rate to realize self-adaptive control of anti-skid driving of the wheel.
Owner:ZHENGZHOU YUTONG BUS CO LTD
Control method of grid-connected inverter of large-scale grid-connected photovoltaic power station
InactiveCN102136738AEasy to adjustImprove robustnessSingle network parallel feeding arrangementsPhotovoltaic energy generationGrid connected inverterPower factor
The invention relates to a control method of a grid-connected inverter of a large-scale grid-connected photovoltaic power station. The control method is characterized by comprising the following steps: establishing a grid-connected inverter model under a d-q coordinate system; realizing active and passive power decoupling control by adopting a state feedback exact linearization nonlinearity control strategy; and eliminating static control errors generated by inaccurate system parameter estimation by utilizing cascaded PI (Proportion Integration) adjustment. By utilizing the method of the invention, modeling and grid-connected dynamic analysis are carried out on the grid-connected inverter of the large-scale grid-connected photovoltaic power station to fully reflect the validity of the control method under the conditions of considering different power factors, intensities of illumination, faults, and the like. Compared with a traditional control method, the control method disclosed by the invention is scientific, simple to adjust parameters, can eliminate static errors and has the advantages of favorable dynamic characteristics, stronger robustness, strong suitability, high practical application values, and the like.
Owner:NORTHEAST DIANLI UNIVERSITY +1
Salamander robot path tracking hierarchical control method based on reinforcement learning
ActiveCN111552301ACompact state representationVerify feasibilityTarget-seeking controlTotal factory controlControl objectiveControl theory
The invention discloses a salamander robot path tracking hierarchical control method based on reinforcement learning. Aiming at the path tracking problem of the salamander bionic robot, a hierarchicalcontrol framework is established, the hierarchical control framework comprises an upper controller based on reinforcement learning and a bottom controller based on inverse kinematics, and target pathtracking of the salamander bionic robot is realized. Specifically, for an upper-layer controller, state space representation, action space representation and a reward function are designed on the basis of a softActor-Critic algorithm, so that the tracking precision can be improved, and static errors can be eliminated. For an underlying controller, a leg controller and a spine controller based oninverse kinematics are established. And finally, a controller trained by the robot in a simulation environment is migrated to a real environment to verify the feasibility and generalization ability ofthe algorithm. Experimental results show that the control target can be better completed, and a better control effect is shown in the aspects of simulation to actual mobility and generalization.
Owner:NANKAI UNIV
Temperature control method of proton exchange membrane fuel cell
InactiveCN105206852AElectrochemical reaction is safe and efficientAvoid interferenceFuel cell auxillariesTemperature controlElectrochemical response
The invention discloses a temperature control method of a proton exchange membrane fuel cell. The method comprises the following steps: step 1, establishing a temperature model of a proton exchange membrane fuel cell according to physical properties of each device in the proton exchange membrane fuel cell; step 2, arranging an incremental fuzzy controller according to the established temperature model and a control experience rule, and establishing a temperature closed-loop control algorithm of the proton exchange membrane fuel cell by utilizing the incremental fuzzy controller; step 3, controlling the temperature of the proton exchange membrane fuel cell in real time by utilizing the incremental fuzzy controller according to the temperature closed-loop control algorithm. The incremental fuzzy controller is used for performing the fuzzy control and is set according to the control experience rule, no precision mathematic model is needed, the temperature control method has the advantages of high robustness, simplicity in operation, rapidness in response, easiness in modification and the like, a PEMFC (proton exchange membrane fuel cell) galvanic pile is maintained at a fixed temperature, and electrochemical reaction inside the PEMFC can be safely and efficiently carried out.
Owner:SHANGHAI DIANJI UNIV
Unbalance compensation method for three-level static synchronous compensator
InactiveCN102208812ASimple designReduce design difficultyFlexible AC transmissionReactive power adjustment/elimination/compensationThree levelVoltage vector
The invention provides an unbalance compensation method for a three-level static synchronous compensator (STATCOM), belonging to the technical field of reactive compensation for power systems. The method comprises the following steps of: detecting an asymmetrical current at a load side under the conditions of unbalanced power gird and asymmetrical load, and carrying out sequence decomposition; respectively carrying out dq transformation on the obtained positive and negative sequence currents to obtain DC references, and realizing the complete decoupling of positive and negative sequence active and reactive currents by using PI decoupling control to obtain the positive and negative sequence reference voltage vector of a three-level STATCOM output voltage; and finally, carrying out simplified three-level SVPWM (Space Vector Pulse Width Modulation) to obtain PWM (Pulse Width Modulation) driving signals to control the action of a switch device to produce a required compensation current. The invention overcomes the influence of the unbalanced power grid and the asymmetrical load on the performance of the three-level STATCOM, the reactive current and the negative sequence current under the conditions of unbalanced power gird and asymmetrical load can be accurately compensated, the stable balance of capacitance and voltage at a DC side is maintained, and the unbalance compensation method has the advantages of quick dynamic response and no static errors.
Owner:张兵
Control method capable of improving stability during power exchange of VSC and weak AC network
ActiveCN107968425AGood effectImprove stabilitySingle network parallel feeding arrangementsWind energy generationNonlinear control lawLoop control
The invention relates to a control method capable of improving the stability during power exchange of a VSC (voltage source converter) and a weak AC network. The control method comprises a nonlinear control law of outer loop control in double closed-loop control, an integral control law for eliminating a static error increase in the nonlinear control law, and outer loop control of the double closed-loop control formed through the nonlinear control law and the integral control law. According to the control method provided by the invention, the stability of a whole system formed by the voltage source converter and the weak AC network when the power is transmitted to the weak AC network by using the voltage source converter or the weak AC network outputs the power outwards by using the voltage source converter is improved, the possibility of a potential instability failure is reduced and the utilization efficiency of the voltage source converter is improved, thereby reducing the cost.
Owner:CHINA ELECTRIC POWER RES INST +2
Improved integral separation type PID control method
InactiveCN102591202APrevent control amountQuick responseControllers with particular characteristicsLower limitLimit value
The invention discloses an improved integral separation type PID control method, belonging to the field of the PID control. Because the upper limit value umax and the lower limit value umin of the theoretical output value are set, too large or small control amount can be avoided. Even if the integral saturation phenomenon occurs, the overshoot can exit quickly due to less integral accumulation, and hereby the response speed of the overshoot is increased and the overshoot is reduced. In addition, the increment delta P of the theoretical output value and the difference delta U of the theoretical output value and the set threshold value are calculated, and the increment delta P is compared with the difference delta U: the smaller one of the increment delta P and the difference delta U is compared with xi if the overshoot phenomenon is possible to occur, wherein, the integral coefficient ki is easy to be neglected at the moment and the occurrence of overshoot is prevented hereby, and the smaller one of the increment delta P and the difference delta U is compared with the xi if the static errors of the system are likely difficult to be eliminated, wherein the integral coefficient Ki is easy to be considered at the moment and the static errors of the system are easy to be eliminated hereby. The improved integral separation type PID control method can also realize the positive and negative adjustment, thus the adjustment precision of the system can be improved.
Owner:重庆安谐新能源技术有限公司
Fuzzy neural network decoupling controller for bearing-free permanent magnet synchronous motor
ActiveCN107370429AAchieve direct controlReduced accuracy impactElectronic commutation motor controlVector control systemsMotor speedDecoupling controller
The invention discloses a fuzzy neural network decoupling controller for a bearing-free permanent magnet synchronous motor. The decoupling controller is composed of a feedback linear controller and a fuzzy neural network inverse controller connected in series. The fuzzy neural network inverse controller is connected with the bearing-free permanent magnet synchronous motor in series. The input of the feedback linear controller is radial displacement specific rate [x*, y*], rotation specific rate omega*, radial displacement x, y and rotation speed omega while the output is eccentric displacement controlled quantity r and rotation speed control quantity omega c. The input of the fuzzy neural network inverse controller is eccentric angle theta, eccentric displacement control quantity r and rotation control quantity omega c while the output is torque winding three-phase current signals [ila, ilb, ilc] and suspension winding three-phase current signal [i2a, i2b, i2c]. The invention directly adopts the rotor eccentric quantity as control signals and directly adopts the eccentric displacement quantity, the rotation speed and the rotation angle as the input quantity, direct control over rotor eccentricity can be realized; a suspension force control structure is simplified; good rotor radio position and motor speed control performance can be obtained; and control efficiency is improved.
Owner:东台城东科技创业园管理有限公司
Ramp-error compensation circuit for peak current controlled BUCK converter
ActiveCN109149931AEliminate static errorsGuaranteed accuracyDc-dc conversionElectric variable regulationPeak valueStatic error
The invention relates to a ramp-error compensation circuit for a peak current controlled BUCK converter, belongs to the technical field of switching power supplies and solves the problem that the output current of the peak current control BUCK converter has a static error after ramp compensation in the prior art. The ramp-error compensation circuit disclosed by the present invention comprises a ramp compensation sub-circuit, an error compensation sub-circuit and a conditioning amplifier sub-circuit, wherein the error compensation sub-circuit comprises a ramp compensation sub-circuit, an errorcompensation sub-circuit and a conditioning amplifier sub-circuit. The input signal of the error compensation sub-circuit is taken from the output voltage of the BUCK converter, and the error compensation value is proportional to the output voltage of the BUCK converter and equal to the static error of the output current of the ramp compensation sub-circuit. Therefore, the BUCK converter with anyduty cycle can achieve error compensation and eliminate the static error caused by ramp compensation.
Owner:BEIJING MECHANICAL EQUIP INST
Denitration and ammonia spraying control system for W-flame boiler and method thereof
PendingCN112316718AQuick responseAddress reliabilityGas treatmentFlow control using electric meansAmmoniacal nitrogenThermodynamics
The invention discloses a denitration and ammonia spraying control system for a W-flame boiler and a method thereof. The system comprises an SCR inlet NOx concentration module, an SCR outlet NOx concentration setting module, an SCR outlet NOx concentration module, a boiler real-time flue gas flow calculation module, an ammonia gas flow module, a boiler combustion state variable module, an NOx quantity module theoretically needing to be removed, a combustion state estimation controller, a static deviation controller, a theoretical ammonia-nitrogen molar ratio module, an arithmetic operator module, an ammonia flow controller, and an ammonia flow regulating valve. A control strategy of a feedforward loop, an estimation loop, and a feedback loop is set, and a state estimation controller, an NOx quantity module theoretically needing to be removed and a static deviation controller are correspondingly arranged. According to the control method, denitration optimization control and precise ammonia spraying of the W-flame boiler can be achieved in any DCS and any external system configuration of the DCS, and partition dynamic precise ammonia spraying optimization can be achieved in cooperation with SCR partition.
Owner:XIAN THERMAL POWER RES INST CO LTD
Control method and device of network transmission speed
ActiveCN106470167AEliminate static errorsHigh precisionData switching networksReaction speedNetwork data
The invention discloses a control method and a device of network transmission speed. According to the embodiment of the invention, when it is detected that difference exists between actual speed and a speed threshold value of the current network data transmission, deviation reduction processing is performed on the difference. A proportional constant Kp is capable of rapidly eliminating a difference value between actual speed and the speed threshold, so when the proportional constant is bigger, the response speed of the difference value adjustment is faster, so the transmission speed of the network data can be quickly adjusted, the adjustment efficiency of the network data transmission speed can be increased and a problem of low adjustment efficiency of the current network transmission speed control method can be solved.
Owner:TAOBAO CHINA SOFTWARE
Power transmission line and power transmission equipment inspection system
ActiveCN108539660ARealize fixed-point inspectionRealize visual detectionApparatus for overhead lines/cablesData informationEngineering
The invention provides a power transmission line and power transmission equipment inspection system. The system comprises a power transmission line monitoring terminal and a power transmission line detection device which is in communication connection with the power transmission line monitoring terminal and used for inspecting power transmission lines and power transmission equipment; a terminal acquisition module acquires inspection data information, transmitted by the transmission line detection device, of the transmission lines and transmission equipment. The transmission line detection device can perform targeted inspection on the transmission lines and transmission equipment, acquire video information or image information of the transmission lines and transmission equipment, and perform fixed-point inspection on the transmission lines or inspect the entire tower. Visual detection of the inspected transmission lines is realized, and the problem that the transmission lines can be seen is solved.
Owner:山东济宁圣地电业集团有限公司 +1
Non-parametric model prediction three-time control method for direct-current microgrid cluster
InactiveCN111817287AImprove reliabilityRealize the effect of plug and playDc source parallel operationOptimal schedulingControl system
The invention relates to the technical field of direct-current microgrid clusters, and concretely provides a non-parametric model prediction three-time control method for a direct-current microgrid cluster. A dynamic matrix control (DMC) algorithm is used as three times of control to carry out optimal scheduling on power of a plurality of interconnected direct-current microgrids. On the basis of adistributed control architecture and on the premise that the bus voltage is stable, accurate theoretical modeling does not need to be carried out on the direct-current microgrid control system, firstly, step response is carried out on a system, then response data are processed, and finally a DMC controller is designed to carry out three-time control on the cluster power. The loss of power devicesin the cluster is reduced, the communication pressure of the geographically adjacent direct-current microgrid cluster is reduced, the complexity of theoretical modeling of the direct-current microgrid model controller is reduced, and the algorithm is easy to implement.
Owner:ANHUI UNIVERSITY OF TECHNOLOGY
Display synchronization method and video display terminal
ActiveCN108234817AClock Frequency ConsistentReduce the differenceTelevision system detailsColor television detailsProportional integral differentialProportional differential
The embodiment of the invention provides a display synchronization method and a video display terminal. The method comprises the following steps: receiving first frequency identification information;calculating a difference value between the first frequency identification information and second frequency identification information; determining a corresponding target difference value according tothe calculated difference value; judging whether an absolute value of the determined target difference value is greater than a first set threshold; if yes, calibrating the own determined target difference value by using a proportional differential PD algorithm; if no, calibrating the determined target difference value by using a proportional integral differential PID algorithm; determining a corresponding target voltage according to the calibrated target difference value; and adjusting the own actual output frequency according to the determined target voltage. By adoption of the scheme, the clock frequency of video display terminals can be quickly adjusted to be consistent with that of a main video display terminal, and the adjustment accuracy is well ensured as well.
Owner:HANGZHOU HIKVISION DIGITAL TECH
Brushless DC motor position tracking controller based on fuzzy control
InactiveCN105186940ASimple control methodWith reduced order decouplingSingle motor speed/torque controlField or armature current controlBrushless motorsInterference resistance
The invention discloses a brushless DC motor position tracking controller based on fuzzy control, comprising a fuzzy position regulator, a speed regulator, a gain regulator, a DC brushless motor and position sensors, wherein three position sensors are installed in the motor, with a difference of 120 DEG between every two adjacent sensors; the fuzzy position regulator, the speed regulator, the gain regulator, the DC brushless motor and the position sensors are in connection in an electric loop mode to form a brushless DC motor controller based on fuzzy control. The brushless DC motor position tracking controller has the characteristics of simple circuit, low cost, interference resistance and good dynamic / static state servo characteristic, and effectively solves the problem of low tracking precision of a traditional control algorithm by realizing a fuzzy control algorithm in a DSP.
Owner:淮安市白湖电子科技有限公司
Current optimization control system and method of grid-connected photovoltaic inverter
InactiveCN108539790AEliminate resonanceReduce orderSingle network parallel feeding arrangementsPhotovoltaic energy generationAverage currentData acquisition
The invention discloses a current optimization control system and method of a grid-connected photovoltaic inverter. The system comprises a data acquisition module, a signal converter, a weighted average current controller, a cross coupling compensation controller, a dead beat controller and a PWM (pulse-width modulation) generator, wherein an output end of the data sampling module is connected with the signal converter, and an output end of the signal converter is connected with the weighted average current controller and the cross coupling compensation controller; outputs of the weighted average current controller and the cross coupling compensation controller are connected with an adder; an output end of the adder, the dead beat controller and the PWM generator are sequentially connected. Compared with conventional single-loop control systems, the system has the advantages that a dead beat current control system with feed-forward compensation feedback is designed, and introduced static errors of weighed current control models can be eliminated, so that output current is more accurate to control; besides, the tracking speed is higher and the control effect is better.
Owner:DEZHOU POWER SUPPLY COMPANY OF STATE GRID SHANDONG ELECTRIC POWER +1
Self-adaptive fault-tolerant unmanned aerial vehicle tracking and cruising system and method
ActiveCN114217632AReal-time monitoring of 3D attitude velocityReal-time monitoring coordinate positionPosition/course control in three dimensionsAttitude controlUncrewed vehicle
The invention provides a self-adaptive fault-tolerant unmanned aerial vehicle tracking and cruising system and method. The system comprises an unmanned aerial vehicle flight parameter acquisition module, a self-adaptive alignment calculation module, an early warning and obstacle avoidance control module and a wireless power supply module. The self-adaptive alignment calculation module comprises an upper-layer control module and a bottom-layer control module, and the bottom-layer control module comprises a position control module, a tension and posture distribution module, a posture control module and an accelerator control module; the tension and posture distribution module controls the position control module, the posture control module and the accelerator control module to achieve the purpose of reaching the expected cruise route with the minimum inclination angle and power. The three-dimensional attitude speed, the position coordinates and the three-dimensional stress condition of the unmanned aerial vehicle in the flight process can be monitored in real time, the random forest method is adopted to optimize iteration, deviation generated in the calculation process is avoided, active fault-tolerant control is carried out through the early warning obstacle avoidance control module, it is guaranteed that deviation of the unmanned aerial vehicle from the flight route can be corrected in real time, and the unmanned aerial vehicle flight safety is improved. And cruising in the predetermined target cruising route.
Owner:NAT UNIV OF DEFENSE TECH
Control method of grid-connected inverter of large-scale grid-connected photovoltaic power station
InactiveCN102136738BEasy to adjustImprove robustnessSingle network parallel feeding arrangementsPhotovoltaic energy generationGrid connected inverterPower factor
The invention relates to a control method of a grid-connected inverter of a large-scale grid-connected photovoltaic power station. The control method is characterized by comprising the following steps: establishing a grid-connected inverter model under a d-q coordinate system; realizing active and passive power decoupling control by adopting a state feedback exact linearization nonlinearity control strategy; and eliminating static control errors generated by inaccurate system parameter estimation by utilizing cascaded PI (Proportion Integration) adjustment. By utilizing the method of the invention, modeling and grid-connected dynamic analysis are carried out on the grid-connected inverter of the large-scale grid-connected photovoltaic power station to fully reflect the validity of the control method under the conditions of considering different power factors, intensities of illumination, faults, and the like. Compared with a traditional control method, the control method disclosed by the invention is scientific, simple to adjust parameters, can eliminate static errors and has the advantages of favorable dynamic characteristics, stronger robustness, strong suitability, high practical application values, and the like.
Owner:NORTHEAST DIANLI UNIVERSITY +1
Rolling optimization method and system for model predictive control of modular multilevel converters
InactiveCN107404247BAvoid parameter sensitivityHigh steady state accuracyAc-dc conversionSingle network parallel feeding arrangementsPhase currentsEngineering
Owner:SHANGHAI JIAOTONG UNIV
A transmission line and transmission equipment inspection system
ActiveCN108539660BRealize fixed-point inspectionRealize visual detectionApparatus for overhead lines/cablesTransmission equipmentInformation acquisition
The invention provides a power transmission line and power transmission equipment inspection system. The system comprises a power transmission line monitoring terminal and a power transmission line detection device which is in communication connection with the power transmission line monitoring terminal and used for inspecting power transmission lines and power transmission equipment; a terminal acquisition module acquires inspection data information, transmitted by the transmission line detection device, of the transmission lines and transmission equipment. The transmission line detection device can perform targeted inspection on the transmission lines and transmission equipment, acquire video information or image information of the transmission lines and transmission equipment, and perform fixed-point inspection on the transmission lines or inspect the entire tower. Visual detection of the inspected transmission lines is realized, and the problem that the transmission lines can be seen is solved.
Owner:山东济宁圣地电业集团有限公司 +1
AC-DC converter based on constant power load and control method thereof
PendingCN114079392AImprove stabilityImprove reliabilityAc-dc conversionConstant powerReference current
The invention provides an AC-DC converter based on a constant power load and a control method thereof, and the method comprises the steps: obtaining a power observation value PCPL* of the constant power load based on an output current iodc and a DC side voltage vdc of a switch unit in the AC-DC converter; calculating a predicted value iod1* of the output active current of the AC-DC converter based on the power observed value PCPL*; performing nonlinear proportional-integral adjustment based on the output direct-current voltage vdc and the reference voltage vdc* to obtain a reference current correction value delta(iod*); obtaining a reference active component iod* of the AC output current based on the reference current correction value delta(iod*) and the predicted value iod1*; based on the reference active component iod* of the alternating current output current, the active component iod of the alternating current side line current, the reactive component ioq of the alternating current side line current and the reference reactive component ioq* of the alternating current output current, obtaining the active component vood and the reactive component voq of the output line voltage of the alternating current-direct current converter; and controlling a switch unit of the AC-DC converter based on the active component vod and the reactive component voq.
Owner:BEIJING INFORMATION SCI & TECH UNIV
A Direct Torque Control Method Based on Space Voltage Vector Prediction
ActiveCN108448982BReduce the numberReduce workloadElectronic commutation motor controlAC motor controlPrediction algorithmsVoltage vector
A direct torque control method based on space voltage vector prediction, a new voltage vector calculation method is obtained through theoretical derivation, the number of PI regulators is reduced, and the flux linkage at (k+1) time is obtained by predictive control algorithm And torque value, in order to eliminate the problem of one beat delay. It effectively reduces the workload when setting PI parameters, eliminates a one-beat delay, and makes the system have smaller torque fluctuations. With the help of the prediction algorithm to eliminate the influence of one beat delay, the x-axis voltage component obtained by the calculation method can theoretically be the stator flux linkage to achieve the dead-beat control effect, and further reduce the torque ripple, and the y-axis voltage component is adjusted by PI Obtained by the controller, it can ensure that the system achieves the effect of no static difference in torque during operation, so that the static error problem caused by the change of motor parameters can be eliminated.
Owner:TIANJIN POLYTECHNIC UNIV
Fuzzy Neural Network Inverse Decoupling Controller for Bearingless Permanent Magnet Synchronous Motor
ActiveCN107370429BAchieve direct controlReduced accuracy impactElectronic commutation motor controlVector control systemsMotor speedControl signal
The invention discloses a fuzzy neural network decoupling controller for a bearing-free permanent magnet synchronous motor. The decoupling controller is composed of a feedback linear controller and a fuzzy neural network inverse controller connected in series. The fuzzy neural network inverse controller is connected with the bearing-free permanent magnet synchronous motor in series. The input of the feedback linear controller is radial displacement specific rate [x*, y*], rotation specific rate omega*, radial displacement x, y and rotation speed omega while the output is eccentric displacement controlled quantity r and rotation speed control quantity omega c. The input of the fuzzy neural network inverse controller is eccentric angle theta, eccentric displacement control quantity r and rotation control quantity omega c while the output is torque winding three-phase current signals [ila, ilb, ilc] and suspension winding three-phase current signal [i2a, i2b, i2c]. The invention directly adopts the rotor eccentric quantity as control signals and directly adopts the eccentric displacement quantity, the rotation speed and the rotation angle as the input quantity, direct control over rotor eccentricity can be realized; a suspension force control structure is simplified; good rotor radio position and motor speed control performance can be obtained; and control efficiency is improved.
Owner:东台城东科技创业园管理有限公司
A Reinforcement Learning-Based Hierarchical Control Method for Salamander Robot Path Tracking
ActiveCN111552301BCompact state representationVerify feasibilityTarget-seeking controlTotal factory controlControl objectiveControl theory
A Reinforcement Learning-Based Hierarchical Control Method for Salamander Robotic Path Following. Aiming at the path tracking problem of the salamander bionic robot, a layered control framework is established, including the upper controller based on reinforcement learning and the lower controller based on inverse kinematics, which realizes the tracking target path of the salamander bionic robot. Specifically, for the upper controller, the state space representation, action space representation and reward function are designed based on the softActor‑Critic (actor‑critic) algorithm, which can improve tracking accuracy and eliminate static errors. For the underlying controllers, a leg controller and a spine controller based on inverse kinematics are established. Finally, the controller trained by the robot in the simulation environment is migrated to the real environment to verify the feasibility and generalization ability of the algorithm. Experimental results show that the present invention can better complete the control target, and shows a better control effect in terms of migration and generalization from simulation to reality.
Owner:NANKAI UNIV
Method and device for controlling cpu utilization rate
The invention discloses a method for controlling CPU utilization rate. The method comprises: starting a work process, wherein the work process and a target CPU have binding relation; obtaining current utilization rate and target utilization rate of the target CPU, and obtaining an error value between the current utilization rate and the target utilization rate; according to the error value, generating work time of the work process; and according to the work time of the work process, controlling the work process. The method can make CPU utilization rate control achieve characteristics of stable effect, high real-time property, and high accuracy. The invention also discloses a device for controlling CPU utilization rate.
Owner:TAOBAO CHINA SOFTWARE
Method and device for controlling network transmission speed
ActiveCN106470167BEliminate static errorsHigh precisionData switching networksNetwork dataControl theory
The invention discloses a control method and a device of network transmission speed. According to the embodiment of the invention, when it is detected that difference exists between actual speed and a speed threshold value of the current network data transmission, deviation reduction processing is performed on the difference. A proportional constant Kp is capable of rapidly eliminating a difference value between actual speed and the speed threshold, so when the proportional constant is bigger, the response speed of the difference value adjustment is faster, so the transmission speed of the network data can be quickly adjusted, the adjustment efficiency of the network data transmission speed can be increased and a problem of low adjustment efficiency of the current network transmission speed control method can be solved.
Owner:TAOBAO CHINA SOFTWARE
Method for correcting signal transmission error among DCS (Decentralized Control System) hardware
ActiveCN101976071AError reduction and eliminationImprove accuracyMachines/enginesEngine componentsControl signalControl system
The invention discloses a method for correcting signal transmission error among DCS (Decentralized Control System) hardware. In the process of signal transmission among the DCS hardware, an analog quantity signal is output through a system and then is input by the other system hardware, thus the precision of the hardware must bring a channel error for the signal transmission; and the economical performance of the system is directly influenced by an important analog quantity control signal. The invention provides the method for correcting signal transmission error among DCS hardware, which is characterized in that signal source data before correcting are directly taken as output data to be output; when correcting, deviation obtained by reducing communication feedback data from the output data before correcting passes through a step delay loop as hardware error, and then the signal source data are superposed with the hardware error to obtain the output data after correcting. The application of the method for correcting signal transmission error among DCS hardware can make the signal transmission error among the DCS hardware and realize the effects of completely removing static error and obviously reducing dynamic error, thereby improving the accuracy of the DCS.
Owner:ELECTRIC POWER RES INST OF STATE GRID ZHEJIANG ELECTRIC POWER COMAPNY +1
Molten gel back pressure control system and method for electrically controlled injection molding machine
The invention relates to a molten gel back pressure control system and a method for an electrically controlled injection molding machine. The system comprises an embedded controller and a pressure sensor, wherein the pressure sensor is arranged at a gel injection port so as to acquire molten gel back pressure signals; the embedded controller is used for comparing the received molten gel back pressure signals with the preset molten gel back pressure value, so as to obtain the real-time deviation signal; and the embedded controller is further used for performing proportional-integral calculation on the deviation signal, thereby controlling the swiveling speed of a gel injection moor, and the disadvantages that more intermediate sections exist in the normal molten gel back pressure control and the precision is low; as the proportional-integral control is adopted, closed-loop control calculation is directly conducted on the molten gel back pressure acquired by the pressure sensor and the preset molten gel back pressure valve, thereby maintaining constant gel injection pressure; the structure is simple, the parameter is easily adjusted, the dynamic response speed is ensured, and the static error is eliminated; and moreover, no difference degree of the system can be improved, the functions of controlling pressure in real time and accurately controlling the pressure can be realized, and the product quality is greatly improved.
Owner:广东力劲塑机智造股份有限公司
Active filter current compensation method based on the minimum current error model prediction
InactiveCN107069732BReduce computationImprove dynamic performanceHarmonic reduction arrangementAc network to reduce harmonics/ripplesMathematical modelHarmonic
The invention discloses a harmonic current compensation method of an active filter based on the minimum current error model prediction, comprising the following steps: establishing a mathematical model of the active filter, deriving the rate of change of the control amount versus time with the modulation voltage as a variable expression; collection k The input side voltage and harmonic compensation current at all times are used as reference values; according to the expression in step 1) get k after the moment n The predicted value of the control quantity for a cycle; put it into the minimum current error value function J in, yes J Calculate the extreme value to obtain the modulation voltage of the minimum current error; send it to the PWM modulator to obtain the switching signal, and realize the minimum current dead-beat control of the active filter; the present invention reduces its calculation amount, has high dynamic performance, and does not need to introduce feedback link, the multi-step prediction is eliminated, the sampling delay difference is eliminated, and the versatility is strong.
Owner:SOUTHWEST JIAOTONG UNIV
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