8results about How to "Eliminate static errors" patented technology

The invention discloses an active-disturbance-rejection control method for an air mutual-control system based on laser perception, and the method specifically comprises the steps: building a kinetic model and a kinematic model of a four-rotor unmanned plane, and taking a mechanical arm as the external disturbance of the unmanned plane; point cloud data around a flying mechanical arm are collected, through accurate segmentation and registration processing, graph optimization is conducted through the processed point cloud data, and therefore the position of the quadrotor unmanned aerial vehicle is accurately positioned; generating a torque instruction for controlling a motion axis of the quadrotor unmanned aerial vehicle according to the position of the quadrotor unmanned aerial vehicle through an integral type active disturbance rejection attitude control strategy improved by PID position control series connection; and according to the lift force and the torque instruction of the four-rotor unmanned aerial vehicle, calculating a throttle control signal corresponding to a propeller to complete control of the four-rotor unmanned aerial vehicle. Pose information is accurately transmitted through a graph optimization framework, the stability and operation precision of the system are remarkably improved in combination with an improved integral type active disturbance rejection control technology, and it is ensured that accurate control and stable maintenance of the unmanned aerial vehicle are achieved in a complex environment.

The invention discloses a droop control method for hybrid DC voltage of a DC power distribution network, relates to the DC power distribution network, and aims to solve the problems that a conventional DC voltage droop control strategy is not accurate enough in power distribution and large in static voltage deviation. The offset and the slope of a droop curve can be dynamically adjusted, namely, the voltage deviation value is corrected in real time, and power distribution is rapidly adjusted so as to adapt to the change of a system load. Through complementation of the two control strategies, the hybrid voltage control strategy not only can eliminate static errors, but also can quickly respond to power fluctuation, and can achieve more flexible DC voltage control. Moreover, a result after a 750V direct-current power distribution network simulation model is built on an MATLAB / Simulink platform for simulation shows that the precision of power distribution of the direct-current power distribution network can be effectively improved, the voltage deviation of a direct-current bus is remarkably reduced, and the dynamic response capability of the system is enhanced.

The invention provides a pulse trigger and a phase discriminator. The pulse trigger comprises a logic module, a first input stage module and a second input stage module, the circuit structures of the first input stage module and the second input stage module are the same; the logic module comprises a first charging path corresponding to a differential signal positive end signal of the first clock signal and a second charging path corresponding to a differential signal positive end signal of the second clock signal; the second clock signal and the first clock signal are clock signals with the same frequency, and a phase difference exists between the second clock signal and the first clock signal; the logic module is connected with the first input stage module and the second input stage module, and when the first clock signal is a rising edge signal, the logic module conducts the reverse output end of the pulse trigger to output a high level signal based on the input signals of the first input stage module and the second input stage module. By accelerating the charging and discharging stages of the pulse trigger, the dead time is shortened, the resolution of the pulse trigger is improved, and static errors are eliminated.

The application relates to the technical field of photovoltaic intelligent lighting, in particular to a power-generating glass-grid dual-source LED lighting driving method and a driving device, wherein the power-generating glass and the grid are connected to the same bus through a Schottky diode, the MCU outputs PWM through a half-bridge gate driver to control the power MOSFET to be alternately turned on, and the current is smoothed through a power inductor; meanwhile, the interrupt operation feedforward+PI double-loop asynchronous control is adopted, the feedforward loop dynamically calibrates the bus voltage and generates a feedforward duty cycle through nonlinear segmented mapping, the feedback loop adopts a variable parameter PI algorithm with integral gain automatically adjusted according to the current error amplitude to calculate a feedback duty cycle, and the two are combined into a final PWM according to the adaptive weight of the bus voltage fluctuation rate. The application completely solves the current overshoot problem during dual-source switching, provides gain compensation under weak light to maximize the new energy utilization rate, and realizes low-cost, maintenance-free building integrated intelligent lighting.

This invention relates to the field of integrated circuit technology and discloses a three-temperature equipment gas heating system, comprising four modular heating groups connected in parallel to the main air intake pipeline. Each group includes a first-stage electro-gas heating unit, a series connecting pipeline, and a second-stage electro-gas heating unit. The two stages of heating units are connected by a Teflon flexible pipeline. The main controller controls the first-stage electro-gas heating unit to undertake 70% of the total system heat load for large-temperature-rise coarse preheating, and controls the second-stage electro-gas heating unit to undertake 30% of the total heat load for small-temperature-rise fine-tuning heating. This invention overcomes the thermal inertia lag and temperature overshoot caused by single-stage heating through stepped temperature rise distribution and segmented composite dynamic control, controlling the steady-state temperature fluctuation of the output airflow within ±1 degree Celsius, and utilizing a redundant architecture to ensure the continuous gas supply capability of the equipment under single-point failure.

The present application provides an AI-based underwater propulsion control method, which is applied to the underwater propulsion system of an underwater robot. The underwater propulsion system includes k thrusters. The method includes: obtaining the real-time state and expected state of the underwater robot; determining the dynamic equation and dynamic model of the underwater propulsion system based on the real-time state of the underwater robot; determining the driving signal of the underwater propulsion system based on the real-time state and expected state of the underwater robot, as well as the dynamic equation and dynamic model of the underwater propulsion system, through a control law based on a neural network, so as to drive the operation of each thruster in the underwater propulsion system through the driving signal. The dynamic equation and dynamic model of the underwater propulsion system can accurately describe the dynamic behavior of the underwater propulsion system, thereby improving the control accuracy. The introduction of neural networks enables the control strategy to adapt to complex and changeable underwater environments, and further optimizes the stability of the control on the basis of ensuring control efficiency.

The invention relates to a target projectile launching device attitude control method, which is based on integral separation PID (Proportion Integration Differentiation) target projectile launching device attitude control, and comprises the following steps: 1) setting the number of particle swarms and the initial position and speed of each particle; 2) for each particle, calculating the corresponding performance of the control system according to the current position of the particle; 3) for each particle, comparing the current fitness with the historical optimal fitness, and updating the optimal position of the individual; 4) finding out the particle with the best fitness from all the particles, and calling the position of the particle as a global optimal position; 5) updating the speed and the position of the particle based on the individual optimal position and the global optimal position of each particle; according to the method, the attitude control which is rapid, stable and high in precision is realized, and the working efficiency of preparation work before launching is improved. The method comprises the following steps of: (1) carrying out the following steps of: (2) repeatedly executing the steps (2) to (5) until a preset stop condition is met, and (7) outputting a PID parameter corresponding to a global optimal position as a final optimal solution when the stop condition is met.

The application discloses an SVG-APF integrated device with voltage support function and a control method thereof, and belongs to the technical field of power quality treatment of distribution networks. The device comprises a DC-AC inverter module, an LCL filter module, a sampling module, a main control module, a driving module, a power module, a heat dissipation module and a man-machine interface module. The control method adopts a double second-order generalized integrator lock-in loop to accurately extract the fundamental positive sequence active power, reactive power and harmonic components, generates a reactive power support current according to Q-V droop control, and realizes the integration of harmonic filtering, power factor correction, active voltage treatment and temporary drop support through mode selection and first-order inertia smooth switching. The application deeply integrates the SVG and the APF, reduces the cost and the floor area, the control logic is rigorous and the switching is smooth and non-impulsive, can adapt to the weak power grid and the high proportion of new energy access scene, and improves the efficiency and reliability of power quality treatment of the distribution network.