28results about How to "Fast control" patented technology

The invention provides a hovercraft path tracking method and device based on reinforcement learning, equipment and a storage medium, and the method comprises the steps: obtaining the initial positions and motion information of a hovercraft and a dock landing ship, and determining the expected path of the hovercraft based on the initial positions and motion information; calculating a target heading angle of the hovercraft in the expected path based on a first guidance algorithm; taking the target heading angle as input of a reinforcement learning network and an anti-interference controller, generating a first control parameter, training the first control parameter based on a first neural network, and generating a target control parameter; and controlling the hovercraft to move according to the expected path based on the target control parameter.

The invention relates to the field of temperature control, in particular to a solution conductivity meter temperature control method based on fuzzy PID, and the method comprises the steps: collecting the temperature data of a measurement solution through a high-precision temperature sensor; acquiring temperature data of the measurement solution, and calculating a temperature deviation value and a temperature change rate of the measurement solution; inputting the temperature deviation value and the temperature change rate into a fuzzy PID (Proportion Integration Differentiation) control module; according to the input temperature deviation value and the temperature change rate, the input of the PID controller is corrected through a fuzzification and fuzzy rule table in the fuzzy PID control module and a corresponding variable quantity output by defuzzification; according to an algorithm, updated PID parameters are obtained, and then a pulse width control signal is obtained by an incremental PID control algorithm to control a driving circuit to dynamically adjust a TEC semiconductor cooler, so that the temperature of the measured liquid is controlled, the control speed is effectively improved, the robustness of the system is enhanced, and the temperature is stabilized near the target temperature.

The invention discloses a magnetic suspension water chilling unit control method, device and equipment and a readable storage medium, and is applied to the field of control, and the method comprises the steps that an error and an error change rate are calculated according to the actual water outlet temperature and the given water outlet temperature; inputting the error and the error change rate into a fuzzy neural network to obtain a correction value of the PID parameter; and the rotating speed of the magnetic suspension water chilling unit is adjusted based on the corrected value of the PID parameter until the difference value between the adjusted actual outlet water temperature and the given outlet water temperature meets the preset condition. According to the method, adaptive fuzzy neural network control is added on the basis of basic control of the magnetic suspension centrifugal water chilling unit, and the control speed, control precision, efficiency and stability of the magnetic suspension centrifugal water chilling unit are further improved on the premise that normal operation of the magnetic suspension centrifugal water chilling unit is guaranteed.

The invention discloses a distributed electricity-hydrogen coupling system coordination control method and device based on edge calculation and an upper computer. The method comprises the following steps: firstly, acquiring electric quantity information and hydrogen energy data of each energy device in the distributed electricity-hydrogen coupling system; predicting the generating capacity of various distributed power generation devices and the power consumption of various loads; then selecting a target operation mode of the distributed electricity-hydrogen coupling system; and according to the optimization objective function and the constraint condition of the target operation mode, obtaining an optimal operation strategy of the target operation mode, and finally, the optimal operation strategy is sent to each energy device in the distributed electricity-hydrogen coupling system, so that the energy devices operate according to the optimal operation strategy, and distributed electricity-hydrogen coupling system coordination control based on edge calculation is completed. According to the method, the control speed of the distributed electricity-hydrogen coupling system can be remarkably improved, so that the overall operation efficiency is improved, and meanwhile, the reliability and the expandability of the system are enhanced.

The invention discloses an unpowered returning-field aircraft spoiler speed control method based on active disturbance rejection control, belongs to the technical field of unmanned aerial vehicle flight control, and aims to solve the problem that high-precision speed control is difficult to realize due to insufficient robustness when a traditional spoiler control strategy faces a complex and changeable environment and unknown disturbance. According to the method, the expansion state observer introducing active disturbance rejection control is adopted, unmodeled dynamics and external disturbance in the system are estimated on line and compensated in real time, the speed deviation is responded in a short time, the adaptive capacity to unknown disturbance is remarkably improved in unpowered return field section spoiler speed control, and the speed control accuracy of the spoiler is improved. According to the method, the dependence on an accurate model is reduced, higher-precision and more robust speed control is realized, and an effective technical means is provided for safe, stable and accurate landing of unmanned aerial vehicles and other unpowered landing aircrafts.

The embodiment of the present application discloses a vehicle control method and system, which includes receiving the ith control request sent by a switch, where i is a positive integer greater than or equal to 2; obtaining the ith preset sorting information, and determining the ith preset response order according to the ith preset sorting information; the ith preset sorting information is determined according to the i-1th actual response order of the vehicle key; sending the ith confirmation instruction to the vehicle key, the ith confirmation instruction including the ith preset response order and the ith control request; sequentially receiving the ith response information sent by the vehicle key according to the ith preset response order; and controlling the switch according to the ith response information. By sorting the response order of the vehicle key according to the actual response order of the previous vehicle key, the response order of the vehicle key can be flexibly adjusted, the response information of the vehicle key can be quickly obtained, and the speed of vehicle control can be improved.

The unmanned train control method, system and terminal based on multi-carriage control of the present invention, by selecting a primary control scheme or a multi-level control scheme to set the control relationship between the carriages of the current unmanned train to be controlled based on the number of carriages of the unmanned train to be controlled and the order of carriage connection arrangement, and then controlling each carriage of the unmanned train to be controlled. The present invention adopts an unmanned train control scheme, which makes it possible to marshal thousands of carriages, thereby effectively reducing resistance, being more energy-efficient and having higher traffic capacity; and because of the use of AI control, the power distribution is more scientific; because of the faster automatic control and reaction speed, it is safer and more efficient; because of the functional marshalling, it is efficient and error-free. It avoids accidents such as train derailment caused by human errors, not only greatly reduces management costs, but also greatly improves the safety of train control, and train operation is more economical, efficient and flexible.

The invention discloses a system for protecting power electronic equipment in a low-voltage direct-current micro-grid, relates to the field of micro-grids, and aims at solving the problem that the speed of cutting off and isolating a fault position is low due to the fact that an existing control mode is complex. And the controller is used for collecting and processing the current output by the DC / DC converter, performing difference operation on the processed current and a preset current, and driving IGBT switch tubes Q1-Q2 of the DC / DC converter to realize locking according to an operation result. The invention is used for protecting the power electronic equipment.

The utility model is suitable for the technical field of control valves, and provides a hydraulic engineering control valve device which comprises a control valve body. The connecting flange is integrally formed on the outer side wall of the control valve body; the outer fixing sleeve is fixed at the central position of the top of the control valve body through a bolt; the inner rotating sleeve is screwed in the center of the top of the outer fixing sleeve through threads; the outer wheel disc is welded on the outer side wall of the inner rotating sleeve; the valve rod is screwed in the center of the top of the inner rotating sleeve through threads; the inner wheel disc is welded on the outer side wall of the valve rod; the two valve opening and closing modes can be selected according to requirements, the valve can be closed only by rotating the outer wheel disc by one circle after the inner rotating sleeve and the valve rod are connected and fixed through the plug pin, the control speed of the valve is high, consumed time is short, the valve can be closed in time when an emergency flood situation occurs, and safety is high. The valve plate can be lifted by rotating the inner wheel disc, the inner wheel disc needs to be rotated by multiple circles, and more labor is saved.

This invention discloses a three-impulse control method and system applicable to chemical waste heat boilers, belonging to the technical field of boiler automatic regulation. It includes the following steps: acquiring the operating parameters of the chemical waste heat boiler; collecting and storing the boiler drum water level, steam flow rate, and feedwater flow rate; calculating the steam flow rate change rate; determining the current operating state; setting the boiler drum set water level; calculating the target feedwater flow rate using the set water level, current boiler drum water level, steam flow rate, steam enthalpy, and energy conversion coefficient; selecting a comprehensive state coefficient based on the current operation; calculating the feedwater regulation amount using the selected comprehensive state coefficient combined with the target feedwater flow rate; generating a feedwater regulation command based on the feedwater regulation amount and transmitting it to the chemical waste heat boiler. This invention has the effect of automatically and timely controlling the water level of the chemical waste heat boiler with good control stability.

A finite-time anti-interference control method for a universal pneumatic flexible manipulator includes the following steps: The universal pneumatic flexible manipulator is simplified to a link model using the D-H method, and kinematic analysis is performed to obtain the kinematic analysis model and the position of the end point of the universal pneumatic flexible manipulator; based on the kinematic analysis model of the universal pneumatic flexible manipulator, a dynamic model of the universal pneumatic flexible manipulator is established using the Euler-Lagrange method; the uncertainty of the universal pneumatic flexible manipulator is considered as a disturbance, and a second-order mathematical model of the pneumatic flexible manipulator is established; a finite-time extended state observer is designed to estimate the disturbance, and based on the disturbance estimate, a finite-time backstepping controller is designed to compensate for the influence of the disturbance on the system; to address the model uncertainty, a finite-time control method is designed to compensate for the influence on the position control accuracy of the pneumatic flexible manipulator, exhibiting strong robustness and high control accuracy.

The invention discloses an electric vehicle charging pile control method based on generalized second-order differential, and belongs to the technical field of electrics. The charging pile topology comprises a three-phase alternating current power grid, a filter inductor L, a three-phase VIENNA rectifier, a full-bridge three-level DC / DC converter, an LC filter circuit and a load resistor R. The control method comprises the steps of sampling, rectifier control and converter control. Wherein the three-phase VIENNA rectifier adopts common PI control based on voltage and current double closed loops, and the full-bridge three-level DC / DC converter adopts double-loop control based on a generalized second-order differential PID (Proportion Integration Differentiation) controller. The generalized second-order differential function not only retains the phase lead compensation differential effect on a specific frequency range, but also eliminates the inherent high-frequency noise amplification effect of the traditional differential function. According to the control method, the dynamic performance of the system can be effectively improved, the output signal ripple is small, and the control speed is high.

This invention relates to the field of automatic control technology, and in particular to a method and system for asymmetric preset performance control of a cascade continuous stirred reactor without initial conditions. The method includes establishing a mechanistic model of the cascade continuous stirred reactor, transforming it into an error equation for the cascade continuous stirred reactor, pre-specifying that the change in reactant concentration error at the output of the cascade continuous stirred reactor satisfies a banded constraint space, converting the banded constraint space into a symmetric constraint space, constructing a radical-type algebraic saturation function to map the symmetric constraint space into a bounded symmetric constraint space, superimposing an exponential finite-time decay function on the bounded symmetric constraint space to construct a bounded symmetric constraint space without initial conditions, constructing a barrier Lyapunov function based on the bounded symmetric constraint space without initial conditions, and designing an asymmetric preset performance controller without initial conditions using the backstepping method. This invention enables the stable, safe, and rapid operation of the cascade continuous stirred reactor.

The utility model discloses a current-limiting protection circuit of a continuous laser, which relates to the technical field of circuit design, and is characterized in that an MCU (Microprogrammed Control Unit) controls a digital-to-analog converter to generate a required current-limiting voltage value through an SPI (Serial Peripheral Interface) bus, the maximum value of the voltage value is external reference source voltage, the current-limiting voltage value and a driven sawtooth signal value generate square waves through a comparator, and the square waves are output through a comparator. And the square wave signal is used as a control signal of the analog switch. A direct current level generated by the DAC is coupled to a comparator through an isolation buffer and a laser driving signal; the analog switch is used for switching to output a driving signal or a current-limiting protection signal through the output state of the comparator; an additional direct-current signal generator is not needed, the structure is simple, and the cost is low; and meanwhile, the limiting voltage point of the current limiting circuit is always loaded to the positive end of the comparator, the current limiting circuit is real-time and reliable, and the circuit protects the laser in real time under the condition of not changing the quality of a driving signal, so that the current limiting protection function is achieved.

The invention discloses a rapidly-formed layer blocking air supporting type string structure which comprises an air bag, a layer blocking component and a mooring rope. The air bag is suitable for being unfolded through inflation and folded through deflation so as to be switched between a use form and a storage form, and the air bag is suitable for sealing internal air and bearing internal air pressure when being unfolded through inflation; the layer blocking component is arranged on the upper surface of the air bag; the cable is tensioned and connected to the lower surface of the airbag; the layer blocking component comprises a vacuum bag and flexible material pieces, the flexible material pieces are arranged in the vacuum bag, and the multiple flexible material pieces are arranged in a stacked mode; the vacuum bag is suitable for vacuumizing or releasing vacuum so as to be suitable for stiffness change of the layer blocking component; the layer blocking member in the stiffened state is adapted to withstand pressure and transfer the pressure to the bladder, the bladder being adapted to provide resilient support to the layer blocking member. The layer blocking air support type string structure can be integrally folded and is convenient to transport; the construction operation process is simple and efficient, and rapid construction can be achieved.

The invention discloses a water quality detection method of a water quality recycling system for wastewater containing chemical washing liquid. The method comprises the following steps: establishing a relation model among effluent quality, chemical washing liquid quality and water quality value of each stage of treatment device, and establishing a relation model among the effluent quality, chemical washing liquid quality and working efficiency of each stage of treatment device; obtaining the effluent quality measured by the mass flow meter of each stage of treatment device; determining a water quality value and the working efficiency of the treatment device according to the effluent quality; the water quality value range is judged according to the water quality value, and then the corresponding electric valve is controlled to control the flow direction of water flow; according to the working efficiency of the processing device, judging whether the processing device needs operation and maintenance; the automation degree is high, the control speed is high, and the operation and maintenance work efficiency of the processing device can be improved.

The invention relates to a line overload emergency control method based on power flow tracking and power sensitivity, and belongs to the technical field of power grids. The method comprises the steps of calculating the power flow of a line in an emergency state; searching an overload line; determining a control node group; and calculating the power sensitivity of each node to the overload line. A power flow tracking method is used to determine a generator node and a load node which have great influence on an overload line. Meanwhile, in order to avoid load shedding, the power flow tracking method can also provide power allocation information from the load to the generator, and a control node group is determined. Solving of the branch-node power sensitivity is simplified, the control speed is further improved, the branch-node power sensitivity method is adopted to judge the power adjustment direction of the control node group, and the problem that the power adjustment direction of the power flow tracking method is uncertain is solved. The adjustment amount of the control node group is calculated in combination with the adjustment rate of the generator, and the control node group is controlled by adopting a reverse equivalent pairing principle, so that the operation is closer to reality.

The application provides a radio frequency driving circuit and a radio frequency power supply, wherein the radio frequency driving circuit comprises a driving module and a control module; the driving module is used for providing a driving signal to the gate of a radio frequency transistor, so as to drive the radio frequency transistor to periodically turn on and turn off, and make the power amplifier circuit perform radio frequency output; and the control module is used for superimposing an amplified adjusting signal on the gate of the radio frequency transistor, so as to adjust the driving signal, and thus control the drain-source current of the radio frequency transistor. The scheme can effectively improve the driving efficiency of the power amplifier circuit.

The present invention relates to the technical field of casing processing and manufacturing, and in particular to a waterproof casing processing device. The present invention includes a processing tool and a welding robot, the processing tool includes a clamping device and a lifting device, the clamping device includes a fixed disk, a rotating disk and a clamping block, a rotating disk is provided at the bottom of the fixed disk, a clamping block is movably connected to the fixed disk, the clamping blocks are arranged radially, the rotating disk and the clamping blocks are slidably connected, and the lifting device includes a lifting platform and a hand wheel, and the lifting platform is connected to the hand wheel for control transmission. Through the cooperation between the processing tool and the welding robot, the processing tool is responsible for fixing the barrel and wing ring of the waterproof casing, the welding robot welds and fixes the barrel and wing ring of the waterproof casing in a fixed position according to the system setting, controls the clamping block to telescopically clamp various types of waterproof casings by rotating the rotating disk, and the lifting device controls the barrel clamping position and height to achieve precise positioning of the wing ring.

The present invention discloses an airborne multi-field / continuous zoom thermal imager oversampling control system, comprising an error compensation module, a quick-reflection mirror control module and a detector control module; wherein the error compensation module is connected to the signal and image processing component of the multi-field / continuous zoom thermal imager to obtain temperature, image sub-pixel displacement and field / focal length information; the detector control module is connected to the infrared detector assembly to drive the infrared detector to perform integral sampling; the quick-reflection mirror control module is connected to the airborne servo turntable and the two-dimensional quick-reflection mirror, the two-dimensional quick-reflection mirror is deployed between the thermal imager telescopic optical system and the imaging optical system, and the optical path is driven to move by the two-dimensional quick-reflection mirror. The present invention realizes the oversampling of the target image by the multi-field / continuous zoom thermal imager installed under the airborne platform, and improves the resolvable spatial frequency of the multi-field / continuous zoom thermal imager.

The utility model provides a circuit structure for reducing power consumption when an MCU is in a standby state. The circuit structure comprises an AC-DC power supply module, a master control MCU module, a motor driving module and an RF wireless remote control receiving module. The AC-DC power supply module is respectively connected with the power supply end of the main control MCU module, the power supply end of the motor driving module and the power supply end of the RF wireless remote control receiving module; the control end of the main control MCU module is connected with the controlled end of the motor driving module. The master control MCU module controls a second pin IR end to be connected with an IR end of the RF wireless remote control receiving module; the AC-DC power supply module is used for converting AC (Alternating Current) into 24V low-voltage DC; the main control MCU module is used for processing remote control signals, driving a motor and controlling light; the motor driving module is used for driving the direct-current brushless motor; the RF wireless remote control receiving module is used for receiving an RF signal and outputting the signal to the main control MCU module; the power consumption can be effectively reduced.

The invention discloses a photovoltaic grid-connected power control method and system, and belongs to the technical field of photovoltaic grid-connected, the photovoltaic grid-connected power control method is applied to an intelligent collector, and the method comprises the following steps: obtaining total grid-connected power data and a grid-connected strategy power maximum value; obtaining a grid-connected power difference value according to the total grid-connected power data and the grid-connected strategy power maximum value; operating a power control strategy according to the grid-connected power difference value; the power control strategy comprises the following steps: acquiring inverter data; when the grid-connected power difference value is greater than zero, reducing a limited power parameter of the inverter according to the grid-connected power difference value and the inverter data; and when the grid-connected power difference value is less than zero, increasing the limited power parameter of the inverter according to the grid-connected power difference value and the inverter data. The inverter is controlled through the intelligent collector, and the problem that the master station cannot quickly regulate and control the power of the inverter due to remote communication delay or communication failure is solved.

The present invention provides a method and device for controlling working parameters of a multi-beam sonar, and relates to the technical field of multi-beam sonar parameter control. The method comprises: obtaining detection data of the multi-beam sonar, the detection data comprising a plurality of beam distances arranged in a preset order; dividing all beam distances into M beam distance groups; deleting data that does not meet preset requirements in each beam distance group; performing range control on the multi-beam sonar based on all current beam distance groups; obtaining echo intensity data of the multi-beam sonar; determining the signal state of the multi-beam sonar according to the echo intensity data; controlling the power, receiving gain, pulse width and signal form of the multi-beam sonar according to the signal state; and controlling TVG gain parameters of the multi-beam sonar based on the echo intensity data, the TVG gain parameters comprising an expansion loss parameter and an absorption loss parameter. The present invention can improve the control speed of the working parameters of the multi-beam sonar and reduce the operating threshold of the multi-beam sonar.

The invention discloses a frequency emergency control method and device for a power grid containing a virtual power plant and a storage medium, and belongs to the technical field of power grid frequency control. Determining a load shedding cost factor of the safety control load shedding station and a power plant power adjustment cost factor of the virtual power plant according to the active power, the load shedding power, the upper limit value of the power plant power adjustable quantity and the power plant power adjustable quantity; and according to the load shedding cost factor, the power plant power adjustment cost factor, the DC power adjustable quantity, the load shedding power and the power plant power adjustable quantity, taking the minimum control cost of frequency emergency control as a target to obtain emergency control data, and performing frequency emergency control operation on the target power grid. Therefore, on the premise of effectively controlling the frequency of the receiving-end power grid, the control cost is reduced as much as possible, the control speed is improved, and the frequency control effect is good.

The present application relates to the field of communication technology, and specifically provides a network traffic control method, a computer-readable storage medium, and a mobile terminal, aiming to solve the problem of low efficiency and untimely distribution of existing traffic. The present application provides a network traffic control method, which is applied to a mobile terminal, and multiple applications are run on the mobile terminal, including: according to preset screening rules, filtering out target applications that need to be speed-limited from the multiple applications; creating a traffic distribution chain according to the target application, and configuring preset speed limit rules in the traffic distribution chain; and limiting the speed of the target application in the traffic distribution chain based on the speed limit rules. Unified traffic control is performed on applications, and unified speed limit rules make network traffic distribution balanced and faster, solving the problem of low efficiency and untimely distribution of existing traffic.

The utility model discloses a device for purifying and preparing high-purity oxygen. The device for purifying and preparing high-purity oxygen comprises a high-purity oxygen preparing mechanism and a pure oxygen safety valve assembly, the high-purity oxygen preparing mechanism comprises an oxygen purifying tank, one end of the oxygen purifying tank is fixedly connected with an air inlet pipe through a bolt, and a valve cover can move up and down; the control speed of outflow, discharge or closing of the high-purity oxygen is increased, when the sensor detects an emergency situation, the switch valve cover can be started by controlling the servo motor, conveying of the high-purity oxygen is rapidly released or closed, it is ensured that the high-purity oxygen discharge working environment is prevented from safety risks, and the safety of the high-purity oxygen discharge working environment is guaranteed. A sensor and a control device are generally used for monitoring and controlling flowing of oxygen, and in the high-purity oxygen conveying process, when high-purity oxygen is conveyed, the flowing speed of the oxygen can be avoided, so that temperature rise and burning explosion are prevented.

The embodiment of the present application provides a node device control method, a node device, a Bluetooth Mesh system and a storage medium, the method comprising: detecting the number of remaining unconfigured devices in batch network configuration; comparing the number of remaining unconfigured devices with a first quantity threshold, the first quantity threshold being determined according to the number of unconfigured devices scheduled for one batch network configuration; if the comparison result is that the number of remaining unconfigured devices is less than the first quantity threshold, start periodic reporting of information; if the comparison result is that the number of remaining unconfigured devices is greater than the first quantity threshold, determine the timing of starting periodic reporting of information according to the number of remaining unconfigured devices and the number of node devices that have completed network configuration. The embodiment of the present application can reduce the interference of the network configuration process of unconfigured devices, and improve the network configuration efficiency and success rate of unconfigured devices. Furthermore, the embodiment of the present application can merge multiple control instructions of multiple controls, and carry them in the control packet to reduce the control delay of the node device.

The utility model relates to a raw material pump set undisturbed starting and mixing control switching system which comprises a plurality of raw material tanks, a plurality of variable frequency pumps and a control system, an outlet pipeline of a first raw material tank is respectively connected with a first variable frequency pump and a second variable frequency pump, and an outlet pipeline of a second raw material tank is connected with the second variable frequency pump. Remote stop valves are arranged on pipelines between the two raw material tanks and the connected variable frequency pumps, remote pressure transmitters, check valves and flowmeters are arranged on branch outlet pipelines of the two variable frequency pumps, the two remote pressure transmitters are connected with the differential pressure controller, the two flowmeters are electrically connected with the ratio controller, and the ratio controller is electrically connected with the two variable frequency pumps. Branch outlet pipelines of the two variable frequency pumps are connected with a main outlet pipeline; by means of the control system, one-key switching of undisturbed pump starting and mixed feeding is achieved, using is fast, time and labor cost are saved, safety and reliability are achieved, the failure rate of device operation is reduced, and the automation level is improved.