7results about How to "Guaranteed control stability" patented technology

The application belongs to the technical field of intelligent robot control, and particularly relates to a self-adaptive step length control method for a live broadcast interactive robot; the method comprises the following steps: robot control instructions are recognized from a barrage text information, and the robot control instructions and a live broadcast scene image are input into a vision-language-action model for processing to obtain a candidate action sequence under current iteration; window action deviations and convergence slopes of action sites in the candidate action sequence are calculated in sequence; if the window action deviations and the convergence slopes of the first m action sites all satisfy a stable condition, and the (m+1)th action site does not satisfy the stable condition, the first m action sites are output; otherwise, the candidate action sequence is output again; the live broadcast interactive robot executes the first m action sites, and continues to process remaining action sites in the candidate action sequence until the entire robot control instruction is executed; the application can realize high-frequency and low-delay interaction while ensuring control stability, and is more suitable for a cost-sensitive and high-concurrency live broadcast environment.

The present application relates to the field of unmanned aerial vehicle flight control technology, and particularly relates to a hydrogen fuel cell hybrid power unmanned aerial vehicle cooperative control method and system. The method establishes a flight dynamics and energy dynamics cascade state model, takes the actual total output power of the hybrid power system as an intermediate virtual control quantity, introduces a disturbance observer to estimate the lumped disturbance, and generates an energy distribution control instruction based on backstepping sliding mode control to coordinate and distribute the output of the hydrogen fuel cell and the battery. The present application can realize closed-loop cooperation of flight control and energy management under the condition of slow dynamic response of the fuel cell and limited power climb, and improve the control accuracy, stability and safety of the unmanned aerial vehicle under acceleration, climb, maneuvering and complex disturbance environment.

The invention discloses an intelligent temperature monitoring, early warning and regulating method and system for mass concrete. The method comprises the following steps: constructing a long-short-term memory environment prediction model based on historical climate data, and then dynamically predicting environment parameters such as air temperature, humidity and wind speed to obtain an environment prediction data set; constructing a temperature-humidity-chemical-mechanical multi-field coupling analysis model, and correcting the model by using monitoring data, so as to comprehensively predict the temperature, humidity and mechanical response state in combination with an environment prediction result, and obtaining a mass concrete state prediction data set; further, an intelligent early warning system based on crack risk grade evaluation is constructed, a prediction result is comprehensively analyzed, the risk grade of concrete is judged, and a PID control system is used for implementing temperature regulation and control; and finally, an integrated visual display platform is established, and the whole process of monitoring, prediction, early warning and regulation is dynamically displayed and managed.

This invention relates to the field of hot water supply equipment technology, and discloses a control method and a gas water heater. The method includes: calculating the real-time theoretical current based on real-time inlet water temperature, target temperature, and real-time water flow; calculating the real-time compensation current of the gas water heater based on changes in the real-time predicted current when the gas water heater is in the variable temperature control stage; using the most recently calculated real-time compensation current as the target compensation current in response to the gas water heater entering the constant temperature control stage; calculating the target control current of the gas water heater based on the target compensation current, the real-time predicted current, and the real-time theoretical current, and adjusting the proportional valve current of the gas water heater based on the target control current. This uses the change in the real-time predicted current during the variable temperature control stage as the adjustment benchmark during the constant temperature control stage, achieving incremental output of the real-time predicted current, ensuring control stability, and employing parallel control of theoretical calculation and feedback control algorithms to improve response speed.

The invention discloses a self-locking anti-backlash and segmented loading coating scratch testing device, comprising: a transmission mechanism mounted on a frame and used for providing rotation power and realizing self-locking; the loading mechanism is connected with the output end of the transmission mechanism and is used for converting the rotary motion into linear pressing motion and providing a linearly changing load for the pressing head; the measuring module is integrated on the loading mechanism and is used for detecting a normal load and a tangential shear force applied to the pressure head in real time; and the moving platform is used for bearing the sample. The transmission mechanism comprises a servo motor and a double-lead worm and gear pair driven by the servo motor. The loading mechanism comprises a cam shaft, a linear cam and a plane follower, and the working end of the plane follower is kept in contact with the contour curved surface of the linear cam. According to the invention, the dual-lead worm and gear transmission with a self-locking anti-backlash function is combined with the linear cam loading mechanism with segmented profile curves, so that the load control accuracy and the loading linearity are ensured, and the coating scratch test precision is improved.

The invention discloses a linear motor control method based on feedforward adaptation and a storage medium, and relates to the technical field of motor control. The method comprises the following steps: determining a position error based on an actual position of the linear motor and a preset reference position, and determining an acceleration error based on an actual acceleration of the linear motor and a preset reference acceleration; a feed-forward parameter change rate is determined based on a preset adaptive formula and the reference speed, the reference acceleration and the acceleration error of the linear motor, a feed-forward control parameter is determined based on the feed-forward parameter change rate, and the adaptive formula is obtained by deducing an error kinetic equation of the linear motor through a Lyapunov stability criterion; determining a feed-forward control quantity based on the feed-forward control parameter, the reference speed and the reference acceleration, determining a feedback control quantity based on the position error, and determining a total control quantity according to the feed-forward control quantity and the feedback control quantity; and driving the linear motor to move according to the total control quantity.

The present application belongs to the technical field of data processing and industrial control, and relates to a food additive production management and control method and system based on data processing. The method comprises the following steps: firstly, collecting multi-source rheological data such as pipeline outer wall temperature, metering pump operating frequency and inlet and outlet pressure difference and carrying out filtering pretreatment; then, calculating the equivalent temperature of the fluid center by using the heat conduction hysteresis characteristic, and accurately correcting the heat hysteresis error caused by the environmental temperature fluctuation; based on the equivalent temperature and the operating parameters, constructing the engineering index containing the temperature sensing sensitivity and the shear thinning factor, calculating the dynamic flow resistance characteristic value, and real-time decoupling the combined influence of temperature and shear rate on the fluid viscosity; finally, according to the deviation ratio of the flow resistance characteristic value and the flow resistance reference value, and combining the flow state instability reflecting the pipeline aging state, generating an adaptive flow compensation instruction to adjust the metering pump. The present application effectively improves the feeding accuracy of trace additives under complex working conditions.