247results about How to "High steady state accuracy" patented technology

The invention provides a nonlinear MIMO (multiple input multiple output) system-based decoupling control method and a nonlinear multiple input multiple output system-based decoupling control device. The device comprises an input module, a neural network module, a neural network inverse module, a control module and a delay module, wherein an output signal of the neural network inverse module is input to the control module and the neural network module; when the control module and the neural network module have the same input signal, output signals of the control module and the neural network module are input into an output module; the output module generates a disturbing signal according to the output signals of the control module and the neural network module; and after being delayed, the disturbing signal is input into the neural network inverse module, and after being processed by the control module, the disturbing signal is input into the output module. By the method and the device, the speed and the stability of decoupling control on a nonlinear MIMO system are improved.

The invention relates to the technical field of control on production equipment, and particularly relates to an intelligent control system for a vertical mill based on a fuzzy PID (proportion integration differentiation) algorithm. The intelligent control system comprises the vertical mill, a dust remover and a feeding device, wherein the feeding device comprises an unloader, a bucket elevator and a storage bin; and the intelligent control system is characterized in that an air inlet in the bottom of the vertical mill is connected with a fan via a pipeline, a cold-air device and a hot-air stove are arranged on the pipeline between the air inlet and the fan, a cold-air adjusting valve and a hot-air adjusting valve are respectively arranged on the cold-air device and the hot-air stove, a vertical mill material layer PID controller is arranged on the feeding device, and an in-mill pressure difference fuzzy PID controller is arranged on the cold-air adjusting valve. According to the intelligent control system disclosed by the invention, mathematical models of the change of the vertical mill material layer thickness and an in-mill pressure difference along with parameters of a feeding amount, a mill inlet hot-air temperature and the like can be established only by inputting and outputting data without analyzing the complex grinding process of the vertical mill; and the intelligent control system is simple in process, high in adaptability, fast in the dynamic response time of a controller algorithm, high in robustness, high in control accuracy, and good in market prospect.

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.

The invention provides a maximum power point tracking method based on efficient adaptive perturbation and observation. By the aid of the maximum power point tracking method, the problem that the step size used in a traditional perturbation and observation method in the photovoltaic-battery maximum power point tracking technology is difficult to balance, completely adaptive perturbation can be realized, and tracking speed, stability precision and universality of a system are high. The maximum power point tracking method with a basic principle includes that computing continuous output power values of a photovoltaic array according to filtered voltage and current signals; generating error signals according to changes among power signals; generating adaptive perturbation voltage values via a PI (proportional plus integral) controller; and finally generating a reference value of voltage of the photovoltaic array according to the basic principle of perturbation and observation. An error signal of an actual value and the reference value of the voltage of the photovoltaic signal is computed, and a duty cycle signal d required by a DC/DC converter is generated by another PI controller, so that on and off time of each power switch tube of a phase-shift full-bridge converter is controlled, power outputted by the photovoltaic array is adjusted, and the maximum power output point of the photovoltaic array can be tracked.

The invention relates to a self-adjusting control method that uses step fuzzy and adopts gathers main axis power. It could adjust the feed ratio and main axis rotating speed ratio on line. On the serving links of on CNC-PLC and setting milling usage of NC program to realize rotating speed of main axis and adjusting online, the target of constraining main axis power of intelligent step control for milling process would be realized. It could effectively improve processing efficient and processing quality.

The invention discloses an electrohydraulic control system for rotation motion of a pipe splicing machine. The electrohydraulic control system comprises a motor, a constant displacement pump, three overflow valves, an oil return pipe, two three-position four-way proportional reversing valves, a hydraulic lock, a hydraulic motor, a force moment and rotating speed sensor and two pressure sensors. Since the electrohydraulic control system disclosed by the invention adopts the two three-position four-way proportional reversing valves to carry out independent control on the flow of an oil inlet of the hydraulic motor and the backpressure of an oil return port of the hydraulic motor; by controlling the backpressure of the oil return port of the hydraulic motor during an accelerated motion process, a constant motion process and a decelerated motion process of the rotation motion of the pipe splicing machine, the acceleration during the accelerated motion process of the rotation motion of the pipe splicing machine can be increased, the energy consumption during the constant motion process of the rotation motion of the pipe splicing machine and the speed fluctuation under the action of external load variation interference can be reduced, and the stability and the locating accuracy during the decelerated motion process of the rotation motion of the pipe splicing machine can be increased, so that the dynamic characteristic and the stability accuracy of the electrohydraulic control system for the rotation motion of the pipe splicing machine can be increased.

The invention provides a control system of a humanoid biped robot. The robot comprises two leg parts and 12 degrees of freedom, each degree of freedom is corresponding to one joint motor. The control system comprises a main controller installed on the body of the robot, and joint controllers, motor driving circuits, motor encoders, joint angle sensor and feedback conditioning circuits which are respectively corresponding to the joint motors, and plantar pressure sensors and plantar gyroscopes installed on soles of two feet of the robot. The control system is characterized in that the main controller receives information feedback of the plantar pressure sensors and gyroscopes, plans a path and transmits motion instructions to each joint controller; and the joint controllers control joint motors to execute the motion instructions, receive information fed back by the motor encoders and the joint angle sensors and utilize a fuzzy self-adaptation PID control method to precisely control the motors according to the feedback information, so that the robot is enabled to walk precisely according to the ground condition.

The invention provides a double-close-loop nonlinear compound control method for a three-phase four-wire parallel APF (active power filter). A voltage outer loop adopts a sliding-mode PI composite nonlinear control algorithm, and a current inner loop adopts a repeated PI nonlinear control algorithm. The method comprises the steps as follows: firstly, a low-order system model of a dq coordinate system is established by synchronous rotation coordinate transformation, a PI feedforward decoupling controller is designed according to a dq DC model, a PI repetitive controller is designed based on internal model control, and a control output function of the PI repetitive controller of the current inner loop is established; in order to obtain a current reference value of the current inner loop accurately and quickly, a novel sliding-mode PI nonlinear control algorithm for DC side voltage is proposed, a sliding-mode surface switching function is designed according to an exponential reaching law form, and a control function of a sliding-mode PI controller of the voltage outer loop is established. With adoption of the outer loop sliding-mode PI compound control algorithm, the steady-state performance and the response speed of the DC side voltage can be improved, and voltage fluctuation is effectively reduced; with adoption of the repetitive PI nonlinear control algorithm, zero static error tracking of a current signal can be realized, and the tracking control accuracy of a harmonic compensation current instruction is improved.

The invention provides a non-singular terminal sliding-mode control method for a Buck converter with constant switch frequency and relates to a sliding-mode control method for the Buck converter. The problems that when a linear sliding-mode control method is adopted, the response speed of the Buck converter is low, the voltage output quality is low, and the response speed and the precision of output voltage of the Buck converter are directly influenced are solved. According to the method, based on an average state model of the Buck converter, by changing a duty ratio of a switch device, trigger pulses are generated for controlling on or off of the switch device, and then constant switch frequency voltage output of the Buck converter is achieved; a non-singular terminal sliding-mode controller of the Buck converter is designed, the advantages of strong robustness, overall finite time constriction, high stability precision and the like of the controller are utilized for overcoming the disturbance influence of load resistance, direct-current input voltage and the like, and therefore the quality of the output voltage is improved.

The invention discloses an interference observation based quick reflector disturbance restraining method. The method comprises a PID (Proportion Integration Differentiation) controller, a feedforward controller, a disturbance observer and a signal identifying and separating device, wherein the feedforward controller is formed by a proportional component and a second order component and is used for converting a disturbance signal influencing a quick reflector system into a compensating signal, inputting to a system forward channel and offsetting the disturbance signal influencing the controlled quick reflector; the disturbance observer is composed of a low-pass filter and a nominal model of the controlled quick reflector and is used for estimating the disturbance signal entering into the quick reflector system; the low-pass filter also has a function of eliminating the high-frequency measuring noise and restraining the outer interference. On the basis of the classic PID controlled quick reflector, the method utilizes the advantage of feedforward control and disturbance observation to fully restrain the disturbance in the system (no matter if the disturbance signal can be detected), so that the stable precision of the quick reflector system can be promoted.

The invention discloses a current reference value automatic adjustment switchover control method of a power electronic converter. The current reference value automatic adjustment switchover control method of the power electronic converter comprises the steps that 1 a switchover system model of the power electronic converter is built according to the work state of the converter; 2 a Lyapunov function of a switchover subsystem i is defined, a related matrix is calculated, and a Lyapunov function value of the subsystem i is obtained; 3 a switchover control rule is selected, and the subsystem with the maximum Lyapunov function is selected as the current subsystem; a current reference value is adjusted according to an output error, when a parameter is uncertain or input voltage and a load change, the current reference value is adjusted according to the rule, and the control method is achieved. The current reference value automatic adjustment switchover control method of the power electronic converter is simple in control process, is good in effect, guarantees overall control stability of the converter, has robustness on changes of the input voltage, the load and the like, and improves the response speed of output voltage.

The invention discloses a parallel APF DC side voltage control method based on a sliding mode PI compound control algorithm. The method comprises the following steps: firstly establishing a low-order system model of a dq coordinate system by using synchronous rotating coordinate transformation; determining the sliding mode switching function of the DC side voltage according to the selection principle of sliding mode surfaces; and finally designing the control parameter output function of a PI controller according to the switching function of the sliding mode surfaces. By adopting the control method disclosed by the invention, the steady state performance and response speed of the DC side voltage can be improved, and the voltage fluctuation can also be effectively reduced; and a parallel APF control system based on the sliding mode PI compound control algorithm has good robust performance and dynamic performance. According to the parallel APF DC side voltage control method based on the sliding mode PI compound control algorithm disclosed by the invention, the parameter of the PI controller is determined through the sliding mode controller, the steady state accuracy and response speed during load sudden change and reference voltage jump can be increased, the power loss at the DC side can be reduced, and thus the compensation ability of the parallel APF (active power filter) can be ensured.

The invention provides a power-driven steering engine device based on reversing of a position ring and a control method. A signal conditioning circuit performs voltage conversion, filtering and amplitude limiting processing on a control surface drift angle given signal and sends the control surface drift angle given signal into a controller DSP through AD conversion. The DSP outputs a digital controlling signal which undergoes digital isolation and then is sent to a drive circuit to be converted into a power controlling signal. By controlling a main power circuit, a brushless DC motor is controlled to work. The brushless DC motor drives a control surface to deflect through a transmission gear set in order to follow the control surface drift angle given signal. Generating line currents of the brushless DC motor are sampled by a current sensor and fed back to the DSP. An angle sensor connected with the transmission gear set feeds back a current drift angle of the control surface in real time and sends the current drift angle to the DSP. The power-driven steering engine device based on reversing of the position ring and the control method can effectively accelerate frequency responses of the brushless DC motor and improve anti-interference performance of the system.

The invention discloses an improved FBD harmonic current detection method based on an adaptive principle. The improved FBD harmonic current detection method comprises the following steps: output information of a traditional FBD harmonic current detecting algorithm is fed back to an input terminal to form a closed-loop detection system; an adaptive algorithm inner core is used for replacing a low pass filter in a traditional FBD algorithm and is improved; an obtained harmonic signal is imported into the input terminal through a phase shift positive feedback element. According to the improved FBD harmonic current detection method based on the adaptive principle, the advantage that a traditional FDB harmonic current detection method is wide in application range is reserved, closed-loop control is formed by the FBD algorithm, and therefore the anti-jamming capability of the system is enhanced; meanwhile, the phase shift positive feedback element is imported to the current input terminal of the system, and therefore a high response speed of the harmonic current detection method to a current sudden change of the system is reserved; the improved FBD harmonic current detection method based on the adaptive principle is suitable for an SAPF system with a DSP as a core control chip.

The invention provides a dual-super-satellite platform load cabin compound control method. The method includes the following steps that firstly, the attitude of a load cabin is controlled; secondly, the attitude of a platform cabin is controlled; thirdly, the relative positions of the platform cabin and the load cabin are adjusted; and fourthly, according to attitude information of the load cabin,the attitude control system bandwidth of the load cabin is adjusted, and the attitude of the load cabin is restrained. The method has the beneficial effects that through dual-super-platform master and slave cooperative control, load cabin interference compensation control and a variable bandwidth control method, the steady state time of the load cabin is prolonged, and the steady state accuracy of the load cabin is improved.

The invention relates to a high-speed permanent-magnetic non-brush direct-current motor phase-lock stable controlling system, wherein it is formed by phase-lock speed controller, digit low-pass filter, power amplifier, permanent-magnetic non-brush direct-current motor, and Hall-effect rotor position sensor. When the feedback signal of motor speed and the reference frequency signal are synchronous, the stable accuracy can reach 0.02-0.1%. And the invention uses low-accuracy sensor to obtain rotation speed feedback.