39results about How to "Improve control effect" patented technology

The invention provides an intelligent water turbine control method based on a digital speed regulator, which comprises the following steps of: forming a first data set by collecting rotating speed frequency, active power and water head signals of a water turbine generator set, and providing a basic data source for a control decision; performing credibility verification on the first data set through a physical rule, generating a verified second data set, and ensuring that the data input into the control logic is accurate and credible; based on the second data set, dynamically selecting at least two control algorithms adaptive to the working condition, fusing the outputs of the algorithms, and calculating to obtain an accurate guide vane opening control instruction, so as to solve the problem of insufficient adaptability of a single algorithm; then the guide vane opening control instruction is converted into a driving signal to operate an electro-hydraulic follow-up system, and adjustment of the guide vane opening is achieved; and finally, guide vane opening feedback is obtained, an instruction and the feedback are compared to generate evaluation data, and control algorithm parameters are adaptively corrected according to the evaluation data, so that the problem that the control effect of a single control algorithm on the water-turbine generator set is poor is solved.

This invention discloses an intelligent model predictive control method for intensive mixing processes based on reinforcement learning. Addressing the degradation of control performance caused by model mismatch due to modeling errors, abrupt state changes, and component degradation in traditional model predictive control, this invention introduces reinforcement learning into the model predictive control framework. The method designs an intelligent model predictive control approach based on reinforcement learning to solve a standard quadratic programming problem with respect to optimization variables. Reinforcement learning selects compensation terms to compensate for model deviations caused by model mismatch, combining this with the controller output and applying it to the system. Finally, the reward is calculated and updated to optimize the control compensation selection for future time steps. As the control cycle progresses, new information is continuously integrated, model predictions are updated, and control inputs are optimized to adapt to potential changes in system behavior or external disturbances. This improves system stability and control accuracy, ensuring that the intensive mixing process can track a preset trajectory.

This invention discloses a sliding mode control method for wastewater treatment processes based on predetermined time performance, belonging to the field of wastewater treatment and nonlinear control technology. This invention is the first to combine second-order integral sliding mode control with a second-order command filter and apply it to the control system of a wastewater treatment plant (WWTP). It considers the requirement that the control coefficient must be greater than 0, and the control effect is superior to existing results. To ensure the timely operation of the wastewater treatment plant, predetermined time performance is used to keep the overall control performance within a specified range and achieve faster convergence. An improved integral sliding surface is constructed, and a novel adaptive controller is designed, achieving stable control of the wastewater treatment plant under three different weather conditions.

The invention provides a double-control-surface time sequence folding and unfolding control method, and belongs to the technical field of aircraft control, and the method comprises the steps: S1, constructing a two-dimensional time sequence control array for double-control-surface time sequence folding and unfolding according to a double-control-surface alternate motion scheme; s2, according to the position combination of the double control surfaces, the gear positions of the control surfaces are judged, and position marks of the double control surfaces are obtained; s3, calculating a control instruction value executed by the control surface retracting and releasing motion through the double-control-surface position identifier and the target handle gear; and S4, querying the two-dimensional sequential control array according to the control instruction value to obtain a target angle sequence of the current control instruction, sequentially calculating a control deviation angle of the first control surface and a control deviation angle of the second control surface according to the target angle sequence, performing control surface movement according to the control deviation angles, and finally completing sequential control of the double control surfaces.

The application belongs to the technical field of electric tool firing depth adjustment, and specifically discloses an electric tool firing depth adjustment method and system, which comprises the following steps: obtaining a target firing depth parameter, searching for an initial control parameter set from a multi-dimensional parameter mapping table associated with workpiece hardness, battery state of charge and other working conditions; collecting multi-source signals in real time, calculating output torque, actual compression amount of an energy storage mechanism and the moment when a striking head contacts a workpiece; dynamically correcting the initial parameters based on the above data to generate a corrected control instruction; adjusting the power supply period of a driving motor and the activation timing of an electromagnetic brake, and synchronously monitoring the speed response to prevent abnormalities; comparing the depth deviation after a single firing, and updating the mapping table if the deviation exceeds a threshold. Through multi-source sensing, dynamic correction and self-learning optimization, the application solves the problems of poor adaptability and insufficient precision in the prior art, and improves the control stability and safety under complex working conditions.

This invention discloses a force feedback nonlinear active disturbance rejection controller and method based on particle swarm optimization, comprising: a signal input module, a tracking differentiator, a feedback control law, an extended state observer, a force feedback system, and a particle swarm algorithm module; the control method includes: step one, building a model; step two, determining the spatial expression; step three, transient processing of displacement signals; step four, processing feedback control signals; step five, processing extended state observation signals; and step six, compensating for the control quantity feedback system. This invention uses the extended state observer for real-time estimation to compensate for the total disturbance received by the force feedback system during operation. Furthermore, the designed nonlinear active disturbance rejection control technology can perform force feedback control without relying on a specific system model, exhibiting strong adaptability and robustness. The particle swarm optimization algorithm can automatically tune parameters, improving the design efficiency of the nonlinear active disturbance rejection controller and optimizing control performance.

The application relates to the technical field of foundation pit backfilling, in particular to a foundation pit backfilling process and a foundation pit bottom cleaning device, which comprises a foundation pit bottom cleaning device, the foundation pit bottom cleaning device comprises a bearing bottom frame, loading support rods are correspondingly arranged on the front upper side of the bearing bottom frame, a bearing frame is arranged at the upper end of the loading support rod, and a conveying assembly is mounted on the front side of the bearing frame; the foundation pit bottom cleaning device can realize height regulation and control of the conveying assembly, so that the conveying assembly can better clean the garbage generated during the foundation pit bottom cleaning; the bearing frame in the foundation pit bottom cleaning device is obliquely arranged, the stress stability of the conveying assembly during garbage bearing and transportation is higher, the positioning and guiding effect of the winding wheel during the winding of the steel cable is good under the action of the guide wheel, the lifting control effect of the conveying assembly is better, the stress stability is higher, the overall use effect during the foundation pit bottom cleaning is good, and the efficiency is high.

The application discloses a TBC battery and a preparation method thereof. The TBC battery comprises a substrate and a P-zone assembly arranged on the back of the substrate. The P-zone assembly comprises a first electrode, a first tunneling silicon oxide layer, a boron-doped polysilicon layer and a first passivation layer which are sequentially stacked on the back of the substrate. The first electrode penetrates through the first passivation layer and the boron-doped polysilicon layer. The P-zone assembly further comprises a tunneling silicon nitride layer arranged between the first tunneling silicon oxide layer and the boron-doped polysilicon layer. The tunneling silicon nitride layer is used to block the boron element in the boron-doped polysilicon layer from being precipitated to the first tunneling silicon oxide layer. The application inhibits the precipitation of the boron element in the boron-doped polysilicon layer through the silicon nitride layer, enhances the passivation effect, and further improves the final conversion efficiency and reliability of the battery.

The application provides a multi-six-rotor unmanned aerial vehicle control method and system based on finite time command filtering, and relates to the field of unmanned aerial vehicle control. The application comprises the following steps: establishing a six-rotor unmanned aerial vehicle attitude system dynamics model; establishing state equations of a multi-six-rotor unmanned aerial vehicle leader and follower; modeling an asymmetric nonlinear input dead zone in the follower state equation, and compensating for the error of the nonlinear input dead zone by using the boundedness of the dead zone slope; designing an error compensation signal based on finite time command filtering, compensating for the synchronization error by using the error compensation signal, and approximating unknown nonlinear terms in the multi-six-rotor unmanned aerial vehicle attitude system by using a radial basis function neural network; and designing a virtual controller, an actual controller and an adaptive law of the multi-six-rotor unmanned aerial vehicle under the nonlinear input dead zone. The application realizes finite time consistency control of the multi-six-rotor unmanned aerial vehicle attitude system, compensates for the nonlinear input dead zone of the system by using the boundedness of the dead zone slope, and achieves better control effect.

The invention belongs to the technical field of automatic control, and particularly relates to a multi-modal motion scene compression bar cooperative control system which comprises a multi-modal sensing fusion module, a dynamic coupling relation online identification module, a self-adaptive cooperative control decision module and a distributed high-precision execution module. The multi-modal sensing fusion module is used for collecting and processing original heterogeneous data from the visual sensor, the force sensor and the position sensor; the module carries out timestamp alignment and space coordinate system unification on various sensor data. By designing a multi-modal perception fusion module and a cross-modal attention fusion unit, depth feature extraction and adaptive weighted fusion of visual sense, force sense and position information are realized, the problem that heterogeneous data is difficult to process uniformly in a traditional method is effectively solved, the comprehensive perception and understanding ability of a system to a complex dynamic environment is remarkably improved, and the system has a wide application prospect. And high-quality state information input is provided for subsequent accurate control.

The application provides an energy-saving oven and a control method thereof. The oven comprises a heating mechanism, the heating mechanism comprises two first side plates arranged oppositely, a first top plate arranged at the top end of the two first side plates, two air inlet plates and an air outlet plate forming a transversely extending inner cavity, a plurality of fans and a plurality of lamp tube assemblies, the air inlet plates and the air outlet plate are respectively arranged at the inner side of the first side plates and the first top plate in a spaced manner; the air inlet plates are provided with inwardly inclined first inclined plates at the two ends, the air inlet plates and the first inclined plates are both provided with a plurality of air inlet holes, the hole walls of the air inlet holes extend outwardly and the hole diameters gradually decrease; the air outlet plate comprises a perforated sub-plate provided with a plurality of air outlet holes, two adjacent perforated sub-plates are connected to form a V-shaped structure, the hole walls of the air outlet holes extend inwardly and the hole diameters gradually decrease. The application can effectively reduce the energy consumption of the oven.

The invention relates to the technical field of power module control, in particular to a self-adaptive junction temperature control power module control method, which comprises the following steps: collecting a junction temperature instantaneous value of a to-be-predicted module, and predicting a residual life decay rate by adopting a long-short term memory model; the switching frequency of the to-be-predicted module is reduced according to the junction temperature change rate, and the junction temperature change rate is collected and generated again; and performing secondary optimization on the switching frequency according to the newly generated junction temperature change rate. In order to solve the problems that a power module control method in the prior art only performs linear control on temperature rise and is poor in life loss optimization, in the scheme, a secondary optimization process is designed for the influence degree of junction temperature fluctuation on the residual life of the power module, firstly, the severe temperature rise is intervened through a simple junction temperature change rate, and then the residual life of the power module is optimized; the further aggravation of temperature rise fluctuation is avoided through a frequency reduction mode, and secondary optimization is carried out on the condition of residual life loss in a long term predicted based on the junction temperature change rate, so that a relatively good control effect on the power module is realized.

The application discloses a spring-over double wishbone suspension structure based on a corner module, which comprises a steering knuckle connected with a wheel hub on one side; a connecting corner matched with the steering knuckle, the steering knuckle and the connecting corner having coaxial through holes; a driving mechanism, an output end of which is provided with an angular contact bearing, the Z-direction freedom of the angular contact bearing being limited through the steering knuckle and the connecting corner; an air spring installed above the connecting corner; an upper cross arm arranged in the middle of the connecting corner; and a lower cross arm connected with the steering knuckle through a ball hinge. The air spring is arranged above, and the angular contact bearing is designed, so that the stress of the spring can be effectively shared, the stability and responsiveness of the suspension system are improved, the impact caused by the uneven road surface can be more efficiently absorbed, especially when steering and emergency braking, the suspension system can show better control ability, the body roll and shaking are reduced, and the vehicle is more stable and stable when running at high speed and in complex road conditions.

The application discloses a kind of two main multi-slave air conditioner control systems for train based on bus control, it is related to the field of air conditioner control system for vehicle.System includes: the main manipulator installed in train head, auxiliary manipulator installed in train tail and the sub-manipulator and roof-mounted air conditioning system installed in each compartment;Main manipulator includes main manipulator ECU, control panel, communication interface, encoder interface and power supply interface;Auxiliary manipulator includes auxiliary manipulator ECU, control panel, communication interface, encoder interface and power supply interface;Sub-manipulator includes sub-manipulator ECU, control panel, communication interface, encoder interface, power supply interface and roof-mounted air conditioner connection port;Roof-mounted air conditioning system includes top three-in-one controller, air output device, power supply interface and sub-manipulator connection port.Main manipulator, auxiliary manipulator, sub-manipulator and roof-mounted air conditioning system of the application work cooperatively, improve the flexibility, convenience and work reliability of each compartment air conditioning system control.

This invention relates to an adaptive dead zone width method for aluminum strip rolling mill roll eccentricity, comprising the following steps: detecting the rolling force during the aluminum strip rolling process using a pressure head installed at the bottom of the rolling mill or a pressure sensor arranged in the hydraulic circuit; determining the change in roll eccentricity by analyzing the rolling force; and adaptively suppressing the influence of roll eccentricity on strip thickness variation based on a programmable controller. The dead zone width of this invention can adaptively change according to the roll eccentricity, working more seamlessly with the active roll eccentricity compensation method. When used together, they can each play their respective roles, further reducing the impact of roll eccentricity on strip thickness and achieving better overall control.

The utility model relates to a kind of impact jet device for copper-aluminum bimetal surface treatment, including two supports, screw rod is installed between two supports, screw rod is connected with driving motor, screw rod is screw-threaded with screw nut seat and the front side of screw nut seat is fixed with aluminium silicate tank, aluminium silicate tank longitudinal section is L-shaped structure and the front and back sides are equipped with closed side plate, aluminium silicate tank inner side wall and bottom plate are all laid with aluminium silicate felt, aluminium silicate tank bottom plate is equipped with built-in groove, built-in groove is equipped with telescopic cylinder, the piston rod end of telescopic cylinder is connected with aluminium silicate overflow baffle, the top height of aluminium silicate overflow baffle is lower than the side plate height of aluminium silicate tank, the side below of aluminium silicate tank opening is equipped with several aluminium liquid recovery tank, aluminium silicate tank upper side is equipped with molten aluminium liquid storage tank, and molten aluminium liquid storage tank bottom is equipped with jet port.The utility model screw rod controls movement, more smooth, will not produce interference, control effect is better, and the opening and closing operation of aluminium silicate overflow baffle is more flexible and convenient.

This invention relates to the field of floor-mounted projection screen technology, specifically a floor-mounted screen with lockable screen height and a locking control method. An MCU module controls a motor to drive a rotating rod to rotate clockwise or counterclockwise to release the screen, and a monitoring module monitors the motor's operation in real time. When the desired position is reached, the MCU module stops the motor and simultaneously controls an electric push rod to drive a toothed locking module to act on a slide block. The interaction between the toothed locking module and the slide block achieves engagement and locking. This device is not only simple in structure, but also intelligently opens and retracts the screen using the control method provided, and can achieve locking control at a predetermined opening angle. This avoids the tediousness of manual operation and provides excellent control performance.

This invention relates to the field of robot localization technology and discloses a map and localization fusion method and system for multiple collaborative robots. The method includes: acquiring localization error data and first local map data of multiple robots in a target cleaning area; compensating the first local map data based on the localization error data to obtain second local map data; performing error analysis based on the second local map data and the localization error data to obtain error compensation parameters; and fusing the second local map data according to the error compensation parameters to obtain fused global map data. Compared with traditional linear compensation methods, this method can more accurately handle complex spatial error distributions, thereby improving the speed and accuracy of error compensation.

The application discloses a kind of based on gauss process model's unmanned underwater vehicle docking recovery method, first establish the nonlinear kinematics and dynamics discrete model of vehicle;Collect operation data, utilize gauss process regression to carry out probability modeling to unknown residual between nominal model and real dynamic, obtain gauss process enhanced prediction model;On this basis, design gauss process model prediction controller, construct as funnel constraint when docking dock time-varying space boundary and convert into obstacle penalty function, integrate stage cost function, form finite time domain optimization problem;Finally, solve the problem on-line at each sampling time, the first control quantity of optimal control sequence is applied to vehicle, realize rolling horizon control, until completing docking.The application can effectively compensate unmodeled dynamic and external disturbance, strictly constrain path tracking error, significantly improve the precision and robustness of autonomous docking under complex marine environment.

The utility model discloses an electromagnetic heating circuit. The electromagnetic heating circuit comprises: a control module for outputting an initial driving signal, a first enable signal and a second enable signal; a driving module for receiving the initial driving signal, the first enable signal and the second enable signal, and controlling a first output end or a second output end to output the initial driving signal according to the first enable signal or the second enable signal; a waveform adjustment module for adjusting the initial driving signal output by the first output end of the driving module and generating an adjusted driving signal, or adjusting the initial driving signal output by the second output end of the driving module and generating an adjusted driving signal; a first switch module and a second switch module for conducting according to the adjusted driving signal; a first heating module connected with the first switch module, a second heating module connected with the second switch module, and the first heating module and the second heating module for electromagnetic heating. The utility model improves the control effect of the electromagnetic heating circuit.

The application provides a method for constructing a Smith compensator by measuring a rudder deflection angle and a rudder deflection angle velocity and realizing fast response control of a rudder by using an adaptive method. Firstly, the rudder deflection angle error is obtained by comparing the rudder deflection angle with a rudder deflection angle command, and then the compensation error is obtained by comparing the rudder deflection angle error with the output of the Smith compensator; the error sliding mode is constructed according to the compensation error, the rudder deflection angle velocity and the integral of the compensation error, on one hand, the Smith compensator is constructed by using a lag operation according to the control signal of the rudder system, and an adaptive algorithm is used to adaptively estimate the lag time parameter in the Smith compensation; on the other hand, the constant disturbance compensation term and the angular velocity disturbance compensation term in the sliding mode control are designed by using the adaptive algorithm, and the nonlinear change of the sliding mode signal and the differential filtering signal are superposed, so that the fast control of the rudder system is realized. The method has the advantage of good rudder response rapidity.

This invention relates to the field of high-temperature alloy casting process, specifically a process for efficiently suppressing surface slag during the high-temperature alloy casting process. The process includes the following steps: (1) preparing a master alloy ingot with no oxide scale or other defects on the surface, the surface of which needs to be treated to expose a metallic luster; (2) casting the alloy ingot using oxide ceramic crucibles such as magnesium oxide, zirconium oxide, aluminum oxide, or magnesium-aluminum crucibles, with material added to either a cold or hot crucible; (3) before adding the alloy ingot to the crucible, the vacuum needs to be reduced to below 10 Pa, and after adding the material, high-power electricity is supplied to the alloying cleaning process; (4) during alloying cleaning, the surface slag percentage is less than 5%; (5) after alloying cleaning, the temperature is directly raised to the casting temperature for casting the parts. Using the method of this invention to cast high-temperature alloys can effectively suppress surface slag during the secondary casting process, reduce part scrap caused by slag, and improve the production efficiency and pass rate of high-temperature alloy parts.

The present application relates to a kind of arylamino-containing xanthine derivatives and its preparation method and application.On the basis of 1,3-disubstituted xanthine raw material, arylamino-containing xanthine derivatives obtained by series of reactions are shown as general formula I.Compounds of general formula I have higher herbicidal activity, and have obvious activity on rape, amaranthus retroflexus, barnyard grass, crabgrass, have good insecticidal activity, especially on the effect of diamondback moth is remarkable, have good fungicidal activity, and have obvious in vitro inhibitory activity on wheat scab fungus, pepper phytophthora blight fungus, sclerotinia sclerotiorum, cucumber fusarium wilt fungus, apple phialophora quercina, wheat sharp eyespot fungus, etc.Compounds of general formula I can be used as active components of herbicidal or insecticidal or fungicidal composition, for preparing agricultural herbicide or insecticide or fungicide, and can be used for the prevention and treatment of grass damage or insect damage or pathogenic damage on various crops.Also have good inhibitory effect on the activity of KARI, and can be used for KARI inhibitor.

The utility model discloses a switch machine control circuit of stove relates to igniter, including processing chip, switch trigger unit, alternating current switch unit, alternating current switch unit includes relay control module, first relay, second relay and self -restoring fuse, the input of relay control module is connected with the output pin of processing chip, and the output of relay control module is connected with the coil one end of first relay, second relay simultaneously, and the coil other end of first relay, second relay is connected with direct current power supply supply end, the normally open first contact of first relay is connected with the fire line, and the second contact of first relay is connected with the fire line power supply terminal of stove inner load, the normally open first contact of second relay is connected with zero line, and the second contact of second relay is connected with one end of self -restoring fuse, the utility model discloses not only played the load protection effect to stove, and still has self -restoring function, greatly reduced maintenance cost.

The application provides a kind of fusion kinetics aircraft GNC system visual modeling method, it is related to aircraft guidance control system modeling simulation technical field.The method divides aircraft GNC system model into dynamic model, kinematic model, environment model, rudder system model, seeker model, autopilot, target motion model, 3-DOF visual motion simulation model and guidance computer, models each model above and constitutes aircraft GNC system model, is used to solve trajectory when missile flies, required overload and actual overload, seeker tracking curve, instantaneous miss distance, flight attack angle, flight Mach number, rudder deflection angle parameter.The method of the application introduces visual modeling simulation and dynamic data table, considers the coupling influence between each subsystem and related system in GNC system explicitly, is convenient for the simplified modeling and simulation of different configurations guided aircraft, so that aircraft can obtain better flight performance and guidance precision.

The invention discloses a multi-drift-diameter valve system capable of intelligently and cooperatively switching runners and a control method of the multi-drift-diameter valve system, and belongs to the technical field of fluid control. The system comprises a cooperative controller, a plurality of valve bodies, a plurality of valve cores, a plurality of sensing arrays and a plurality of driving modules, each valve body is provided with a plurality of flow channel interfaces, the flow channel interface of each valve body is connected with the flow channel interface of the next valve body through a pipeline to form a flow channel network, the valve cores are rotatably arranged in each valve body, and the driving modules are connected with the valve cores. The valve element is connected with the driving module and used for being communicated with different flow channel connectors, a sensing array is arranged at an inlet of each flow channel connector and used for obtaining inlet pressure and instantaneous flow of the flow channel connector, the valve element is connected with the driving module, and the sensing arrays and the driving module are connected with the cooperative controller. Through energy field reconstruction and virtual impedance active control, essential smooth switching of multiple flow channels is achieved, energy consumption and mechanical wear are remarkably reduced, and the self-adaptive cooperative capability is achieved.

The invention belongs to the field of discrete event system control, intelligent manufacturing and reinforcement learning, and discloses a state feedback control strategy generation method and system of a time delay Petri network system in a non-deterministic environment, and the method comprises the steps: constructing a time delay Petri network model containing controllable / uncontrollable transition and minimum transmission delay constraint, defining a time extension state formed by the identification and the enable transition residual delay; a two-stage random judgment mechanism is introduced, two types of non-deterministic factors of control execution errors and uncontrollable event preemption are modeled, and the state transition probability is deduced; a control problem is formalized into a Markov decision process, and a reward function with time consumption as a negative reward and deadlock and an ultra-long path as strong punishment is designed; and adopting a table type Q learning algorithm based on dynamic learning rate scheduling, iteratively updating an action value function in interaction with a simulation environment, and exporting a state feedback control strategy. The method can be widely deployed in discrete event system control scenes such as flexible manufacturing, logistics scheduling and multi-robot cooperation.

The utility model relates to a seedling raising device for aquatic plants. According to the seedling culture device for the aquatic plants, the culture bin is arranged, and the floating platform for providing buoyancy and the adjusting door capable of facilitating placement and taking of the culture platform are arranged on the culture bin, so that seedlings do not need to be carried after seedling culture of the aquatic plant seedlings is completed; therefore, the situation that the kitten is injured in the carrying process, and consequently the follow-up survival effect of the kitten is affected can be effectively avoided; by arranging the control cabinet, a good control effect on a plurality of components can be achieved in the using process of the device, and it is guaranteed that the device can achieve a good adjusting effect on growth parameters of aquatic plants.