46results about How to "Improve control robustness" patented technology

A control device for a vehicle is equipped with a vehicle model motion determining device for determining a motion of a vehicle (a vehicle model motion) on a vehicle model expressing the dynamic characteristics of a vehicle on the basis of drive manipulated variables, such as an angle of steering by a driver, and a state amount error reaction control device for determining control inputs to an actuator control device of the actual vehicle and the vehicle model motion determining device according to a feedback law on the basis of a difference between a state amount of a vehicle model motion (model state amounts, such as a position or a posture of a vehicle) and a state amount of a motion of the actual vehicle 1 (a state amount error). Based on a state amount error, not only a motion of an actual vehicle but also a vehicle model motion is manipulated, thereby enhancing robustness against disturbance factors or their changes while conducting actuator operation control that is suited to a behavior of the actual vehicle as much as possible.

The invention discloses a creeping speed control method for an electric vehicle. The method aims at solving the problems that in the prior art, the calculation of the creeping target torque of electric vehicles is inaccurate, by additionally arranging slope sensors or acceleration sensors, the costs are increased, and the robustness is reduced; meanwhile, a dynamic coordination control method forthe creeping torque of the electric vehicle is proposed to ensure better running smoothness when the vehicle switches between a creeping mode and other running modes. The dynamic coordination controlmethod for the creeping torque of the electric vehicle comprises the following steps of 1, determination of a working mode, wherein a vehicle control unit selects the target working mode according todriver's operation and the state of the vehicle; 2, calculation of the creeping target torque, wherein the creeping target torque is calculated by means of a 'feedforward reference torque + feedback compensation torque + parameter estimation feedback correction' method; 3, dynamic coordination control over the creeping torque, wherein slope limiting and filtering processing are conducted on the target creeping target torque obtained in the step 2, the requirement for the creeping torque after coordination is output to a motor controller to control the torque output of a motor, and therefore creeping running of the vehicle is achieved.

The present invention provides a control method of a four-wheel independent steering vehicle. The method comprises the following steps: A, preinstalling an ideal vehicle steering model, an interference boundary estimation link, a rear wheel turning angle sliding mode controller and a yawing moment sliding mode controller; B, measuring a front wheel turning angle, a side slip angle and a yaw velocity of the vehicle in real time by taking the straightly advancing state of the vehicle as the initial moment, and performing calculation to obtain a real-time side slip angle control error and a yaw velocity control error by combining the ideal vehicle steering model and the corresponding real-time side slip angle and the corresponding real-time yaw velocity; C, inputting the real-time side slip angle control error and the yaw velocity control error into the interference boundary estimation link, to obtain real-time interference boundary parameters; and D, performing calculation to obtain a real-time rear wheel turning angle and yawing moment by combining the real-time front wheel turning angle, the real-time interference boundary parameters and the control errors, and performing controlling over the vehicle. The method has the characteristics of good control effect and high stability.

The invention provides a control method for a four-wheel independent steering vehicle. The method comprises the steps that (A) an ideal vehicle steering model, a front wheel steering angle observer, an interference boundary estimation link, a rear wheel steering angle slide-mode controller and a yawing moment slide-mode controller are preset; (B) a mass center deflection angle and a yawing angular speed of the vehicle are measured in real time, and a front wheel steering angle estimated value at a corresponding moment is obtained through computation; (C) the front wheel steering angle estimated value is computed in real time, the real-time mass center deflection angle and the real-time yawing angular speed are computed, and a real-time control error between the mass center deflection angle and the yawing angular speed can be obtained through computation; (D) a real-time interference boundary parameter is obtained through computation in the interference boundary estimation link; and (E) in combination with the real-time front wheel steering angle estimated value, the real-time interference boundary parameter and the control error, a real-time rear wheel steering angle and yawing moment are obtained through computation, and the vehicle is controlled. The method has the advantages that the defect that vehicle stability is reduced due to sensor failures can be overcome; control effects are good; and the stability is high.

The invention discloses a large-power high-frequency switch eliminator power comprehensive control method which includes a front-stage three-phase voltage type rectifier control method and a back-stage high-frequency direct current/direct current (DC/DC) convertor control method. A parameter self-adaptation control dead beat control method based on power front feed is adopted in a front-stage three-phase voltage type rectifier, and quick response of a system and quick track of load change are achieved; and through parameter self-adaptation control, on-line dead beat controller parameter correction can be achieved, matching of control parameters and actual parameters can be achieved, bad influence on control performance because of parameter perturbation or drifting can be eliminated, and control robustness can be improved. A virtual impedance self-current-sharing control method based on output voltage feedback is adopted in a back-stage high-frequency DC/DC convertor, conflict between current-sharing control accuracy and load output voltage accuracy can be effectively solved, virtual impedance dereference can not influence output adjustment of load voltage, and adaptation capacity of the virtual impedance current-sharing method on occasions where accuracy demands on the output voltage are high is improved.

This invention exploits the concept of Staged Heat and Mass Transfer (SHMT) to enhance operability, control robustness and intrinsic safety in preventing corrosion while recovering material, and energy if desirable, in process waste streams. Two applications illustrating the improvements based on the SHMT concept are given. One application illustrates novel design features to recover vent from a steam boiler deaeration system, positively eliminating the risk of oxygen and carbon dioxide accumulation in deaerator. The other application illustrates process adaptations of the same SHMT concept to recover steam, steam condensate, and fugitive emissions involving particulate materials if desirable, from any process vents from vessels that are opened to the atmosphere. Again, without the risk of corrosion by atmospheric oxygen.

An electronic control unit is mounted on a vehicle including an internal combustion engine and electric motors, each of which is connected to a driving shaft to be capable of transmitting power. The electronic control unit is configured to compute compensation torque reducing a pulsation component of engine torque of the internal combustion engine and command a value in which required torque of the electric motor is combined with the computed compensation torque to the electric motor as a torque command value of the electric motor. The electronic control unit is configured to correct the torque command value so that the value opposite in sign to an average torque command value is not commanded to the electric motor when the average torque command value is smaller than an amplitude of the torque command value.

The invention provides a disturbance compensation control method for a missile pilot, and relates to the field of guidance control. The method comprises the following steps: modeling by taking a missile as a controlled object, and designing a corresponding traditional attitude pilot; establishing a nonlinear kinetic equation set of the controlled object; considering the comprehensive interferencez3 to establish a state space standard form; obtaining an input and output result of the controlled object through a nonlinear kinematics equation set, and designing an extended state observer; feeding back the comprehensive interference z3 and the control gain b0 to the control output position of the traditional attitude driving instrument through the extended state observer to obtain the active-disturbance-rejection three-loop attitude driving instrument; and performing disturbance compensation control on the missile. The beneficial effects of the method are that: the structure and design parameters of the existing driving instrument are inherited, unmodeled disturbance and uncertain disturbance generated by parameter solidification and small disturbance hypothesis in the missile modeling process are estimated and compensated through the active disturbance rejection extended state observer, and comprehensive disturbance is fed back to the control output position through the extendedstate observer, so that attitude driverscope decoupling design is achieved.

The invention provides a control method of an approximately-discrete fate terminal sliding mode of a PMSM speed regulating system. The control method comprises the steps of firstly receiving the main command of angular rate, extracting the motor angular velocity feedback, and calculating the first-order derivative of speed error; secondly calculating the fast terminal sliding mode surface of a speed ring and the electric current loop command of a speed regulating system; thirdly calculating the electric current loop controlled variable by means of angular acceleration feedback, collecting line current and calculating the A-axis and D-axis current of PMSM under dq coordinate and the first-order variable quantity of the error, and calculating the fast terminal sliding mode surface of the dq coordinate electric current loop; lastly completing motor control by using the calculated electric current loop dq coordinate voltage controlled variable as the input of adverse park transformation of PMSM. The invention is advantageous in that the control robustness of the servo-actuated speed regulating system is improved, the control method is not sensitive to the change of the motor parametric and external moment interference, and the system's adaptive capacity to environment is enhanced; the speed ring and the electric current loop control item both adopt integration to conduct smoothing on sliding mode variable structure switching phase, and the control chattering of conventional linear sliding mode can be prevented.

The invention discloses an M-estimation impulsive noise active control method. According to the M-estimation impulsive noise active control method, a mean square value of robust M-estimation of error signals is adopted as a cost function, and a threshold value is led into a reference signal channel to limit influence of an impulsive sample on the iterative process of the algorithm, and therefore, steady update of an coefficient of an adaptive filter can be ensured so as to achieve noise reduction. The M-estimation impulsive noise active control method includes the following steps that: (1) initializing the coefficient W (n) of the adaptive filter; (2) obtaining secondary waveform and the error e (n) of main noises; and (3) updating the coefficient of the filter: W(n=1)=W(n)+uq{e(n)}e(n)[S<^>(n)*Xc(n)], wherein n is a sampling time sequence, u is a convergence coefficient, q{e (n)} is M-estimation of the error signals, Xc(n) is a reference signal vector which has been subjected to threshold value processing, and S<^>(n) is an estimation model of a secondary channel transfer function. The M-estimation impulsive noise active control method provided by the invention can eliminate the influence of the impulsive sample on an adaptive filtering algorithm maximally, effectively improve the robustness to impulsive noises and noise reduction performance, and has a great practical value.

By a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value and a desired value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to sequentially determine a control input to control an actuator (5) to converge the first variable component to zero on a switching hyperplane. A gradient of the switching hyperplane is set such that a time constant corresponding to the gradient of the switching hyperplane is equal to or larger than a given specific time constant.

The embodiment of the invention discloses a sensorless control device and method for a permanent magnet synchronous motor of an electronic water pump. The device comprises a current sampling module, a flux linkage observation module, a phase-locked loop module, an SVPWM module, a pre-positioning module, an IF speed open-loop module, and a sensorless speed closed-loop module. The pre-positioning module obtains a direct current component under a synchronous rotating coordinate system through current coordinate transformation, and inputs a difference value into a PI controller for adjustment to obtain a reference voltage signal. According to the IF speed open-loop module, the current is kept unchanged at a pre-positioning current, the current is controlled by a PI controller in a closed-loop mode, and parameters are enhanced. The sensorless speed closed-loop module is used for obtaining current and voltage components under a rotating coordinate system through coordinate transformation, obtaining a rotor angle through arc tangent calculation and estimating the rotating speed of the motor and the position of the rotor in real time. According to the invention, an electronic water pump can be reliably started without a sensor, the low-speed stability and the anti-interference capability are strong, the high-speed dynamic performance is good, the method is not sensitive to motor parameters, and the motor control robustness is improved.

The invention discloses a path tracking control method of a wave glider, two tail vane angles are putted through two PID control of an inner ring and an outer ring to finish path tracking control of the wave glider. The inner ring PID control comprises the steps that the side edge distance between the current position of the wave glider and the expected track serves as deviation to be inputted into a PID course controller, and a tail vane angle is outputted. According to outer ring PID control, the deviation between the current course returned by the compass and the expected course is inputted into a PID course controller, meanwhile, inner ring control output (a rudder angle) serves as outer ring control input, and a tail rudder angle is outputted. The angles of the two tail vanes jointly act on the wave glider, and tracking of the current path by the wave glider is completed. The path tracking control method of the wave glider has the advantages of being convenient to control and simple in process, and the wave glider can accurately complete path tracking by reasonably adjusting PID parameters.

An integrated circuit 2 includes processing circuitry that includes a plurality of critical path circuits 4, 6, 8, 10. These critical path circuits include variable delay circuits 16 which add an additional delay in to the path delay through the critical paths so as to adjust the path delay to match a target path delay. Variable delay circuit 18 includes a tank capacitor 22 which is charged or discharged to generate a control voltage. This control voltage serves to control a power supply voltage fed to an inverter chain 28. Variation in the power supply voltage of the inverter chain 28 adjust the propagation speed of a processing signal through the inverter chain 28 and accordingly adjusts the additional delay imposed by the variable delay circuit.

The invention provides a finite time sliding mode control system and method for a bridge crane system under a limited control input. The method comprises the following steps: 1, determining a controltarget of a two-dimensional under-actuated bridge crane system; step 2, according to the control target obtained in the step 1, constructing a total sliding mode surface of the system in combination with a hierarchical sliding mode theory; 3, constructing a total control law of the system according to the total sliding mode surface of the system obtained in the step 2; and 4, constructing a control-limited fast terminal sliding mode controller according to the total control law of the system obtained in the step 3. The method provided by the invention has two control effects, can provide a basis for rapid anti-swing and accurate and effective positioning control of the bridge crane system under various complex conditions, and enables the bridge crane system to be better applied to variousindustrial fields.

A Radio Network Node (RNN) and a method therein for providing improved robustness of a radio link between the RNN and a wireless device. The RNN and the wireless device operate in a communications network. The RNN transmits, towards the wireless device, a transmission with a first transmission mode associated with a first level of coverage extension. When a first period of time has elapsed, the RNN transmits, towards the wireless device, the transmission using a second transmission mode associated with a second level of coverage extension. The second level of coverage extension is higher than the first level of coverage extension.

An electrical wheel brake actuator for motor vehicles, designed to move a brake pad in the direction of a brake rotor and having an electric motor-gear assembly with a rotation-translation converter assembly that includes a nut-spindle arrangement, and an elastic element which is associated with a release end stop of the spindle arrangement in order, together with a control unit, to allow the electric motor to be automatically electrically switched off. The elastic element includes at least two disc springs which are able to form an expanded segmented force-travel spring curve formed from multiple force-travel spring curve portions.