80results about How to "Improve control stability" patented technology

The invention discloses a sensorless motor control method based on self-adaptive NT-SMO. The method comprises the following steps: acquiring phase current and phase voltage of a motor; based on the phase current and the phase voltage, a self-adaptive NT-SMO model is adopted to determine the rotating speed of the motor and the position of a rotor; performing first coordinate transformation on the current of the motor according to the rotor position to obtain d-axis and q-axis feedback current; obtaining a q-axis reference current through a sliding mode controller based on the error between the motor rotating speed and the reference rotating speed; according to the d-axis feedback current, the q-axis feedback current and the reference current, a PI controller is adopted to determine d-axis reference voltage and q-axis reference voltage; and performing second coordinate transformation on the d-axis reference voltage and the q-axis reference voltage to obtain a control voltage, and driving an inverter to control a motor to operate by adopting an SVPWM modulation mode based on the control voltage. According to the method, the rotating speed and the position information are estimated by directly utilizing the phase current and the phase voltage of the motor in combination with the self-adaptive NT-SMO model, so that the operation of the motor is controlled, and the control precision and the stability in high-temperature, high-humidity, strong-vibration and electromagnetic interference environments are improved.

This invention discloses a pneumatic hand rehabilitation system and method, comprising: in a model calibration phase, collecting multi-channel surface electromyography (EMG) signals generated by the forearm of the target patient when performing different hand gestures, and constructing coarse and fine classifier training sets; training multiple heterogeneous classification models using the coarse and fine classifier training sets respectively, and selecting the optimal coarse and fine classifiers; in a rehabilitation training phase, collecting multi-channel EMG signals generated by the forearm of the target patient in real time, calling the trained coarse and fine classifiers for two-stage hierarchical decoding, and outputting motion control commands; a pneumatic execution module parsing the motion control commands and driving the air bladder deformation of the pneumatic rehabilitation glove to drive the patient's hand to complete the corresponding rehabilitation movements. This invention can significantly improve individual adaptability, multi-finger recognition accuracy, and control stability under different physiological characteristics of patients and complex fine motor scenarios.

The present disclosure relates to the technical field of intelligent robots, and specifically provides a robot, a control method and device thereof, and a storage medium. A robot control method includes obtaining first attitude information of a robot and determining second attitude information of a standing surface according to the first attitude information, determining a target dynamic equation according to a dynamic equation of the robot and a dynamic equation of the standing surface, establishing a control optimization task of the robot based on the target dynamic equation, obtaining target torques of each joint of the robot based on the first attitude information, the second attitude information and the control optimization task, and controlling movements of each joint of the robot according to the target torques. In the present disclosure, through dynamic analysis and optimization control of the attitude of the robot and the attitude of the standing surface, the balance problem of the robot on a dynamic standing surface is solved, the balance control of the robot on the dynamic standing surface is realized, the application scenario of the robot is expanded, and the control stability of the robot is improved.

The utility model discloses a drive-by-wire rear axle assembly and an agricultural machine, and belongs to the technical field of agricultural machines. According to the drive-by-wire rear axle assembly and the agricultural machine, the positions of the parking driving end, the PTO driving end, the four-wheel driving end and / or the differential lock driving end are monitored in real time through the parking detection piece, the PTO detection piece, the four-wheel driving detection piece and / or the differential lock detection piece and fed back to the controller; an electric signal transmission control instruction is sent to the parking brake driving assembly, the PTO gear shifting driving assembly, the four-wheel-drive gear shifting driving assembly and / or the electric control differential lock driving assembly through the controller, a mechanical stop lever is omitted, drive-by-wire operation for generating electric signals through a button, a shifting finger and the like can be adopted for replacement, and the labor intensity of an agricultural machine operator is reduced. The drive-by-wire control provides an automatic operation interface, so that an automatic driving system and the like can be directly connected for unmanned control, and the reaction speed, the control precision and the stability of the rear axle assembly are improved on the basis of simplifying the mechanical structure.

The application relates to a double anti-overpressure safety control system and method of a steam-water dual-purpose furnace, which comprises an enhanced signal acquisition unit, an electronic control unit, an executing mechanism, a physical protection unit, a man-machine interaction and data management unit; the physical protection unit comprises three-stage relief devices independently installed on a steam pocket; the enhanced signal acquisition unit comprises a pressure monitoring module, a flow monitoring module, a temperature monitoring module and a safety component state monitoring module; the man-machine interaction and data management unit comprises an HMI and a data storage module; the executing mechanism comprises a frequency conversion burner, an electric feed water pump and an electric regulating valve V1 receiving PLC analog output; the PLC programmable logic controller controls the frequency conversion burner, the electric feed water pump and the electric regulating valve V1 based on the data collected in each module of the enhanced signal acquisition unit. The application greatly reduces the probability of serious overpressure accidents caused by single element or system failure.

The invention discloses a road roller autonomous operation path tracking control method, system and device and a storage medium. The method comprises the steps that the current position, posture, motion state and environment sensing data of a road roller are collected through a multi-sensor assembly; calculating a distance deviation and an angle deviation between the road roller and the preset path according to the preset operation path and the current position; based on the distance deviation and the angle deviation, a steering control instruction is generated through an algorithm combining feedforward control and PID feedback control; according to the residual operation path distance and the preset total operation time, generating a speed control instruction by adopting a trapezoidal speed planning algorithm; the steering control instruction and the speed control instruction are cooperatively adapted through a coordination control mechanism; the sensor data validity, the system operation state and the operation environment safety are monitored in real time, and safety protection measures are triggered when preset abnormal conditions are met. According to the invention, high-precision path tracking, forward and backward adaptive control, steering speed coordination and multi-layer safety guarantee can be realized.

The application relates to a user plane state propagation and utilization method and system facing SMF-UPF layered cooperative control. In the application, each UPF perceives a local user plane running state in real time, generates transient state information, encapsulates the transient state information into a GTP-U extension field, and propagates the transient state information in-band hop by hop between multiple UPFs along with user plane service packets; a receiving side UPF analyzes the extension field, performs state checking and iterative updating processing on the user plane state information based on propagation control parameters, extracts user plane state information of adjacent UPFs, and performs local autonomous control based on the local user plane running state; and each UPF generates trend state information from transient state information meeting a condition based on a cross-time scale state transition mechanism, and reports the trend state information to an SMF through a PFCP control plane signaling. The application can reduce control plane real-time state acquisition pressure, improve user plane local state perception capability, cooperative control efficiency in a multi-UPF scene, and network running stability.

The application discloses a clutch torque characteristic curve generation method, medium, device and vehicle, wherein the generation method comprises the following steps: acquiring measured torque data, and generating a required breakpoint torque characteristic curve according to the measured torque data; and correcting the required breakpoint torque characteristic curve to obtain a linear soft area torque characteristic curve; acquiring software bottom layer parameters, and calculating a corresponding rapid change area characteristic curve according to the software bottom layer parameters and the linear soft area torque characteristic curve; and generating a clutch torque characteristic curve according to the linear soft area torque characteristic curve and the rapid change area characteristic curve. The application can effectively improve the accuracy of clutch torque value, and make the torque of the clutch torque characteristic curve meet the full torque stage of the clutch, thereby improving the control stability of the clutch.

This utility model discloses a control circuit for driving a mobile robot, including a charger module, a power supply module, a communication module, a control module, an IMU module, and an interface module. The power supply module includes a power switching module, a power filtering and voltage regulation module, a power management module, a power monitoring module, and a key switch for a host computer. The power management module includes a power control module and a power distribution module. The power control module receives voltage requirements from different circuit components and transmits them to the power distribution module. The power distribution module converts the input voltage into a specific output voltage to meet the needs of different circuit components. Through high-speed data transmission, coordinated and precise control, and real-time status feedback between the power supply module, control module, and communication module, the dynamic stability of the mobile robot's drive control, the response speed of the mobile robot, and its endurance are improved.

The application discloses a bolt tightening method based on a vision-language-action model, and belongs to the technical field of intelligent manufacturing. The method comprises the following steps: collecting scene image data of a target bolt and a workpiece region around the target bolt, extracting multi-scale visual features from the collected scene image data, and obtaining a multi-scale visual feature vector Fv; performing semantic analysis on a natural language instruction to obtain a language feature vector Fl; performing cross-modal feature alignment on the Fv and the Fl to obtain an aligned feature vector Fvl; performing action decoding and parameterized mapping processing on the Fvl to generate an action parameter vector Fd; inputting the Fd into a control execution module to perform kinematics solving and control instruction generation, so as to drive an automated execution device to complete a bolt tightening operation. The method can improve the accuracy, adaptability and stability of bolt tightening operation under complex working conditions, and effectively reduce the labor cost of bolt tightening work.

The application discloses a kind of crisp leisure food with immersion coating malt dextrin device control system, it is related to food processing technical field, it is applied to immersion coating malt dextrin device.The control system includes state acquisition unit, stage control unit, lock determination unit, result output unit and parameter backwrite unit;Stage control unit controls the material to be processed to successively experience surface layer hole calling section, internal introduction section, even seepage sweeping section, edge moat section, directional side leakage section, low-energy backfill section and front solidification section, so that malt dextrin forms continuous support precursor in material interior;Lock determination unit takes ring moat state as main criterion, takes boundary state and internal support state as verification criterion, after low-energy backfill, when ring moat is not connected again bright, material edge is not sustained bright, and material pressure rebound state is not returned, it is judged that internal support skeleton lock establishment state is established;Parameter backwrite unit writes corresponding control parameters when not locked in.The system is suitable for the processing of raw materials not easy to directly make crisp chips.

This invention discloses an intelligent projection positioning and drilling accuracy control system for blast holes at tunnel faces, belonging to the field of tunnel drilling and blasting construction technology. It aims to solve the technical problems of inaccurate blast hole positioning and large drilling direction deviations in existing tunnel face systems, leading to low construction efficiency. The key technical points are: the control system includes a structured light projector mounted on a tunnel drilling and blasting trolley, at least two industrial cameras, a fiber optic shape demodulation module, and a controller. A fiber optic shape sensing unit is installed inside the drill rod at the end of the drill arm of the drilling and blasting trolley; the structured light projector projects structured light, the industrial cameras acquire binocular images, the fiber optic shape demodulation module calculates the curvature and torsion angle sequence of the sensing unit, and the controller controls the drill arm drive mechanism to correct the drill bit position and direction through 3D reconstruction, coordinate comparison, and real-time deviation adjustment. This invention achieves intelligent positioning and drilling accuracy control of blast holes at tunnel faces, improving the accuracy and efficiency of tunnel drilling and blasting construction.

The utility model relates to the field of deicing distribution truck hydraulic devices, in particular to a hydraulic control valve bank which comprises a control valve assembly and a valve body, the control valve assembly is inserted into the valve body, and the valve body is connected between a deicing spray head hydraulic oil way of a deicing distribution truck and the control valve assembly. And when the control valve assembly receives the hydraulic control signal, the deicing nozzle is controlled to rotate at different angles in different directions. The method has the effect of improving the control accuracy of the deicing nozzle.

The application relates to the technical field of valves, in particular to a high-temperature material flow regulating device and a control method thereof, which comprises a device body, a spring hanger fixed on the device body, an inlet and return water system, a control system, a monitoring device and a connecting pipe fixed on a discharge port of the device body. The device is aimed at the problems of poor linearity of traditional gate valves and flap valves, insufficient precision of manual regulation and open-loop control, realizes linear regulation of high-temperature material flow through the curved surface fitting design of a valve head and a valve seat, completely solves the disadvantages of small opening sensitivity and large opening sluggishness, accurately adapts to trace regulation requirements, relies on the monitoring device to collect material level and temperature signals in real time, constructs a closed-loop control through a PLC control system, automatically drives an electric actuator to adjust the position of a valve rod, does not need manual intervention, avoids human judgment errors, eliminates high-temperature scene operation safety hazards, greatly improves flow control precision and stability, and solves the problem of instability of a traditional control loop.

The utility model discloses a kind of hard alloy tool bit and tooth body continuous brazing equipment, it is related to brazing technical field, including mounting block, the both sides of mounting block are fixedly connected with heater, the opposite side of heater is provided with tooth body, a plurality of notches for tool bit body brazing are set on the tooth body, the top of mounting block is rotatably connected with support block, and the top of support block is fixedly connected with supporting block.The utility model is equipped with limiting component, by cylinder two, slider can be controlled to slide along the bottom of supporting block, so as to drive connecting rod rotation, so that moving frame is mutually close, until driving limiting rod is attached to the side of tooth body, at the same time, the bottom side of moving frame is attached to the side of tool bit body, it is favorable to position correction to tool bit body, so that supporting block moves always keep and notch alignment direction advance, so as to not need manual calibration, improve the matching efficiency and precision of tool bit body and notch.

This invention provides a control method and system for a five-degree-of-freedom marine crane in a non-inertial frame, relating to the field of crane automatic control technology. The method includes: acquiring the real-time state variables of the crane in a non-inertial frame; inputting the state variables into an adaptive radial basis function neural network to obtain a lumped disturbance estimate, the neural network being designed based on a five-degree-of-freedom dynamic model established in the ship's coordinate system using the Lagrange equations and the principle of virtual work, considering the ship's six-degree-of-freedom motion and installation position offset; calculating a tracking error function based on the state variables and the desired trajectory; inputting the disturbance estimate and the error function into a feedback controller to calculate and generate a control torque, which is then output to the actuator to drive the crane to track the desired trajectory and suppress load sway. This invention achieves direct modeling and control in a non-inertial frame, solving the coordinate transformation disturbance and singularity problems caused by inertial frame modeling, and improving trajectory tracking accuracy and disturbance rejection robustness.

The utility model relates to a kind of prism driving device, camera module and electronic equipment, including pedestal, and the dynamic frame of being located in pedestal and rotating relative to pedestal, prism driving device further include motion holding component and magnetic attraction fixed component, motion holding component is at least partially placed in accommodating groove, accommodating groove is located in base and / or dynamic frame, at least part of magnetic attraction fixed component is located in pedestal, the remaining part of magnetic attraction fixed component is located in dynamic frame, motion holding component and accommodating groove are distributed along emergent optical axis and at least part of magnetic attraction fixed component and the remaining part are mutually magnetically attracted along emergent optical axis.Optical axis is distributed along emergent optical axis from structure to motion holding component and accommodating groove, while magnetic attraction fixed component is mutually magnetically attracted along emergent optical axis, for dynamic frame provides in optical axis direction stability, significantly improves the motion precision and control stability of mechanism.

The invention relates to a miscellaneous and confined space large-diameter shield split translation system which comprises a steel plate sliding system laid at the bottom of a construction well. The split type steel sleeve device is arranged above the steel plate sliding system and comprises a steel sleeve upper half part, a steel sleeve lower half part and a height adjusting and rotation limiting device connected between the steel sleeve upper half part and the steel sleeve lower half part; the adjustable bearing support is arranged between the steel base below the lower half part of the steel sleeve and the steel plate sliding system; and the pushing device acts on the steel base and the steel sleeve and drives the split type steel sleeve device and the steel base to translate on the steel plate sliding system. The steel sleeve has the beneficial effects that the problem that a traditional steel sleeve is too high in overall height and cannot pass through a low-clear-height limited space is effectively solved, the existing structure does not need to be disassembled and modified, and the construction risk is reduced.

The invention relates to the technical field of transformer substation remote control, in particular to a transformer substation remote optimization control method and system based on digital twinning, and the method comprises the steps: calling a main transformer association node number to unfold a path structure, extracting a circuit breaker and an isolation number to form a topological sequence, simulating a voltage change trend to generate a statement set, and matching the risk semantics to generate a sorting result, comparing main and auxiliary path load linkage behaviors, and generating a remote control action instruction. The method comprises the following steps: constructing a topological chain of main transformer associated nodes, describing a position relationship among electrical nodes, summarizing a trend set through a multi-period voltage trend, extracting a risk sorting result through an associated semantic index, comparing load changes of main and auxiliary paths to identify linkage interference characteristics, and screening and adjusting path combinations to generate a control instruction. And the state adaptability and the scene cooperation capability of the control strategy are enhanced.

The invention relates to a rolling rotating shaft electric push cylinder which comprises a cylinder body defining a front-back communicated mounting space. The driving part is fixedly arranged at the rear part of the mounting space and is used for providing rotating power; the push rod assembly is arranged at the front part of the mounting space; one end of the rolling rotating shaft screw rod mechanism is connected with the driving part, and the other end is connected with the push rod assembly; the rolling rotating shaft lead screw mechanism can drive the push rod assembly to make linear reciprocating motion in the front-back direction. The rolling rotating shaft lead screw mechanism is used for transmitting power, the space utilization rate is high, the size is small, bearing capacity is high, precision is high, the structure is simple, and manufacturing cost is low.

This invention relates to the field of robot remote control technology, specifically to a remote-controlled robot system and control method under high-latency intercontinental networks. The system includes: acquiring operator input to generate remote control command data packets and writing them into operator-side perception data to form perception-marked command data packets; receiving the perception-marked command data packets and acquiring robot-side execution data and safety boundary data; calculating the state offset between the operator-side perception data and the robot-side execution data to generate command verification results, and converting them into local control commands according to control reconstruction rules; after executing the local control commands, verifying the consistency between the robot-side feedback data and the operator-side displayed update data, and adjusting the execution permission level of subsequent remote control command data packets accordingly. This invention achieves a technical method for matching remote control commands with the current execution state of the robot in a high-latency intercontinental network environment.

The invention belongs to the technical field of electric power systems, and particularly relates to a quick-closing valve control method for transient stability of an electric power system based on deep reinforcement learning. Comprising the following steps: establishing a Markov decision model based on power system transient stability emergency control; constructing a quick-closing valve decision framework based on a near-end strategy optimization algorithm; constructing a deep reinforcement learning model for emergency quick-closing valve control; by introducing the deep reinforcement learning method, a more accurate and efficient quick-closing valve control strategy can be formulated, so that when the power system breaks down, the stability of the system is recovered more quickly, and the loss caused by instability is reduced.

This invention discloses an improved unmanned surface vessel (USV) target tracking method: Step 1, acquire target USV position and heading angle data to obtain target USV sampling data; Step 2, based on the target USV sampling data, obtain heading angle change data at adjacent sampling times; Step 3, smooth the heading angle change data to obtain preprocessed data; Step 4, based on the preprocessed data and combined with the designed offset law, calculate the offset angle α; Step 5, calculate the absolute azimuth angle of the line segment connecting the USV and the target USV according to the target USV's heading angle and offset angle α; Step 6, based on the absolute azimuth angle and the target USV's position coordinate information (x... target ,y target ) Calculate the tracking point (x) under the relative time-varying point tracking strategy tracking ,y tracking The tracking point coordinates are obtained. This invention overcomes the problem of poor tracking performance when the target vessel turns, which exists in the tracking method that uses the center of the fan-ring domain as the tracking point. It also improves the target tracking effect and control stability, while reducing the energy consumption of the unmanned surface vessel.

The application discloses a cooling system liquid supplement tool, which is suitable for supplementing cooling liquid for a cooling system by a cooling liquid tank. The cooling system liquid supplement tool comprises a liquid supplement pump, a pipeline set, a sub-pump and a current controller. The liquid supplement pump has a liquid inlet. The pipeline set comprises a first pipeline and a second pipeline. The first pipeline is suitable for connecting the liquid inlet of the liquid supplement pump and the cooling liquid tank. The second pipeline is suitable for connecting the first pipeline and the cooling liquid tank. The sub-pump is arranged in the second pipeline and is suitable for driving the fluid in the second pipeline to flow. The current controller is electrically connected with the sub-pump and is used for providing operating power for the sub-pump and controlling the operating time of the sub-pump. The application can automatically supplement the cooling liquid without human intervention or additional controller intervention. In addition, most of the air in the pipeline set can be discharged before entering the inside of the cooling system, so that the subsequent pumping and flowing efficiency of the cooling liquid is improved.

The application provides a semi-vacuum inert gas environment ultrahigh-temperature 3000 DEG C carbon fiber graphitization temperature self-adaptive PID control method, relates to the technical field of automatic temperature control, and comprises the following steps: S1: semi-vacuum inert gas environment construction and parameter initialization; S2: ultrahigh-temperature graphitization furnace initial parameter configuration and sensor calibration; S3: temperature acquisition and multi-source data fusion processing; S4: temperature deviation and furnace dynamic characteristic analysis; S5: adaptive PID parameter optimization based on chaotic cat swarm optimization and bayesian regularization extreme learning machine; S6: heating power regulation based on PID and sparse kernel extreme learning machine feedforward control; S7: real-time feedback and iterative optimization closed-loop control; S8: abnormality detection and emergency treatment.The application realizes accurate and stable control of the ultrahigh-temperature graphitization process temperature, guarantees sufficient carbon fiber graphitization structure conversion, and improves product quality consistency.

This application discloses a method, apparatus, equipment, storage medium, and product for balancing energy consumption in a pumping unit well group, relating to the fields of industrial automation and energy efficiency optimization technology. The method includes: acquiring pumping unit electrical parameter data based on IoT devices and an oilfield database; calculating the power parameters and system efficiency data of each pumping unit based on the electrical parameter data; and accurately reflecting the operating status and power consumption of each pumping unit through real-time electrical parameter data acquired from IoT devices and the oilfield database. By inputting the power parameters and system efficiency data of each pumping unit into a pre-constructed pumping unit well system model, the corresponding target motor frequency is obtained. The pumping unit power is adjusted in real-time according to the target motor frequency, enabling dynamic calculation and optimization of the motor frequency, thereby achieving energy balance in the well group. By adjusting the motor frequency in real-time, it is ensured that the pumping units always operate at their optimal operating points, improving the control stability of the well group.

The application relates to the technical field of temperature control, and particularly discloses a medicament reaction monitoring method and system based on constant-temperature control, which comprises the following steps: generating a temperature change rate distribution gradient field in the interior of a reaction container and predicting a thermal diffusion trend vector diagram of a next control period according to a detection point data set with space-time characteristics; determining a feedforward decoupling control component based on local extreme points in the thermal diffusion trend vector diagram and real-time temperature values, and taking a difference between a global average temperature and a set target temperature as a main deviation; integrating and adaptively coupling the main deviation to generate a feedback adjustment reference quantity according to a temperature field uniformity index, and preventing overshoot fusion of the feedforward decoupling control component and the feedback adjustment reference quantity to generate a comprehensive driving instruction; and the application effectively solves the problems of temperature response lag, overshoot oscillation and poor adaptability to temperature field distribution changes, and improves the temperature control precision and stability of a medicament reaction process.

The application discloses a sintering endpoint advanced prediction and intelligent regulation method based on mixture characteristics and ignition initial state. The method belongs to the technical field of steel metallurgy automatic control. The technical scheme firstly collects physical and chemical characteristic data of the mixture and initial state parameters of the mixture surface ignition, and constructs a multi-dimensional feature data set; then, a sintering endpoint advanced prediction model is trained and established by using historical production data, so that the sintering endpoint position is predicted in advance; when the prediction result deviates from the set target value, the optimal control parameter adjustment amount is calculated by an intelligent algorithm, and instructions are automatically issued to adjust the sintering machine speed and the main exhaust speed. By introducing the mixture characteristics and the mixture surface ignition state as feedforward variables, the sintering endpoint advanced prediction and closed-loop control are realized, the problem of large hysteresis and poor stability of the traditional control method is effectively solved, and the yield and energy utilization rate of the sintered ore are significantly improved.