52results about How to "Improve dynamic control performance" patented technology

The invention relates to a planar multi-joint robot, belonging to a mechanical body of industrial robot, which is suitable for handling objects in an environment with high vacuum degree and cleanliness. The invention comprises an upright column component and an arm component; wherein, the upright column component comprises a lifting driving device, an inner shaft rotary drive unit and outer shaft rotary drive unit, a straight-line guidance, a linear seal, a rotary sealing device and an outer housing; the arm component comprises a link mechanism, an end actuator and an installation adjusting mechanism, and is arranged at one end of the upright column component. The invention has the advantages of light weight, good dynamic controlling performance, and high repetitive positioning accuracy.

The invention mainly provides a novel soft phase-locked loop, which is an improved soft phase-locked loop based on a wave trap and a low-pass filter. The novel soft phase-locked loop can accurately and quickly detect the amplitude and the phase of a positive-sequence component of power network voltage when a power network has an unsymmetrical fault, so the novel soft phase-locked loop not only can effectively inhibit phase 100 Hz disturbances, but also has a quick response speed, has high stability and high disturbance resisting capacity, is helpful for improving the dynamic control performance of a network-side converter when the power network has the unsymmetrical fault, and provides a guarantee for a low-voltage traversing technique of a wind power generation system.

The invention discloses a photovoltaic grid connection control method on the basis of improved quasi-resonance control and repeated control. The photovoltaic grid connection control method includes steps of utilizing the difference between given grid connection current and actual output grid connection current of an inverter as input of a quasi-resonance controller and a repetition controller, utilizing the difference between the given zero direct current and the actual output grid connection current as input of an integral controller, adding the output of the quasi-resonance controller and the repetition controller as control signals of connection and disconnection of an inverter bridge switching tube in an inversion link. The photovoltaic grid connection control method combines the advantages of resonance control, repeated control and integral control, affection generated by grid voltage and frequency fluctuation can be effectively reduced, good dynamic and steady tracking performance is achieved, and optimal design of the grid connection control is benefited.

The invention discloses a method for increasing permanent-magnet synchronous linear motor dynamic control performance. The method comprises the following steps of firstly, hypothesizing a discrete mathematic model of a permanent-magnet synchronous linear motor control system electric current loop; then, based on the above discrete mathematic model, recursing a predicted value of a state variable in a prediction domain; and finally, using a permanent-magnet synchronous linear motor stator voltage equation in a synchronous rotating coordinate of rotor magnetic field orientation, through controlling and predicting a controller output voltage U(k), making an actual sampling current i(k+1) at a k+1th moment be equal to a target current i<*>(k+1) predicted and acquired at a kth moment and dead-beat control is realized . By using the method of the invention, problems that a traditional electric current loop PI regulator is strongly dependent on motor parameters and is difficult to satisfy a high performance control requirement of a servo system are solved; and a permanent-magnet synchronous linear motor control method based on dead-beat current prediction control is selected so that a current harmonic wave and a torque ripple are reduced and system dynamic performance is increased.

The invention relates to the field of marine mechanical equipment, and provides an active rigid and flexible mixed wave motion compensation device and a control method thereof; the compensation deviceis used for wave compensation in the goods feeding process; and the compensation device comprises a lifting mechanism arranged on a feeding ship, and a rigid and flexible mixing compensation mechanism whose upper part is connected with the lifting mechanism. The compensation device achieves excellent interference resistance, can place goods on a ship more stably and precisely, effectively protects the safety of the goods, a ship body and workers, adopts rigid and flexible mixed compensation control, is large in working space and higher in flexibility, can deal with the change to timely respond, and achieves good dynamic control effect. The compensation device and the control method thereof solve the problems of incapability of meeting actual application demands and weak compensation effect in a traditional active wave compensation device.

The invention discloses a method for optimizing controller parameters of an automatic power grid generation control system, relating to the field of automatic control of an electric power system, aiming at solving the technical problems that the controller parameters are not proper so that a dynamic control performance of the automatic power grid generation control system is relatively low. The method for optimizing the controller parameters comprises: establishing an automatic power grid generation control system simulation model, wherein the automatic power grid generation control system simulation model comprises a controller; according to the automatic power grid generation control system simulation model, establishing an optimized modulation model of the controller parameters; according to the optimized modulation model, obtaining an initial optimization result of the controller parameters through an ecological niche bacterial foraging algorithm; and according to the initial optimization result, obtaining a final optimization result of the controller parameters through a pattern search algorithm. The method provided by the invention is applied to optimization of the controller parameters of the automatic power grid generation control system.

The invention discloses a combine harvester control device and method. The combine harvester control device comprises a load feedback control device, an engine for supplying power, a first transmission device, a walking mechanism, a second transmission device and a transmission band, wherein an output shaft of the engine is connected with a driving sprocket axle of the walking mechanism through the first transmission device. The combine harvester control device is characterized in that the driving sprocket axle of the walking mechanism is connected with a drive sprocket axle of the transmission band through the second transmission device; the load feedback control device comprises a fuzzy control module, a PID (Proportion Integration Differentiation) control module, a first detection element for detecting the rotating speed of a threshing cylinder, and a second detection element for detecting the load torque of the threshing cylinder; the fuzzy control module forms a roller rotating speed control loop by virtue of the first detection element; and the PID control module forms a roller load torque control loop by virtue of the second detection element. According to the invention, on the basis of the conventional combine harvester, the combine harvester control device allows the power of the transmission band of a combine harvester is transmitted by the walking mechanism, and a pure lag link of the conventional transmission band is eliminated, thereby improving control performance greatly. Meanwhile, the roller load torque control loop is formed by the detection on the load torque of the threshing roller, thereby improving the dynamic performance of a roller rotating speed control system, and further improving the work state stability and the harvesting efficiency of the combine harvester.

The invention discloses an isolated direct current converter applicable for a medium-voltage direct current system and a control method thereof. The direct current converter is of a modularized combined structure for a plurality of power modules through serial connection during input and parallel connection during output, and each power module consists of a switching circuit and an isolated switching circuit cascade connection. Each switching circuit consists of a switching switch, a switching power device and a short circuit prevention diode, and is used for controlling the switching and elimination of the corresponding control module, so that redundant operation and rapid fault isolation of the system are realized; when an external fault appears, the fault can be quickly eliminated, andwhen an internal fault of the module appears, the fault module can be quickly eliminated, so that normal operation of the converter is guaranteed; simultaneously, input and output voltage matching ofeach module can be guaranteed, so that the stress of voltage and current on the power device is reduced; and after the fault is eliminated, the converter also can be quickly used. The converter disclosed by the invention is high in reliability and long in service life, and is applicable for the applications such as long-distance underwater electric energy supply, interconnection of direct currentmicrogrids with different voltage levels and electrolytic aluminum and sea water desalination industries.

The invention discloses a display processing method and an electronic device, used for solving the technical problem that the flow consumption of the electronic device is lack of management and adjustment. The method comprises the steps of determining at least one load device which is connected to a wireless network via the electronic device, wherein the electronic device provides a wireless access point through which the at least one load device is connected to the wireless network; based on a preset network flow parameter, monitoring the flow consumption information of the at least one load device; based on the flow consumption information, determining the first load device meeting preset conditions from the at least one load device; and adjusting the flow provided for the first load device based on a preset adjustment strategy.

The invention discloses an automatic robot assembling method for a cylindrical-rectangular composite hole type part, and relates to the technical field of robot assembly control. The invention aims tosolve the problems that the automatic assembly of the cylindrical-rectangular composite hole type part faces various contact states, and the assembly strategy is difficult to determine. The inventiondiscloses an automatic assembling method for a cylindrical-rectangular composite hole type part to perform contact state judgment according to force feedback information and carry out corresponding adjustment aiming at different contact states. A assembly process is divided into an approach stage, a hole searching stage and an insertion stage; a five-time spline trajectory planning method is usedin the approach stage to enable the part to be assembled to be quickly close to the assembled part; the hole searching stage has four contact states; the contact states of the insertion stage are divided into 7 kinds of 41 types according to the number and the relative positions of the contact points, stress analysis is carried out on each contact state and a corresponding hole searching or insertion assembly strategy is provided, and the assembling simulation of the cylindrical-rectangular composite hole type part is carried out; and the result shows that the assembling method can complete assembly on the premise that the contact force is too large.

The invention discloses an electric precipitation energy-saving control method based on the coal quantity and the air quantity of a boiler. The method comprises the steps: obtaining current total coalquantity and current total air quantity of the boiler and electric precipitator outlet dust content; and calculating an electric field secondary current target value according to a formula II2=[(T-Ttarget)/(Tmax-Tmin)]*(II2max-II2min)+IIcoal+IIw, and adjusting the current electric field secondary current value of the electric precipitator to an electric field secondary current target value. Therefore, the total coal quantity of the boiler is used to replace the unit load to control the electric precipitation parameters, the control deviation caused by coal quality change can be overcome, andthe real-time performance is better than that of the unit load; meanwhile, the total air quantity of the boiler serves as a feedforward signal, and a dynamic control effect of dust in the unit load dynamic change process can be improved; and therefore, the automatic control effect of the electric precipitator can be improved, excessive dust emission of a power plant is prevented, the environment-friendly purpose is achieved, the power utilization rate of the power plant is reduced, and the energy-saving purpose is achieved. The invention further discloses an electric precipitation energy-saving control system based on the coal quantity and the air quantity of the boiler, and the beneficial effects are as mentioned above.

The invention discloses a micro-grid distributed controller parameter determination method based on linear quadratic optimization, and belongs to the technical field of micro-grid running control. Based on droop control, a micro-grid small signal model of reactive equipartition and average voltage recovery is built; the micro-grid small signal model is converted to multiple single-input single-output submodels corresponding to single input of all distributed power sources; designing a dispersive type output feedback controller and a linear quadratic optimization target function; selecting a stable feedback controller, calculating the change rate of the linear quadratic optimization target function to the feedback controller, and based on the change rate, improving the feedback controller,so that the quadratic optimization performance of the improved controller is superior to the performance of the controller before improvement, and thus a local optimal distributed controller is obtained. By means of the method, based on a linear quadratic optimization strategy, a micro-grid distributed controller is designed, the reactive power equipartition and the average voltage recovery in themicro grid are achieved, and thus the overall electric energy quality of the micro grid is improved.

The invention provides a planar diaphragm loudspeaker with an asynchronous magnetic reflux structure, which comprises at least one upper magnet support frame, at least one lower magnet support frame,at least one lower magnet support frame and at least one lower magnet support frame, a first supporting mechanism and a second supporting mechanism are arranged below the upper magnet set. A voice coil diaphragm mechanism is installed between the first support mechanism and the second support mechanism. At least one lower magnet support frame is further arranged below the second support mechanism;a lower magnet set is fixed to the inner side of the lower magnet supporting frame, a first conductive metal sheet and a second conductive metal sheet are arranged below the lower magnet set, the upper magnet set comprises a plurality of upper magnets, the lower magnet set comprises a plurality of lower magnets, the number of the upper magnets is different from that of the lower magnets, and theupper magnets and the lower magnets are arranged in a staggered mode. According to the planar diaphragm loudspeaker, the diameter, the size and the weight of a planar diaphragm loudspeaker body structure can be effectively reduced, the sounding quality is remarkably improved, the overall structure of the loudspeaker is optimized, and the size miniaturization is realized.

The invention comprises a battery control method and device based on a matrix rectifier. The output end of the matrix rectifier is connected with a battery. The method comprises the following steps of real-time detecting the voltage and current of the grid side and the charging voltage and the charging current of the battery through sensors, carrying out sliding mode control according to the voltage and current of the grid side and the charging voltage and the charging current, outputting pulse signals, and driving corresponding conduction of bi-directional switches in the matrix rectifier. A battery can be charged through the matrix rectifier and the sliding mode control, thereby reducing the power grid side harmonic, suppressing the voltage disturbance, compensating the power factor and improving the dynamic control performance.

The invention relates to a dynamic lower limit-attached direct-current side voltage control method for a voltage source type converter, which comprises the following steps of: 1, acquiring a phase voltage peak value of an alternating-current port of each voltage source type converter according to the actual condition of common direct-current side voltage operation of one or more voltage source type converters; step 2, based on the alternating current port phase voltage peak value of each voltage source type converter, further obtaining the lowest direct current side voltage demand value of each voltage source type converter; and step 3, taking the maximum value in the lowest direct-current side voltage demand values of all the voltage source type converters, obtaining a direct-current side voltage reference instruction after amplitude limiting, and controlling the main voltage source type converter of the direct-current side voltage by using the direct-current side voltage reference instruction so as to realize the control of the direct-current side voltage. Compared with the prior art, the method has the advantages that a controller system is simpler and more convenient, control parameter design is more flexible, and the obtained steady-state and dynamic control effects are better.

The invention discloses a depth-based bidirectional dead zone compensation method of a hydraulic proportional valve, and relates to the technical field of machinery and electronics. The depth-based bidirectional dead zone compensation method of the hydraulic proportional valve comprises the following steps that the magnitude relation between a control signal u<c> and a right dead zone depth Dep<r>of the proportional valve; when u<c> is greater than or equal to 0, an automatic compensation control command signal u<act> of the proportional valve is decreased progressively based on the law of u<act>= u<c>+u<r-est>, when u<c> is greater than or equal to Dep<r> and less than 0, the proportional valve still works in the right position without reversing, u<act> is calculated as per formula; whenu<c> is less than Dep<r>, and the u<act> is calculated according to the formula of u<act>= u<c>+D<l-est>+U<r>, wherein the U<r> is equal to MAX(int(u<c>-Dep<r>)dt, Dep<r>)-Dep<r>; the reverse commutation of the proportional valve is the same as the principle, but compensation is based on the depth D<epl> of a left dead zone of the proportional valve and an estimated value of the left dead zone ofthe proportional valve. Since the depth-based bidirectional dead zone compensation method of the hydraulic proportional valve extends into the dead zones separately on the basis of the estimated values of the dead zones until change intervals of the dead zones are exceeded to ensure complete entry into the dead zones of the proportional valve, the problems of poor dynamic performance, easy fluctuation and difficulty in meeting requirements for an accurate closed-loop control system are solved.

The invention discloses a whole vehicle drive-by-wire system and control method for an unmanned vehicle. The system comprises a central chassis control module, an emergency stop switch connected withthe central chassis control module and an air brake system connected with the emergency stop switch, wherein the central chassis control module is connected with a power subnet used for executing service electronic braking, an air braking system used for executing service mechanical braking and an electronic parking system used for executing parking braking when service electronic braking or mechanical braking fails through a CAN bus interface. According to the invention, multiple safety initiative and real-time response capability of the vehicle are improved.