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

The invention discloses an asymmetric direct power control method of grid-connected three-phase Voltage Source Converter (VSC). Instantaneous active and reactive powers of VSC inputted from electricity grid are calculated by collecting three-phase network voltage and input current signals of the VSC, and the error signal between the instantaneous active and reactive powers and given active and reactive powers is adjusted by using a proportional resonance adjuster; the output signal of the adjuster obtains the VSC output reference voltage signal of synchronous rotary coordinate system after feedback compensation decoupling, and a switch signal controlling VSC operation condition is produced after spatial vector pulse-with modulation. The method in the invention can eliminate double frequency wave motion of direct-current busbar voltage and instantaneous reactive power due to asymmetric electricity grid voltage without decomposition of positive-negative sequence component, thereby avoiding incoming decomposition delay and error, and thus being capable of improving dynamic response and stable operation ability of VSC in the condition of asymmetric electricity grid failure.

The invention discloses a charging and blanking robot of a punch press, comprising four joints, a base, two arms and an end effector, wherein the first joint, the second joint and the fourth joint have the degree of freedom of rotation, and the third joint has the degree of freedom of up and down translation; one end of the first joint is connected with the base by an input end shell; the other end of the first joint is connected with one end of the first arm by a first joint output flange; the other end of the first arm is connected with a second joint output flange of the second joint; a third joint connecting plate is connected with the joint rack of the fourth joint; and a fourth joint output rotary table is provided with the end effector. A harmonic transmission mode is adopted by a first joint transmission device and a second joint transmission device of the robot. Aiming at the characteristic that a harmonic speed reducer only can bear torque but can not bear bending moment, a pair of tapered roller bearings is arranged on an output shaft and is used for bearing overturning bending moment. The transmission mode has compact structure, high transmission efficiency, small return difference and high transmission accuracy.

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 relates to a cluster temperature control load control method based on model prediction and multi-scale priority. The method comprises the steps of (1), performing 2D state warehouse modeling of a cluster temperature control load; (2), calculating a controlled load time varying state space model; (3), obtaining a cluster temperature control load control model at the current time basedon a model predication control algorithm; (4), performing load object screening according to a multi-scale priority sequencing index; and (5), executing model prediction for controlling an optimal control signal. According to the cluster temperature control load control method based on model prediction rolling optimized control, a load screening process based on multi-scale priority sequencing ofnormalized temperature distance, power similarity and accumulated number of controlling times is added. Compared with a traditional control method, the cluster temperature control load control methodhas advantages of improving precision and speed of a load response optimal control signal vector, and realizing better comprehensive performance at aspects of control precision, response speed, loadparticipation requirement response fairness.

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 hybrid electric vehicle self-adaptive PID dynamic control method for improved grey prediction, and the method comprises the following steps: (1) building an improved grey prediction model GM (1, 1); (2) establishing a self-adaptive PID control model; (3) establishing an HEV power driving model; (4) taking a vehicle speed requirement of a typical working condition (NEDC new European driving working condition) as an input; and based on Matlab / Simulink, respectively establishing an adaptive PID closed-loop control HEV driving simulation model based on improved grey prediction and an HEV driving simulation model based on conventional PID closed-loop control, and respectively carrying out comparative simulation analysis on the two models. According to the method, the HEV actual vehicle speed is effectively predicted by establishing the improved grey prediction model, meanwhile, the self-adaptive PID controller with parameters capable of being automatically corrected is established, real-time optimization control is conducted on the HEV power system, the vehicle speed is made to rise rapidly and stably, and the aim of saving energy is truly achieved.

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 deck emergency scramble control method for a fixed-wing UAV for emergency command control, and the method comprises the steps: controlling the take-off attitude of the fixed-wing UAV through a longitudinal robust H-infinite controller, i.e., taking an output signal of the designed longitudinal robust H-infinite controller and the external disturbance as the input of the take-off dynamical model of the fixed-wing UAV, forming a closed-loop control system, achieving the inhibition of the gust interference of the ocean exterior, and enabling the fixed-wing UAV to stablytake off from a deck. A speed controller employs a nonlinear dynamic inverse control method, and can quickly reach an ideal speed, and an output signal of the speed controller is a thrust force, wherein a control object is a take-off speed. Through the combination of two sides, the method achieves the interference resistance and rapid take-off of the fixed-wing UAV on the deck. The invention belongs to the technical field of emergency scramble control of fixed-wing UAVs. The method enables the fixed-wing UAV to be high in capability of resisting stronger gust at the stage of take-off from thedeck, can achieve the rapid emergency scramble, and guarantees the safe take-off of the fixed-wing UAV.

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 relates to a ballast water treatment system ultraviolet inactivation device with adjustable power and a control method thereof. The device comprises a reactor, flowmeters used for detecting the flow at a water inlet and a water outlet, ultraviolet generators uniformly distributed in a cavity of the reactor, a rotary switch used for adjusting the power of the ultraviolet generators, and a controller connected with the flowmeters and the rotary switch respectively, and the controller receives a flow signal of the flow meter, adjusts the rotating angle of the rotary switch accordingto the flow signal, and adjusts the light intensity of the ultraviolet generator. Compared with the prior art, the method has the advantages that the system power is adjusted according to the systemflow, the load pressure of the system is reduced, and energy waste is avoided.

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 provides a multi-rotor unmanned aerial vehicle trajectory tracking composite control method, which comprises the steps of establishing a feature model of a multi-rotor unmanned aerial vehicle, and achieving equivalence from a high-order, strong-coupling and non-linear multi-rotor unmanned aerial vehicle system to a low-order time-varying difference model; estimating characteristic parameters by adopting a recursive least square method with a forgetting factor; designing a golden section self-adaptive feedback controller module to ensure that a closed-loop system is stable in a transition process stage under the condition that parameters are not converged; introducing a feedforward controller module to gradually approach an inverse model of a feature model. An expected trajectory can be quickly tracked without waiting for deviation feedback of the system, the dynamic control performance of the system is improved, once disturbance occurs in the system, feedback control actsin time, and it is ensured that the system has high disturbance resistance. The multi-rotor unmanned aerial vehicle trajectory tracking composite control method based on the feature model provides anew thought for multi-rotor unmanned aerial vehicle trajectory tracking control research, and has certain theoretical reference significance and practical application value.

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 discloses a surface-mounted permanent magnet synchronous motor system based on a current measurement error compensator. A permanent magnet synchronous motor current measurement error compensation controller obtains a pure current measurement error component by subtracting a low-pass filtered current instruction from the measured current in a two-phase stationary [alpha][beta] coordinate system, thereby avoiding motor speed and torque pulsation caused by the motor current measurement error. In addition, through the simple subtraction, the interference of the current instruction incorrecting the current offset error is conveniently eliminated, and the dynamic control capability of the current measurement error compensator is greatly improved. The permanent magnet synchronous motor system is insensitive to changes in electrical parameters, can suppress the interference of an outer loop controller, and is good in dynamic stability, simple in structure and easy to implement.

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 belongs to the field of mechanical manufacturing, and particularly relates to an end cover of the servo oscillating type hydraulic cylinder. The end cover comprises a cover body and an axial hole formed in the middle of the cover body. According to the end cover of the servo oscillating type hydraulic cylinder, oil ways are reasonably arranged in the end cover and communicate with oil holes formed in the end cover, and therefore radial bearings and axial thrust bearings can be simultaneously arranged on the end cover. In this way, the limitation that the end cover only achieves the fixing and sealing effects in the past is broken through, creative breakthrough is achieved, and the obvious significance on improvement of the overall functions of the hydraulic cylinder is achieved.

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.

The invention belongs to the field of machinery manufacturing and particularly relates to a blade type servo swing hydraulic cylinder and mechanical equipment with the same. The blade type servo swing hydraulic cylinder comprises a front end cover, a rear end cover, a stator and a rotor, the stator and the rotor are mounted between the front end cover and the rear end cover, the rotor is arranged in the stator, and N oil cavities are formed between the rotor and the stator. By arrangement of oil ways in the front end cover and the rear end cover and regulation compensation of throttling valves, radial hydrostatic bearings and axial thrust hydrostatic bearings are formed between the end covers and the rotor, and low-friction starting, unbalance loading resistance, low friction and the like are realized. In addition, reasonable structure, assembly difficulty lowering and assembly space reduction are realized, an application range is effectively expanded, a swing cylinder assembly gap is further narrowed, oil leakage is prevented, and significance in use of precision equipment is achieved.

The invention provides a distributed driving system suitable for a plate spring suspension, and relates to the technical field of automobiles. A DCU (Deceleration Control Unit), a motor controller, a distributed drive axle and an HCU form the system, a left motor and a right motor are independently controlled, more whole vehicle dynamics control freedom degrees are achieved, and the dynamics control performance of a whole vehicle is greatly improved. The left motor, the right motor, a left parking brake, a right parking brake and the HCU are controlled through the DCU, higher control efficiency and shorter response time are achieved, the functions of ASR (drive skid resistance), vehicle body stability control, intelligent braking and the like are better and more efficiently achieved, and the safety of the whole vehicle is improved.