32results about How to "Improve dynamic tracking performance" patented technology

The invention relates to a high-efficiency voltage stabilization comprehensive control method of an induction power transmission system, belonging to the technical field of radio energy transmission.The system consists of two closed-loop circuits: an optimal efficiency tracking control loop and a robust constant pressure control loop. The optimal efficiency tracking control loop calculates the efficiency expression by establishing an AC impedance model for the system circuit, obtains the optimal equivalent load, adds an impedance matching network at a secondary side, and adjusts the duty cycle of a converter so that the equivalent resistance of the rectified output reaches the optimal load value to realize optimal efficiency tracking. The robust constant voltage control loop sends a difference between a load acquisition voltage and an input reference voltage into a robust controller by establishing a parameter perturbation model of the system to obtain a constant voltage of a high-frequency full-bridge inverter of a phase-shifted angle control primary side. The optimal efficiency tracking control and closed-loop robust control of an active impedance matching network can meet the multi-performance requirements of optimal efficiency and constant output voltage.

The invention discloses a performance limited flexible manipulator control method based on determining learning theory. Aiming at the indeterminacy of the dynamic model of the flexible manipulator, the method designs a tracking error to satisfy the limitation of constraint conditions, and forms an error controller. The method in the invention comprises the following steps: building a dynamic model of the flexible manipulator, building a system state observer, designing tracking error performance constraint conditions, designing a neural network controller based on the determining learning theory, and correcting the controller utilizing experiential knowledge. The method designed in the invention can realize the dynamic properties of rapid convergence and low overshoot, satisfy the limitation of set constraint conditions, avoid the on-line regulations to the neural network weights at the same time, and shorten the control time. In addition, the method can utilize the learned experiential knowledge to control the later same task rapidly.

The embodiment of the invention discloses a mechanical arm target tracking method based on visual servo. The method comprises the following steps: an image acquisition and feature recognition module acquires image features of a target in real time by using an industrial camera within an image recognition cycle, and detects image feature coordinate information; a visual servo operation module carries out image Jacobian matrix online estimation according to the image feature coordinate information, and the space velocity of the tail end of a mechanical arm at the current moment is calculated; a mechanical arm motion controller module converts the space velocity of the tail end of the mechanical arm at the current moment into a joint target angular velocity within a mechanical arm control cycle, and mechanical arm control cycle time constant integral is used as a mechanical arm joint target angle; and when the mechanical arm control cycle time constant integral is used as the mechanical arm joint target angle, a speed feed-forward compensation module dynamically compensates the mechanical arm joint target angle, the mechanical arm joint target angle is adjusted in real time, and target tracking is completed.

The invention discloses a backstepping control based multi-electro-hydraulic servo actuator tracking synchronous control method which comprises the following steps: converting a multi-electro-hydraulic servo actuator mathematic model into a strict feedback mathematic model containing an uncertain item; acquiring feedback data of a electro-hydraulic servo mechanism; designing a distributed trackingsynchronous protocol of the multi-electro-hydraulic servo actuator; estimating the uncertain item by adopting a high gain uncertain item observer to determine a backstepping control law; and drivingthe asymmetric electro-hydraulic servo mechanism according to the backstepping control law. By designing the distributed tracking synchronous protocol based on neighborhood information and establishing the high gain uncertain item observer to estimate the uncertainty of hydraulic parameters and the uncertain item composed of unknown external load disturbance, a plurality of electro hydraulic servosystems are controlled cooperatively, and the output s can track expected displacement commands, so that the dynamic tracking performance and the coordinate ability of the electro hydraulic servo systems are improved.

The invention discloses a switched reluctance motor current tracking control method, a switched reluctance motor current tracking controller and a switched reluctance motor speed adjusting system. The switched reluctance motor current tracking control method comprises the steps that: a voltage duty ratio of each control cycle is calculated according to positive and negative as well as magnitude of current deviation signals, and the updating of a control quantity is realized; and a voltage control quantity output at a phase changing stage further takes mutual inductance influence of adjacent opposing conduction phases into account. The switched reluctance motor current tracking control method, the switched reluctance motor current tracking controller and the switched reluctance motor speed adjusting system improve the current tracking precision at low-control frequency, achieve the effect of high switching frequency, enhance the current dynamic tracking capacity, and effectively decrease torque ripples during a phase-changing period and a non-phase-changing period; and a switching device does not need to be exposed to high current under the situation that the power device switching frequency is limited, and the control method is simple and feasible, high in reliability and suitable for popularization.

The invention provides a sliding window loop tracking method and a device. According to the technical scheme of the invention, firstly, based on locally generated sine and cosine copied carriers, stripping the carrier of a satellite signal to obtain a first branch signal and a second branch signal; secondly, stripping the pseudo codes of the first and second branch signals according to local pseudo codes and conducting the low-pass filtering and the coherent integration to obtain the coherent integral values of a front branch, an immediate branch and a rear branch; thirdly, accumulating multiple adjacent integral values of the immediate branch in the non-coherent manner and conducting the phase demodulation of a carrier loop to obtain the phase difference between a local carrier and an input carrier; fourthly, adopting the non-coherent lead-lag magnitude method, estimating the integral values of the front and rear branches to obtain the phase difference between a local pseudo code and an input pseudo code; fifthly, filtering the phase difference between the local pseudo code and the input pseudo code, and adjusting the frequency of the local pseudo code according to the filtering result; sixthly, filtering the phase difference between the local carrier and the input carrier within a long non-coherent accumulation period of time in the sliding window manner, and adjusting the frequency of the sine copied carrier and the frequency of the cosine copied carrier according to the filtering result.

The invention relates to a variable topology thyristor rectifier, which comprises two thyristor bridge rectifiers T1 and T2. The input ends of the T1 and T2 are connected with a single-phase or three-phase isolation alternating current voltage source respectively, and the voltage sources have an electrical angle difference. The negative pole of the output end of the T1 is connected with the positive pole of the output end of the T2 through a switch S1, and the positive pole of the output end of the T1 and the negative pole of the output end of the T2 are connected with an LC filter consisting of an inductor L and a capacitor C. The two ends of the capacitor C are connected with an inverter of which the output end is connected with a power grid. The T1 and the T2 run in different modes according to different electrical angles, the sinusoidal voltages of the two different electrical angles are superposed to form sinusoidal input voltage grades of different amplitudes, and input voltages are selected according to different load conditions to realize minimum voltage input under an on-load running condition; a trigger angle of a thyristor is as small as possible, so that a high-power factor running condition is created; and current peak prediction control is adopted for a plurality of running modes to realize the dynamic switching of an online mode.

The invention provides an electric automobile high-efficiency voltage-stabilizing wireless charging system and a design method thereof. The method comprises the following steps: constructing a mutual inductance circuit model of the system and a transmission efficiency expression of the mutual inductance circuit model; solving an expression of an optimal load and an output power expression of the system under the optimal load based on the transmission efficiency expression; on the premise of the optimal load, substituting the maximum duty ratio of a preset BUCK circuit and the maximum power of the system into the output power expression, obtaining the ratio N of primary side compensation inductance to primary side coil inductance, and configuring parameters of an LCC-S compensation circuit according to the N; and adjusting the equivalent load value of the system through the impedance matching circuit to make the equivalent load value follow the optimal load value all the time so as achieve maximum efficiency tracking control. According to the invention, high-efficiency stable-voltage charging can be carried out on the high-power electric vehicle storage battery, so that the system performance is improved.

The invention relates to a novel brushless direct-current motor high-robustness current control method. The method includes the following steps that: present Hall periodic current is set to flow from an x phase to y phase, and reference voltage under an ideal condition is calculated through utilizing the resistance and inductance parameters as well as reference current and a linear counter electromotive force of a motor; the change rate of an estimation parameter in a unit control period is calculated through utilizing the differences of the reference current, the actual forward current ix, the reference voltage and the linear counter electromotive force, and the estimation parameter is calculated according to the previous values of the estimation parameter; continuous control quantity is calculated according to the estimation parameter; and on-off gain k and on-off control quantity k.sgn(s) are calculated through utilizing the errors of the actual forward current and the reference current and according to the adaptive laws of high-frequency on-off gain, wherein s is a sliding mode surface which is designed according to current errors; and output voltage of the novel brushless direct-current motor high-robustness current control method can be obtained according to the continuous control quantity ucn and the on-off control quantity k.sgn(s). The novel brushless direct-current motor high-robustness current control method of the invention can be applied to brushless direct-current motor high-performance control application occasions under harsh environments.

The invention discloses a dynamic self-correction control method of reheating smoke temperature of a waste heat boiler. The method comprises the following steps of according to a dynamic self-correction control model of a controlled object obtained by a step response test of reheating smoke temperature settings, enabling an automatic control system of the reheating smoke temperature of the waste heat boiler to record a gas valve opening instruction sequence and a reheating smoke temperature measuring value sequence in a real-time way; and dynamically setting each parameter by a controller, so as to obtain the current gas valve opening increment instruction. The method has the advantages that the dynamic performance of the reheating smoke temperature control system of the waste heat boiler is improved, and the problems of large hysteresis and slow response speed of the reheating smoke temperature control system are effectively solved; the offset range between the reheating smoke temperature and the specified value is ensured, and the stability of the reheating smoke temperature control system is improved; and meanwhile, the stop of the waste heat boiler is avoided under the accident working conditions of great change of a waste heat source, no waste heat source, and the like.

A modeling and control method for a hydraulic mechanical arm based on rotation and sliding separation comprises the following steps that during modeling, sliding inside a hydraulic cylinder of the hydraulic mechanical arm and rotation at the joint hinging position are modeled in a separated mode, and a state-space equation about q (generalized angle) is listed based on known parameters in a mathematical model; parameters of the mathematical model are linearized, and the design of the adaptive robust controller is updated based on model parameter linearization and mathematical model design error dynamics (the design of the adaptive robust controller). Compared with traditional PID control and feed-forward PID control, the method has the advantage that the response speed and the control precision of the system can be obviously improved. According to the method, the problem of high nonlinearity of a hydraulic control system is solved, meanwhile, compared with the method applied to a hydraulic mechanical arm, the control mode of the method is higher in robustness, the dynamic response to the system is faster, the dynamic tracking effect of the system is obviously enhanced, the tracking error of the system is smaller, and the control precision is higher.

The invention discloses a feed-forward control method and device for a parallel processing robot. The technical problem of control lag caused by feedback control of the parallel processing robot is solved. According to the feed-forward control method for the parallel processing robot, the power parameters of the parallel processing robot are identified step by step, and an accurate dynamic model is obtained. On the basis of a dynamic model, feedforward control is added on the basis of three-ring PID control, the control lag amount caused by time-varying loads is reduced, and therefore the response rate of the machining robot is increased, and good control performance is obtained.