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

The invention provides an active side rod servo tracking control system, including a rod force sensor and a cross channel transmission part, a rod force and rod displacement regulator, an active side rod rod displacement servo system, and a rod displacement sensor system. The active side lever displacement servo system includes a motor speed feedback loop, a motor flux linkage and torque feedback loop, a stick angular velocity feedback loop and a position feedback loop. At the same time, a civil aircraft man-in-the-loop system with an active side stick and a servo control method of the active side stick servo tracking control system are provided. The invention integrates sliding mode control and adaptive control, can effectively realize the high dynamic tracking performance of the displacement of the side stick and the self-adaptive performance of the variable spring stiffness, and has positive reference significance for realizing the active side stick control of large civil aircraft.

The invention relates to a PWM (Pulse Width Modulation) control circuit belonging to a power electronic control circuit and solving the problems of modulation error and error increase with the rise of a reference signal existing in the PWM control circuit. The PWM control circuit comprises a first reset integral module, a second reset integral module, an analog inverter, a first digital inverter and a second digital inverter, wherein either the first reset integral module or the second reset integral module comprises a first integrator, a second integrator, a retainer, a first comparator, a second comparator and an R-S (Reset-Set) trigger. The invention has the advantages of simple circuit, convenient implementation and convenient integration, combines PWM and control and improves the quality of an output waveform. In an impulse meaning, no error is accumulated between an output signal and a control reference signal among various switching cycles, and the output signal impulse and thecontrol reference signal impulse are identical in each switching cycle. The invention can keep stable switching output when a switching input signal fluctuates in a large range, greatly improves the control accuracy and the dynamic tracking capability and can be used for the PWM wave generation and the system control of various switching power supply converters.

The invention discloses a DMA real-time modeling method for a city water supply pipe network. The method comprises following steps: firstly, constructing a DMA pipe network model and performing inlet boundary processing; secondly, connecting the pipe network model with a GIS, a revenue system and an SCADA system; then, pre-processing data in an online mode; and finally, simulating in a real-time manner. The DMA real-time modeling method for the city water supply pipe network has following beneficial effects: a DMA real-time model can be set up completely; the model can fully mirror dynamic features of the water supply pipe network so that uncertainty of the model is reduced and simulation precision and dynamic tracking performance can be greatly improved; at the same time, the city water supply pipe network real-time model can be gradually set up with the method as a base and used for tracking abnormity and positioning.

The present invention is applicable to the technical field of robot control, and provides a robot servo control method, device and terminal equipment, including: obtaining the actual moment of each joint of the robot, obtaining the reduction ratio of the joint and the motor of each joint of the robot Rated torque, obtain the torque feed-forward command value of each joint according to the joint deceleration ratio, the actual torque of each joint, and the motor rated torque of each joint, and control the robot according to the torque feed-forward command value The moments of all joints are feed-forward compensated. The present invention acquires and calculates the actual torque of the robot in different motion states, the shutdown reduction ratio, and the rated torque of the motor to obtain the torque feed-forward compensation value of each joint of the robot, so as to perform feed-forward compensation on the torque of each joint, and improve the performance of the robot. Dynamic tracking performance in acceleration and deceleration sections.

The application provides a HIL simulation test method and system; the method comprises the following steps: collecting feedback current between a motor driver and a motor controller, and forming a feedback control law according to the feedback current and a preset reference current; collecting bridge arm voltage of the motor driver, and forming a feedforward control law according to the bridge arm voltage and a preset filter; forming a composite control law according to the feedback control law and the feedforward control law, and controlling a motor simulator to carry out HIL simulation test for a tested controller according to the composite control law. The feedforward control law can improve the system dynamic response speed, the feedback control law can adjust system errors, and the composite control law formed by the feedforward control law and the feedback control law can allow the feedback current to better track the reference current, thus improving the motor simulator current tracking precision, and improving the dynamic tracking performance.

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.

The invention provides a closed loop control method of a fiber optic gyroscope system and a device thereof. The closed loop control method and the device thereof belong to the technical field of the fiber optic gyroscope. The method comprises that an inputted signal passes through a detector, an anterior discharge filter circuit, an A / D converter and a data signal processor sequentially and then an outputted signal is acquired; the data signal processor also adopts the outputted signal as a feedback signal and the feedback signal passes through a D / A converter, a driver and a Y waveguide modulator to counteract the inputted signal Sagnac phase of the fiber optic gyroscope to form the closed loop control. The method comprises that the maximum likelihood estimation method is adopted to obtain the inputted signal followed by the fiber optic gyroscope system; the data signal processor is work out with the servo-tracking problem of the digital system of the optimal control theory. The specific practical implementation way of the invention also provides a data signal processor device. The method and the device have the advantages that the method and the device can improve the dynamic sensitivity of the fiber optic gyroscope system and the dynamic tracking ability of the system.

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 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 an arc suppression coil automatic tuning method and device based on a voltage regulator. The method includes: maintaining the inductance value X of the arc suppression coil inductance l unchanged, the neutral point zero-sequence voltage U is changed by the voltage regulator 0 First adjust to kU 0 ;The adjusted neutral point zero-sequence voltage kU 0 Added to both ends of the arc suppression coil inductance to change the compensation current value. The device includes: a grounding transformer, an AC / DC converter, a DC / AC converter, an output transformer, a controller, a voltage transformer and a fixed arc-suppression coil inductance; the controller is used to control the output terminal of the output transformer to generate and neutralize Neutral point zero-sequence voltage U 0 A synchronous variable voltage source is added to both ends of the fixed arc suppression coil inductance to change the compensation current value. Through the invention, the cost is greatly reduced, and the resonant overvoltage that may occur when the residual current is small in the traditional method is avoided.

The invention belongs to the field of satellite receiver baseband signal processing, and relates to a processing method of a satellite receiver tracking loop assisted by inertial information. According to the invention, accelerated speed information output by inertial navigation is used to assist the satellite receiver tracking loop to reduce the dynamic stress error of a carrier tracking loop; the equivalent noise bandwidth of the tracking loop can be reduced; long-time coherent integration is realized; the thermal noise error of the loop can be reduced; the tracking performance of the loop for a low carrier-to-noise ratio signal is improved; the realization form of the satellite signal tracking loop under the assistance of inertia information is disclosed; the calculation of the loop assistance quantity of the inertia information, the loop filter order, the loop filter bandwidth, the loop filter realization structure and the loop filter switching application form are mainly comprised; the tracking dynamic performance of a satellite receiver is improved; and the sensitivity of the receiver is improved.

A model-free tracking control method and medium for piezoelectric ceramic actuators, that is, a composite tracking control method based on the combination of robust regression prediction, PI control and adaptive inverse control. The sine and cosine functions of the main order in the micro-vibration are used as the base function, and the reference control signal is regressed by robust regression, and the actual control signal is predicted by the regression value to realize advanced control; the inner loop adopts PI control to realize piezoelectric ceramics Preliminary smooth tracking of the leading control signal; by calculating the cross-correlation function of the response of the piezoelectric ceramic and the reference control signal, the lead of the response to the reference control signal is estimated, which is used to adjust the delay beats of the pure lag link in the controller. The electroceramic response is synchronized with the reference control signal; by calculating the linear relationship between the response and the reference control signal, the estimated coefficient is used to correct the gain and zero bias of the controller, so as to realize the amplitude tracking of the response to the reference control signal; it belongs to the technical field of servo control.

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.