47results about How to "Improve tracking control accuracy" patented technology

The invention relates to an industrial mechanical arm anti-interference robustness self-adaptation PID control method. The industrial mechanical arm anti-interference robustness self-adaptation PID control method is characterized in that a robustness self-adaptation PID controller comprises a PID control item, a self-adaptation control item and a robustness control item, the input of the PID control item and the input of the robustness control item are the errors of the position and the speed of a mechanical arm, the input of the self-adaptation control item is the estimation value of indefinite kinetic parameters of the mechanical arm, and the robustness self-adaptation PID control is achieved by carrying out the superposition on the PID control item, the self-adaptation control item and the robustness control item.

The invention discloses a modifiable tracking control method for images of hot-rolled plate blanks, and belongs to the field of automatic control. The modifiable tracking control method includes that an automatic modification function module, a first manual correction module and a second manual correction module are added in a 'tracking' program of a PLC (programmable logic controller), and corresponding manual correction operation buttons are added to a human-machine interface of a terminal in a field; when a plate blank within a certain confidence interval is detected by a hot metal detector in the field, large correction cycle is started by the PLC if the current actual position of the plate blank is inconsistent with the position of an image, so that the image of the plate blank is automatically modified; when finding that the image of the plate blank is inconsistent with the actual position of the plate blank, operators in the field can select image areas required to be modified and image modification directions via the corresponding buttons on a picture of the human-machine interface of the terminal in the field, so that a manual image position modification function can be realized. The modifiable tracking control method has the advantages that the actual position of the plate blank can be accurately reflected, the hot-rolled plate blank tracking control precision is improved, a technological process can be controlled effectively, energy consumption is reduced, the quality of products is improved, and the modifiable tracking control method can be widely applied to the field of automatic control for hot-rolling production processes.

The invention provides a double-close-loop nonlinear compound control method for a three-phase four-wire parallel APF (active power filter). A voltage outer loop adopts a sliding-mode PI composite nonlinear control algorithm, and a current inner loop adopts a repeated PI nonlinear control algorithm. The method comprises the steps as follows: firstly, a low-order system model of a dq coordinate system is established by synchronous rotation coordinate transformation, a PI feedforward decoupling controller is designed according to a dq DC model, a PI repetitive controller is designed based on internal model control, and a control output function of the PI repetitive controller of the current inner loop is established; in order to obtain a current reference value of the current inner loop accurately and quickly, a novel sliding-mode PI nonlinear control algorithm for DC side voltage is proposed, a sliding-mode surface switching function is designed according to an exponential reaching law form, and a control function of a sliding-mode PI controller of the voltage outer loop is established. With adoption of the outer loop sliding-mode PI compound control algorithm, the steady-state performance and the response speed of the DC side voltage can be improved, and voltage fluctuation is effectively reduced; with adoption of the repetitive PI nonlinear control algorithm, zero static error tracking of a current signal can be realized, and the tracking control accuracy of a harmonic compensation current instruction is improved.

A multiple wavelength-adaptive optical pickup according to the present invention enables to obtain stable signals by suppressing displacement of optical intensity distribution at a light receiving section. When an incident angle of a central beam of a zero-dimensional beam of a beam reflected at an optical disc into a half mirror is taken as θ, if variation in transmittance of the mirror become a maximum with respect to change in the incident angle from θ to a plus side in any one of the wavelengths corresponding to the respective optical discs, a −1 dimensional beam generated on the minus side with respect to the zero-dimensional beam is received by the light receiving section, and if the variation in the transmittance of the mirror become the maximum with respect to change in the incident angle from θ to the minus side, a +1 dimensional beam generated on the plus side with respect to the zero-dimensional beam is received by the light receiving section. These received one-dimensional beams are used for detection of signals for servo control.

The invention provides a train automatic driving control system and method with a preset performance, and belongs to the technical field of train operation control. According to the system, through atrain operation strategy optimization module, a target position-speed curve is generated, and is converted into a target time-position curve and a target time-speed curve; the current position of thetrain is calculated in real time through a train position protection module, and the target time-position curve is combined to calculate a train virtual control law; the current speed of the train iscalculated in real time through a train speed protection module, and the target time-speed curve and the virtual control law are considered to calculate an actual control law of the train; train operation is controlled according to the actual control law through the train control module. According to the method and system, it is guaranteed that the position tracking error and the speed tracking error of the train are within a preset range, so that the tracking control precision of the train is improved, the probability of braking caused by poor control performance is effectively reduced, meanwhile, the margin between the target curve and a protection curve can be reduced, and the train operation efficiency is improved.

The invention provides an artificial potential field path planning method of a flexible needle based on obstacle grading and a device, thereby settling problems of uncertain planning path and uncertain motion of the flexible needle in prior art. The device according to the invention comprises an image sensing system, a control system, an executing system and an upper computer. The method based onthe device comprises the steps of acquiring a real-time image of a flexible needle puncture environment by the image sensing system, identifying a target point and the obstacle in the image, performing grading on the obstacle, and calculating the potential energy of each position point in the current environment based on the artificial potential field; and performing static path planning by the control system according to the curvature restriction and optimization index in flexible needle path planning, obtaining an initial path and a needle entering point, then correcting the position pointsin the path according to a real-time acquired puncture environment image, and transmitting a control instruction to an executing system for controlling motion of the flexible needle. According to themethod and the device, more available paths can be planned and higher real-time performance in path planning is realized.

The invention relates to a model prediction and inversion control method of a brushless direct current motor. High-precision and high-stability control over the rotating angle and rotating speed of the motor under the action of torque interference and loads is achieved. In a motor digital control system, under the condition that motor parameters are known, the state evolution rules of the rotationangle and the rotation speed of the motor under controlled rotation are solved according to the mechanical characteristics and electrical characteristics of the motor. In each control period, voltageand current required for controlling the motor to rotate at present are obtained by means of inversion according to a rotation angle and a rotation speed planned by a motor control task and expectedto be reached subsequently by the motor, and the rule of the controlled rotation of the motor through measuring state variables such as the rotation angle, rotation speed and current of the motor. When the motor deviates in the rotation angle and rotation speed due to external moment interference or load action, compensation for the external moment interference and the load action is realized through compensation control. The method has the advantages of high motor control response speed, high control precision, and good control robustness under interference and load.

The invention discloses a control method for micro-grid SVG (Static Var Generator) multi-target configuration. The invention relates to a target configuration rule and an error correction controller. The control method has the beneficial effects that: a generalized proportional-integral control structure is matched with a two-position control structure, so that the aim of tracking periodic signals of different frequencies comprising fundamental waves and main characteristic harmonic waves with no error is fulfilled, the tracking control accuracy is increased, and accurate tracking of the practical output current of an SVG to command current is realized.

The invention discloses an unmanned ship path tracking control method and system, a storage medium and a terminal. The unmanned ship path tracking control method comprises the steps of building a relative speed motion mathematical model of an unmanned ship in an ocean current interference state; generating a position tracking error of the unmanned ship based on the mathematical model and a virtualpoint tracking principle; based on the mathematical model and a sight line method principle, creating a self-adaptive sight line method guide law; and guiding the unmanned ship to track an expected path according to the position tracking error and the guide law. According to the unmanned ship path tracking control method and system, the storage medium and the terminal, the path tracking precisionis high, and a curve path can be tracked.

The invention discloses a multi-objective SVG generalized proportional integral error control method of microgrid. The method comprises the following steps: a target configuration rule module calculates a compensation current instruction signal of the SVG according to a current real-time task object and the real-time sampling data of common point voltage, power factor, harmonics, and voltage deviation on direct current side of the SVG and under the premise of not exceeding security capacity of the SVG; a generalized proportional integral controller and an error correction controller together perform the task for transforming the SVG compensation current instruction signal to a control pulse signal of a SVG power device, and conduct closed-loop control to ensure that the compensation current actually outputted by the SVG tracks the instruction signal. According to the invention, the capacity of the SVG can be utilized fully to reduce resource waste; and the method can improve the tracking control accuracy and ensure the stable operation of the SVG by combining a fast-adjustable two-position control structure with a non-differential generalized proportional integral control structure.

The invention discloses a small celestial body detector fly-around section orbit tracking control method based on iterative learning control. The method comprises the following steps: establishing a small celestial body dynamic model under external disturbance and unmodeled disturbance; designing a non-linear disturbance observer to estimate external disturbance suffered by a detector, and compensating dynamic characteristics of the external disturbance to a controller; designing a feedback controller to suppress aperiodic disturbance in a fly-around process; designing an iterative learning controller to suppress periodic disturbance in the fly-around process; and combining the output of the controller and the output of the disturbance observer and inputting the output into a pseudo-rate modulator, generating tuning oscillation pulses, turning on the silicon controlled rectifier after receiving a trigger signal, inducing a thruster to generate main discharge, and generating thrust on a rolling shaft, a heading shaft and a pitch shaft. According to the control method disclosed by the invention, under the unknown disturbance of the small celestial body detector, the fly-around section orbit tracking control precision and the system robustness are improved.

The invention provides an underactuated unmanned ship obstacle avoidance path planning and control method and system. The method comprises the steps: the current position of an underactuated unmannedship and the position information of an obstacle in a front fan-shaped area are acquired; based on a potential field analysis method, potential field analysis is carried out on the obtained current position of the under-actuated unmanned ship and the position information of the obstacle in the front fan-shaped area, and the estimation point direction with the minimum resultant potential field is selected as a potential field heading angle; the deviation angle between the potential field heading angle and the current heading angle of the underactuated unmanned surface vehicle and the current position repulsion ratio of the underactuated unmanned surface vehicle are introduced into a designed fuzzy logic controller as two input quantities, and the obstacle avoidance heading angle of the underactuated unmanned surface vehicle in the next step of movement is obtained; and a motion controller is designed and tracking control is carried out on the obstacle avoidance heading angle and the advancing speed to realize collision-free navigation of the under-actuated unmanned ship to a target point. The method has the advantages of being high in calculation speed, high in real-time performance, low in cost and the like.

An optical disc apparatus has: an optical head 400 for emitting a light beam onto a predetermined track of an optical disc 300 before tracking control in order to detect reflected light with a photodetector; an arithmetic circuit 130 for generating measurement signals each indicative of a time-varying change of light received on a respective one of a plurality of light receiving areas of the photodetector; an A/D converter circuit 140 for A/D converting each measurement signal; a microcomputer 190 for determining a correction value based on a difference, in terms of high- and low-frequency components, between measurement signals having been A/D converted; and an adder circuit 180 for adding the correction value to a driving value output from a tracking control circuit 170, so that the driving value is corrected.

The invention discloses a small celestial body detector flying-around orbit tracking control method, which comprises the steps of designing a nonlinear disturbance observer according to a small celestial body detector flying-around kinetic model under unknown disturbance to estimate external disturbance borne by a detector, and compensating dynamic characteristics of the external disturbance to acontroller; designing an adaptive law to estimate an observation error boundary output by the disturbance observer; introducing a dynamic surface technology to solve the problem of differential explosion caused by derivation of virtual control quantity in adaptive law design; designing a controller combined with a hyperbolic tangent function replacing a sign function; taking the output of the dynamic surface self-adaptive sliding mode controller as the input of a pseudo-rate modulator, enabling the pseudo-rate modulator to output a tuned oscillation pulse for driving a thruster to work, and driving the thruster to generate a control moment on a rolling shaft, a heading shaft and a pitching shaft to counteract an interference moment; the control method disclosed by the invention enables thesmall celestial body detector to achieve high-precision tracking control around the flight section orbit under unknown disturbance.

The invention discloses a photothermal power generation heliostat control system, which mainly includes a monitoring center, a switch, a mirror field network repeater and a heliostat controller unit, and is characterized in that the several heliostats The mirror controller unit is connected to the mirror field network repeater through the field bus, and several mirror field network repeaters are connected to the monitoring center through the switch; the heliostat controller unit is composed of a controller, a drive module, a limit switch, a working Composed of indicator light, crystal oscillator circuit, display module, button, sunlight detection circuit, field bus and drive motor, embedded operating system is installed in the controller, memory is installed on the controller, drive module, working indicator light and display module are all It is connected with the controller, the drive motor is connected with the drive module, the limit switch, the crystal oscillator circuit, the button and the sunlight detection circuit are all connected with the controller, and the field bus is connected with the controller.

The invention discloses a finite time tracking compound control method for an unmanned vehicle, and belongs to the field of unmanned vehicle trajectory tracking. The method comprises the following steps: establishing an unmanned vehicle attitude coordinate error model; constructing a finite time controller and a nonlinear disturbance observer according to the unmanned vehicle attitude coordinate error model; and coupling the finite time controller with the nonlinear disturbance observer to obtain a composite controller, and controlling the unmanned vehicle according to the composite controller. Aiming at the problem that the existing unmanned vehicle trajectory tracking control precision is low, the invention provides the finite time tracking compound control method of the unmanned vehicle, by constructing a finite time controller and a nonlinear interference observer, the interference of external factors on the unmanned vehicle is effectively avoided, and the tracking control precision of the unmanned vehicle is further improved.

The invention discloses a variable gain iterative learning matrix concentration control method for a microalgae batch fermentation process, and relates to the field of iterative learning control, andthe method comprises the following steps: firstly, establishing the dynamic characteristic equation of the nonlinear system model of the microalgae fermentation process; constructing a nonlinear statespace expression; constructing a PD type variable gain iterative learning control law based on expected concentration, feeding flow and matrix concentration error information in a microalgae batch fermentation process; and finally, proving a spectral radius convergence condition by utilizing operator theoretical analysis, and realizing rapid and high-precision tracking control of an expected concentration track in the microalgae fermentation process. The variable gain iterative learning matrix concentration control method has the advantages that the variable-gain iterative learning control algorithm increases the degree of freedom and adaptability of feeding flow adjustment of the microalgae batch fermentation system and increases the improvement space of the matrix concentration controlperformance of the system by adding parameters which are in a PID function form and can be automatically adjusted according to error signals.