30results about How to "Improve transient performance" patented technology

The invention discloses a neural network adaptive iterative learning control method for a flexible joint robot, and the method comprises the steps: S1, building a constrained flexible joint robot, and initializing a system state, sampling time and control parameters; s2, compensating input saturation constraint; s3, calculating a system tracking error, and constructing an expected error trajectory; and S4, defining an error variable, and designing a neural network adaptive iterative learning controller. According to the method, the uncertainty of the flexible joint robot is estimated and compensated through the neural network, the error convergence precision is improved, by constructing the quadratic fraction type symmetric constraint Lyapunov function, it is guaranteed that the system output is always within the constraint range, the transient performance of the system is improved, and the reliability of the system is improved. According to the method, the flexible joint robot can safely and stably run in an iterative change task, when the number of iterations is increased, the tracking error is consistently converged to zero, and the method has the advantages of less required priori knowledge, no need of an accurate system model, high control precision and the like.

The invention discloses a network construction type energy storage transient performance improving method and system, and the method comprises the steps: dividing a maximum current threshold value of an energy storage current converter in a transient state into a current under a dq coordinate system, calculating the total impedance required by current limiting through combining the component of the A-phase current output by the energy storage current converter on a d axis and the voltage difference between the two ends, setting the virtual impedance, and carrying out the current limiting through the virtual impedance. Virtual impedance is introduced into a current control link to realize over-current limitation; and the current control link outputs voltage, and the output voltage acts on the VSG power control link to realize power angle control. The system comprises a current control module and a power control module. According to the invention, through adaptive adjustment of the virtual impedance and correction of the active power instruction value, the overcurrent is effectively suppressed in the low voltage ride through process, and the power angle of the system is maintained to be stable, so that the transient performance of the network-forming type energy storage system is improved.

The invention discloses a control system for a phase-locked loop-free synchronous tracking mode of a hybrid network following-construction system, and belongs to the technical field of virtual synchronous generator control, phase angle information generated by network construction type control is used for synchronization of a network following type inverter, and synchronization of the network following type inverter is realized without a phase-locked loop. According to the control technology, potential unstable factors caused by the dynamic state of the phase-locked loop can be avoided, and meanwhile, the two inverters of the following network and the constructing network have better transient performance. According to the improved scheme, an ideal voltage source on the direct current side of the inverter is replaced by a boost circuit controlled by a single current loop, and a direct current voltage loop is added to an active loop controlled by a network constructed on the alternating current side. Compared with the control technology provided by the invention, the improvement enables the control technology to have no frequency steady-state deviation and have better transient and steady-state performance.

The invention discloses a self-adaptive predefined time preset performance control method for a piezoelectric micro-positioning platform, and the method comprises the steps: building a mathematical model according to the characteristics of the piezoelectric micro-positioning platform; then, a preset performance function is utilized to ensure that tracking errors are converged to any set set, and a constraint boundary adjustment mechanism is designed for the preset performance function to solve the problem of control output singularity during input saturation; thirdly, calculating a virtual error, and constructing a virtual control law, an auxiliary control law and a self-adaptive updating law in combination with a backstepping technology, a finite time sliding mode differentiator, an RBFNN and a self-adaptive method; finally, a performance controller is preset through the self-adaptive predefined time, the Lyapunov stability theory and the practical predefined time stability criterion are combined, appropriate design parameters are selected, and it is guaranteed that the closed-loop system is stable within the predefined time, and the tracking error is stabilized within the expected error range. The problems that in an existing control method, the hysteresis model building process is complex, and convergence time is long are solved.

The invention provides an underwater vehicle model reference adaptive control system and method based on transient performance optimization. The system comprises a vehicle, a sensor, an execution mechanism and a controller. The control method comprises the following steps: aiming at a controlled object underwater vehicle, designing a model reference adaptive controller, and carrying out transient performance optimization on a control quantity. Wherein the control quantity u is composed of three parts, namely the system control quantity u = un + ua + v, un is the system nominal control quantity, ua is the additional control quantity designed by the neural network, and v is the transient performance optimization control quantity. By designing the control input u, the matching uncertainty of the system can be inhibited. The method has the advantages that the rapid stability-free control of the underwater vehicle is realized, the contradiction between the rapidity and the error of the control system is relieved, and the stability-free control effect is achieved; the engineering design cost can be reduced, and the rapid and stable self-adaptive control effect can be achieved under the conditions that a hydrodynamic test is not conducted and parameter errors are large.

The invention belongs to the technical field of multi-port converter control, and relates to an inertia sharing control method based on a hybrid five-port converter, which realizes overall and inter-phase energy balance through overall and inter-phase inertia sharing control. Inertia support of a sub-module capacitor and a DAB output capacitor is realized through inertia sharing control of an LVDC port. The inertia support of the DAB output capacitor is realized through the inertia sharing control of the sub-module capacitor; the performance of the inertia support is improved through inertia sharing control of DAB output capacitance based on model prediction; power supply to a passive port is realized through voltage and current double-closed-loop control of an MVAC port; according to the method, four inertia sharing controllers and three balance controllers are provided, multi-stage joint control is fully scheduled, the virtual inertia control coefficient is increased, the fluctuation quantity of capacitor voltage is reduced, the system is helped to rapidly transit the transient state, the transient state performance of the system is optimized, and the dynamic performance and the operation boundary of the system are improved.

This invention discloses a distributed adaptive fault-tolerant control method and system for nonlinear inline systems, relating to the field of distributed control technology for nonlinear inline systems. The method includes: for each subsystem in the nonlinear inline system, constructing the actual output of each actuator in the subsystem based on the fault type of the actuator; the nonlinear inline system includes several subsystems; for each subsystem, constructing a local objective function, an error optimizer, an auxiliary system, high-gain parameters, and a control law, and generating an optimal error trajectory based on the local objective function and the error optimizer. At the upper level, this invention designs an error optimizer to generate the optimal error trajectory based on a local objective function that converges to zero; at the lower level, it designs a trajectory tracking fault-tolerant controller with the help of an auxiliary system, employing a dynamic high-gain approach to adaptively handle the effects of uncertain parameters, actuator faults, and unknown strong inline coupling.

The invention provides an unmanned surface vessel formation fixed time path tracking control method. The method specifically comprises the following steps of performing kinematics and dynamics modeling on USV and establishing a formation coupling error of the USV; designing a fixed time preset performance function and a position error conversion function, reconstructing a formation coupling error, and limiting the formation coupling error within a specified range; designing a fixed time extended state observer, and simultaneously observing the unmeasurable speed and the system lumped disturbance of the USV by using the fixed time extended state observer; and designing an anti-saturation fixed time output feedback formation controller, and tracking a USV formation path. The technical scheme of the invention overcomes the problem of low precision of USV formation path tracking under multiple constraints in the prior art.

The present application relates to a wastegate for an engine system, and provides a method and system for a wastegate for a turbocharger, the wastegate including a valve plate, a valve actuation mechanism, and a bifurcated wastegate passage. In one example design, the wastegate may include a valve plate having an interior with a multi-planar curved surface and a first mating feature centered along the curved surface, the curved surface forming a raised edge and a side opening on opposite sides of the valve plate; and a passage bifurcated by a central wall, the end of the central wall including a second mating feature adapted to coplanarly contact the first mating feature. The first mating feature may be a rib or groove formed on the valve plate, and the second mating feature may be one end of the central wall.

The embodiment of the invention provides a variable-sweepback aircraft preset performance control method based on adaptive dynamic programming, and belongs to the technical field of control, and the method specifically comprises the steps: constructing a variable-sweepback aircraft motion model for attitude control; a preset performance function is constructed, a converted error system is obtained through homeomorphic mapping, and a virtual controller and a steady-state controller are designed for the two subsystems of the attitude angle loop and the attitude angular velocity loop respectively; a cost function is introduced to convert an aircraft attitude tracking control problem into solution of an optimal control problem, and an Actor-Critic network is constructed based on an adaptive dynamic programming technology to online solve an optimal compensation controller; and a variable-sweepback aircraft controller is obtained by combining a steady-state controller and an optimal compensation controller, and numerical simulation is performed on the performance of the controller based on specific flight conditions. Through the scheme disclosed by the invention, the control system has better control precision and transient performance, and meanwhile, the robustness to an unknown flight environment is improved.

The invention relates to the technical field of robot control, and discloses a man-machine interaction scene-oriented flexible joint preset performance function design method and control system, and the method comprises the steps: building a collaborative robot flexible joint rigid-flexible coupling dynamic model; defining a tracking error, adding a Gaussian kernel function on a traditional preset performance function, and forming a Gaussian kernel-preset performance function as a constraint condition; performing error transformation according to the tracking error and a Gaussian kernel-preset performance function to obtain an unconstrained error; according to the unconstrained error, a virtual control law and an actual control law of a flexible joint nonlinear position controller are designed through a dynamic surface control method; and estimating external interference through the biradial basis function neural network, and replacing an external interference item in the nonlinear position controller with an estimated value to obtain a corrected virtual control law and a corrected actual control law of the nonlinear position controller.

The invention discloses a bridge crane sliding mode anti-swing control method based on a variable speed reaching law. The method comprises the following steps: converting a state conversion system model according to a bridge crane dynamic model; a new variable speed reaching law is constructed by using an exponential function, so that the transient convergence speed of a sliding mode variable can be improved, and buffeting of a controller when the sliding mode variable enters a steady state can be reduced. And constructing a linear sliding mode surface, and designing a sliding mode controller based on the sliding mode surface and a variable speed reaching law. According to the method, the convergence speed of the sliding mode variable can be effectively improved, so that the rapid positioning problem of the bridge crane is solved, and the buffeting problem of the controller caused by a sign function is weakened.

The present invention discloses an optimal fault-tolerant guidance and control integrated design method for a non-minimum phase hypersonic aircraft. Aiming at the six-degree-of-freedom model of the hypersonic aircraft, the present invention considers the state constraints and proposes an adaptive fault-tolerant guidance and control integrated method based on adaptive dynamic programming (ADP). Firstly, the state constraints are handled by introducing the obstacle Lyapunov function, and a basic feedback controller based on Backstepping control is designed to transform the tracking control problem into an equivalent optimal control problem. Subsequently, an adaptive optimal control strategy is designed using the ADP technology to provide a compensatory control behavior. An execution-evaluation structure is constructed to solve the HJB equation online. The present invention combines Backstepping control with ADP control to construct a total control input to improve the tracking performance and fault tolerance of the control system, thereby realizing the approximate tracking of the height, speed and lateral displacement, and providing a powerful reference for the specific implementation of engineering practice.

The present application belongs to the technical field of networked converter control, and discloses a networked converter control method, system, device and medium based on network side information feedback to solve the problem of subsynchronous oscillation. The method comprises: collecting voltage signals of a grid side point of common connection and voltage signals and current signals of a converter side; calculating steady-state active power and steady-state reactive power based on the voltage signals of the grid side point of common connection and line impedance parameters; calculating transient active power and transient reactive power based on the voltage signals and current signals of the converter side; introducing a composite factor to fuse the steady-state active power and the transient active power to obtain composite active and reactive power; and inputting the composite active and reactive power to a power outer loop controller of the networked converter to generate a reference signal for inner loop control. The present application improves system damping and the ability to suppress subsynchronous oscillation.

The application belongs to the technical field of power management integrated circuits, and particularly relates to a low-voltage power rail circuit applied to a high-side floating basin of a motor driving circuit. The circuit realizes a stable power rail in the floating basin through a super source follower architecture and a bias of MOS tube threshold tracking. The circuit has the advantages that it can track the MOS tube threshold voltage to realize lower static power consumption, can realize fast transient response under different load conditions, has good anti-dv / dt noise capability, and can realize small overshoot voltage during load switching under small decoupling capacitance, thereby reducing the circuit area.

The invention relates to a full-state limited control method for a quad-rotor unmanned aerial vehicle under the conditions of time-varying load, uncertain external disturbance and unknown kinetic parameters, and the method comprises the steps: estimating the unknown kinetic parameters, the unknown time-varying load and the external disturbance of a system through a self-adaptive method; a logarithmic obstacle function is utilized to limit the full state of the quad-rotor unmanned aerial vehicle, a parameter exponential attenuation item is introduced to quickly and accurately converge a final trajectory error, a dynamic surface technology is utilized to remarkably optimize a back-stepping recursion design process, and a complex step of deriving virtual control input is skillfully avoided.

The present invention proposes a method for attitude control of the aerodynamic deceleration section of a reusable launch vehicle under attitude constraints. First, a VTLV aerodynamic deceleration section control model containing unknown interference and model uncertainty is established, and a dynamic surface control method is used to achieve attitude command tracking control; then, the interference and uncertainty in the model are estimated and compensated to the control law by the UDE method, thereby improving the control accuracy of the system; finally, in order to improve the transient performance of the system, a new error transformation method is adopted, and a dynamic surface control method with preset performance is designed. The present invention has the characteristics of high control accuracy, fast response speed, high safety, strong versatility, etc. It specifically overcomes the technical difficulties such as input saturation that are easily caused by traditional control methods, and can be widely used in important industrial fields such as aerospace, providing a safe and reliable general algorithm for the problem of rocket attitude control constraints.

The application discloses a kind of under the FDI network attack of reinforcement learning dual-motor safety coordination control method, comprising the following steps: (1) the double-time scale mathematical model of flexible coupling dual permanent magnet synchronous motor system is established;(2) the FDI network attack model of double-time scale mathematical model is established;(3) design safety coordination controller based on LQR theory;(4) according to the FDI network attack model of step (2) established, design model-free reinforcement learning, the safety coordination controller of step (3) is iteratively solved;The method avoids the influence caused by FDI network attack to system, using reinforcement learning algorithm can not depend on model data, avoid the influence of motor parameter change to system;For improving the coordination control performance of networked dual permanent magnet synchronous motor coordination control system and guarantee network security has important significance.

The invention discloses a new energy hydrogen production power supply modularization control method, and belongs to the technical field of new energy hydrogen production. The control method comprises the following steps: firstly, determining a voltage reference value of a next switching period by judging a voltage reference initial value and an actual voltage sampling value; through dynamic design of a starting voltage reference value curve, modular parallel synchronous starting of a new energy hydrogen production power supply without a communication line is realized, and meanwhile, the problem of current surge in the system starting process is inhibited. According to the invention, the problem of asynchronous parallel starting of the new energy hydrogen production power supply modularization can be effectively solved, the dynamic ring current generated during parallel operation is reduced, the current surge problem in the system starting process is inhibited, and the transient performance and the stability of the new energy hydrogen production power supply modularization parallel system are further improved.

An electric sound stethoscope with double-channel compatible and collection switch relates to the field of medical auscultation, which is configured with double-channel compatible and convenient collection switch, analyzes and compares sound and sound wave pattern functions, and outputs two high-definition loudspeaker work of audio amplifier modules in two ways to connect two audio boxes, which is a new innovation for diagnosing heart and lung diseases. The excellent electric sound quality presents the extremely distinctive creative color of the system. The system includes electronic or traditional auscultation head to collect sound signals, and the sound signals are converted into electric sound signals by a microphone. The auscultation includes collecting heart and lung sound, and independently setting a microphone channel or a microphone wired socket interface with a convenient switch, forming the electric sound signal of the heart and lung auscultation collected by the convenient switch and the auscultation method to suppress howling. The electric sound signal enters the functional module circuit for processing through the appropriate transmission mode, amplifies the electric sound signal to drive the loudspeaker to broadcast and listen to the auscultation.

The invention discloses a copper smelting process furnace temperature control method based on an iterative preset performance function, and the method comprises the steps: defining the actual furnace temperature of a smelting furnace and a derivative thereof as state variables, so as to establish a copper smelting process smelting furnace temperature system in a state space expression form; determining the number of iterations of a preset performance function based on iteration according to the required control precision: under the condition that the number of iterations i is equal to 1, constructing the preset performance function of the first iteration according to a traditional preset performance function and a first auxiliary function; under the condition that the number i of iterations is greater than 1, constructing a preset performance function of the ith iteration according to the preset performance function of the (i-1) th iteration and a second auxiliary function; establishing a virtual controller according to a preset performance function based on iteration; and according to the virtual controller, a controller based on an iterative preset performance function is established to serve as input of the furnace temperature system of the smelting furnace in the copper smelting process, and the furnace temperature system of the smelting furnace in the copper smelting process tracks the expected furnace temperature of the smelting furnace. According to the method, the iterative improvement of the system control precision is realized, and the iterative process of precision improvement is accurately described.

The invention discloses an air supply device and method for a cathode closed electric pile or a methanol fuel cell. The device comprises a high-speed brushless direct current motor, a centrifugal impeller directly driven by the high-speed brushless direct current motor, a volute for packaging the impeller and an electronic control unit. The impeller and the volute are pneumatically optimized, so that the device has high efficiency and a wide stable working area under the back pressure of 1-10kPa. The electronic control unit takes the load current of the electric pile as a main feed-forward signal, quickly sets the target rotating speed of the motor through a built-in mapping table, and realizes accurate tracking by adopting a rotating speed closed loop. The control unit is integrated with mechanisms such as self-learning compensation, anti-disturbance quick response, safety protection and anti-integral saturation. According to the invention, the harsh requirements of a miniaturized fuel cell system on high back pressure, fast response, small size and long service life of an air supply component are met.

The invention discloses an instantaneous voltage analysis method for a direct current side of a dual three-phase rectification generator, and provides an instantaneous voltage analysis method considering filter capacitor ESR when a load is suddenly changed by establishing an equivalent dual three-phase rectification generator with a pulse power load transient mathematical model. Through finite element simulation and physical experiment comparison under the condition of different rotating speeds and power loads, the accuracy of the dual three-phase rectification generator equivalent model considering the filter capacitor ESR is verified, and then the influence of the filter capacitor C and the parasitic parameter ESR of the filter capacitor C on a direct current side steady-state voltage ripple factor and instantaneous voltage is further analyzed; the method not only considers the influence of a filter capacitor C value on a DC side voltage steady-state ripple factor and a transient voltage, but also further considers the influence of a filter capacitor parasitic parameter ESR on the DC side voltage steady-state ripple factor and the transient voltage, and also considers a special dual three-phase phase shift angle for calculation and analysis. And the power supply quality of the direct-current power supply system is improved.

The utility model discloses a rotor punching sheet, which comprises a rotor punching sheet, generator punching sheet grooves and motor punching sheet grooves, the rotor punching sheet is provided with a plurality of generator punching sheet grooves, and a plurality of motor punching sheet grooves are arranged in gaps among the plurality of generator punching sheet grooves on the rotor punching sheet. The generator punching sheet groove and the motor punching sheet groove are arranged on the outer circle of the rotor punching sheet, the rotor punching sheet further comprises a punching sheet inner hole, the middle part of the rotor punching sheet is provided with the punching sheet inner hole, the punching sheet inner hole further comprises a key groove, and the inner side wall of the punching sheet inner hole is provided with a key groove. According to the utility model, the rotor punching sheet is arranged to be a dual-purpose rotor punching sheet, the generator rotor punching sheet and the motor rotor punching sheet share one punching sheet, and the rotor winding of the motor can be used as a damping winding of the generator, so that the transient capability of the generator is improved.

The application discloses a kind of based on variable gain fixed time observer's unmanned ship path tracking control method, the present application relates to ship motion control technical field, especially based on variable gain fixed time state observer's unmanned ship path tracking control method, include the following steps: step (1): establish unmanned ship geodetic coordinate system reconstruction mathematical model;Step (2): design dynamic error envelope and adaptive time scaling factor;Step (3): construct the variable gain fixed time extended state observer of same quality;Step (4): design backstepping path tracking controller based on dynamic surface technology;Step (5): simulation verification.The present application wants to solve the problem that unmanned ship is low in tracking accuracy under complex sea conditions and "fast tracking" and "noise suppression" is difficult to take into account, by introducing error dynamic envelope and adaptive gain adjustment mechanism, to improve the transient convergence speed and steady-state noise performance of path tracking.

The invention provides a direct-current micro-grid Buck converter adaptive passive control method based on large signal stability. According to the control method, on the basis of a passive control theory, system impedance is optimized and adjusted again through a virtual impedance technology so that the whole system can be in a passive stable state. Aiming at steady-state errors caused by deviation from a rated working state due to system uncertainty, a high-order disturbance observer technology is designed and applied to carry out feed-forward compensation on the steady-state errors caused by the uncertainty, so that stable and error-free operation of the system under the condition that disturbance and uncertainty exist is ensured. In addition, in order to ensure the stability of a large signal of the algorithm, a mixed potential energy function theory is adopted to carry out stability analysis, and a parameter selection criterion is given. And finally, verifying the effectiveness and superiority of the proposed algorithm through a simulation platform.

The present invention relates to a current synchronization control method for a parallel converter, analyzes the multi-interference characteristics existing in the parallel converter system, establishes a dynamic mathematical model of the parallel converter that comprehensively considers factors such as line impedance mismatch, structural parameter differences, and load uncertainty caused by temperature rise, designs a finite-time voltage outer loop tracking controller and a load observer to achieve voltage constancy; designs an integral terminal sliding mode current inner loop controller to achieve the tracking speed and control accuracy of the current loop; designs a finite-time mismatched line impedance differentiator and a fractional-order adaptive controller to achieve current synchronization of the parallel converter system. While ensuring the rapid tracking capability of the system, the present invention can effectively suppress the influence of many interferences on current synchronization, ensuring the optimal current synchronization performance during the entire operation of the multi-converter system.

The invention discloses a backstepping control method for a linear-nonlinear tracking differentiator, and belongs to the field of signal tracking and processing, and the method comprises the steps: constructing an excitation function R2SS based on Relu-2Softsign-Sigmoid; designing a linear-nonlinear tracking differentiator based on the constructed excitation function; a differentiator based on linear-nonlinear tracking is used for replacing a differential process occurring during backstepping control design. The differentiator is simple in structure and convenient in parameter selection, flutter can be effectively eliminated, rapidity and stability of signal convergence can be considered at the same time, 'complex explosion 'is eliminated, trajectory tracking precision is improved, convergence speed is increased, and loss in the control process is reduced.

The invention relates to the technical field of energy storage converters, and provides a transient performance improvement control method and system for a network construction type energy storage converter, and the method comprises the steps: employing an active reference adjustment coefficient to adjust an active power reference value for active power, calculating the deviation between the active power and the active power reference value, and obtaining a phase angle through an active ring; for reactive power, the deviation between the reactive power and a reactive power reference value is calculated, and internal potential is obtained through a reactive ring; by controlling the on-off of the first switch, the internal potential is used as the input of the impact current suppression ring during normal operation, and the voltage regulation parameter is used as the input of the impact current suppression ring when a power grid has a fault; and the impulse current suppression ring obtains the output of the impulse current ring by controlling the on-off of the second switch and controlling the input or exit of the impulse current suppression impedance, obtains a modulation signal through the voltage ring and the current ring, and generates a driving pulse of each power switch device. And the transient performance, the robustness and the engineering applicability are obviously improved.

The invention discloses an adaptive composite model prediction control method and a large signal stability analysis method for a direct current micro-grid with a constant power load, and belongs to the technical field of direct current micro-grid control. In order to realize stable operation and good transient performance of the boost converter with the constant power load, the method comprises an adaptive proportional-integral control voltage loop model, a model prediction control current loop model and a nonlinear disturbance observer model. According to the invention, a feedback loop composed of adaptive proportional integral control and model prediction control is used for tracking a voltage reference value, and a feed-forward loop composed of a nonlinear disturbance observer is used for online estimation and feed-forward compensation of load disturbance current. Therefore, the robustness of the system is obviously improved on the basis of stable control of the boost converter. Large signal stability analysis based on a mixed potential function theory shows that when a controlled object deviates from a rated operation state due to uncertainty and has a high-permeability constant-power load, the large signal stability of the controlled object is ensured.