80results about How to "Increase approach speed" patented technology

The invention discloses a terminal sliding mode manipulator trajectory tracking method based on fractional order power reaching law. By designing adaptive rate to an upper bound of uncertainty and switching control of fractional order powder reaching, system state may be converged more quickly to a sliding mode surface; through sliding mode characteristics of a nonsingular quick terminal sliding mode surface, the system state is converged more quickly to a balance point within limited time, namely, a tracking error is converged to 0; therefore, tracking an expected joint angular trajectory isachieved.

The invention discloses a combined second-order sliding mode control method for torque compensation of a four-wheel hub motor driven automobile. The method comprises the following steps: 1, obtainingthe ideal yaw velocity of a vehicle through the boundary dimension of the vehicle, basic parameters of the vehicle mass, vehicle attitude data and road surface state data in combination with a vehicletwo-degree-of-freedom model, and wherein the ideal yaw velocity of the vehicle serves as a real-time yaw velocity following a control target; 2, acquiring the initial control torque of a four-wheel hub motor according to the driving intention information and the current vehicle speed information; and 3, designing a sliding mode control model taking the real-time vehicle yaw velocity and a vehicleside slip angle as control variables, applying an additional yaw moment to the vehicle in an unstable state through the sliding mode control model, and compensating the additional yaw moment on the initial control torque of the four-wheel hub motor. The four-wheel drive yawing torque of the hub can be compensated, so that the operation stability of the vehicle is more effectively improved, and the steering sensitivity of the vehicle is improved.

In detecting a displacement of a cantilever (2) by a displacement detecting mechanism (5) and allowing a probe (1) and a sample (8) to approach each other by at least one of a coarse-movement mechanism (13) and a vertical direction fine-movement mechanism (11) at the same time, an excitation mechanism (4) excites the cantilever (2) with a first excitation condition and the probe (1) and the sample (8) are allowed to approach each other with a first stop condition, and then the cantilever (2) is excited with a second excitation condition different from the first excitation condition, a second stop condition is set, and the probe (1) and the sample (8) are allowed to approach each other by the at least one of the vertical direction fine-movement mechanism (11) and the coarse-movement mechanism (13) until the second stop condition is satisfied.

The invention provides a variable exponential power reaching law sliding mode and PMSM control application thereof. A speed deviation between a motor rotating speed given value and a motor rotating speed is input into a sliding mode controller, and the output is carried out to obtain a q-axis current given value; then three-phase alternating currents are collected, and a d-axis current and a q-axis current are obtained through coordinate system conversion; and a d-axis voltage and a q-axis voltage are obtained through conversion, a three-phase inverter is regulated and controlled by using a switching signal obtained through voltage space vector pulse width modulation, and finally, the motor is controlled by using the output quantity of the three-phase inverter. According to the sliding mode controller designed based on the variable exponential power reaching law, the dynamic quality of a controlled system can be improved, the sliding mode controller has higher response speed and smaller overshoot, and the robustness and rapidity of the system are improved.

An electrostatic precipitator thorn sheet discharge cathode wire, which includes a high-frequency welded pipe pole line and 4 sharp-edged burr sheets, is characterized in that the welded pipe is made of a high-frequency welded pipe and the two ends are flattened into a U shape with a special mold, and punched with The installation holes and the high-frequency welded pipe are respectively welded with 4 sharp-edged thorns arranged at intervals; the 4 sharp-edged thorns are made of 0.7mm steel plate, which are quickly stamped and formed by the mold. The cathode line of the present invention adopts high-frequency welded pipe, which has the characteristics of high strength and high rigidity; the tip discharge structure of the 4-pointed thorn sheet has the characteristics of high spark discharge voltage, high electric field intensity and large dust approach speed; the thorn sheet has 4 Sharp corners increase the probability of discharge, which can reduce the failure of the dust collector and improve the efficiency of dust removal and ash removal.

A traffic entity, such as a passenger car, is warned that a situation requiring the change of driving mode will be required. The traffic entity is alerted to the presence of a second traffic entity, such as an emergency vehicle which requires the moving traffic entity to change its movement when it is proximate to the second traffic entity. The alert is changed, such as by increasing the intensity of visible signals, as the distance between the moving traffic entity and the second traffic entity decreases or the closing speed between the two entities increases, and the mode of the alert is changed, such as from visible to audible, as the distance between the entities further decreases or the closing speed further increases. A variety of traffic entities are accommodated by the system.

The invention discloses a multivariable second-order terminal sliding mode current control method provided with a reaching law. The problem is solved that the system deviates from a sliding mode surface and it is hard to rapidly recover the system when a permanent magnet synchronous linear motor is subjected to parameter perturbation or external interference. The system is enabled to quickly move to the sliding mode surface from the initial state within limited time due to the addition of a disturbance control law, the influence of parameter perturbation and external interference on the system can be overcome, and the deviated system is enabled to quickly return to the sliding mode surface. A variable exponent part of the reaching law is relatively high in reaching speed when a system state track is far away from a balance point and during introduction of a variable terminal attraction reaching mode, the approach speed is relatively high when the state track approaches the balance point, so global rapid convergence is achieved, a system is enabled to rapidly reach the sliding mode surface from the initial state within limited time and finally move to a stable state balance point, and accurate current tracking is achieved.

The invention discloses a method for designing a MMC-HVDC controller. The method comprises the steps of (1) establishing a mathematical model of a MMC in a synchronous rotating coordinate system withthe combination of the working principle of a MMC-HVDC, (2) designing a unified inner loop current controller based on sliding mode variable structure control with the combination of the mathematicalmodel of the MMC, (3) designing a DC voltage controller model, (4) designing a power controller model, and (5) designing a DC voltage droop controller model. Compared with the prior art, the method has the advantages of simple algorithm, high control precision, strong dynamic response ability to a direct current transmission system, good stability, easy parameter debugging, strong robustness and low dependence on the mathematical model of the system, and on the other hand, the method has important application significance to promote the development of related industries.

The invention relates to a finite-time control method for a four-rotor aircraft based on the hyperbolic tangent enhanced exponential approach law and a fast terminal sliding mode surface. The method comprises steps that S1, a transfer matrix from a body coordinate system based on the four-rotor aircraft to an Earth-based inertial coordinate system is determined; S2, a four-rotor aircraft dynamicsmodel is analyzed according to the Newton Euler formula; and S3, a tracking error is calculated, and a controller is designed according to the fast terminal sliding mode surface and a first order derivative thereof. For the four-rotor aircraft system, in combination with hyperbolic tangent enhanced exponential approaching law sliding mode control and fast terminal sliding mode control, not only can the approaching speed be increased during movement away from the sliding mode surface, but also chattering can be reduced, the speed and robustness of the system are improved, fast and stable control is achieved, moreover, finite time control of the tracking error can be achieved, and a problem that the tracking error only tends to zero in a traditional sliding mode surface only when the time tends to infinity is solved.

The invention provides a four-rotor aircraft self-adaptive control method based on an exponential enhancement type fast power reaching law and a fast terminal sliding mode surface. The method comprises the following steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, a dynamics model of the four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding mode surface anda first-order derivative thereof. According to the method, sliding mode control and fast terminal sliding mode control which are based on the exponential enhancement type fast power reaching law are combined so that the reaching speed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity of a system are improved, and rapid and stable control can be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity in a traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.

Provided is an adaptive control method of a quad-rotor aircraft based on the sliding mode surface of an index enhanced double-power reaching law and a rapid terminal. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the quad-rotor aircraft to an inertia coordinate system based on the earth is determined; 2) a dynamic model of the quad-rotoraircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the sliding mode surface of the rapid terminal and a first-order derivative thereof. Sliding mode control via the index enhanced double-power reaching law is combined with sliding mode control of the rapid terminal, the reaching speed is increased when being far from the sliding mode surface, jittering is reduced, a system is rapider and more robust, rapid and stable control is realized, the tracking error is controlled in limit time, and the problem that the tracking error reaches 0 only if time reaches infinite in a traditional sliding mode surface. The interference boundary is estimated via adaption, and the system stability is improved.

The invention relates to an adaptive control method for a four-rotor aircraft based on an enhanced bipower reaching law of an inverse proportional function and a rapid terminal sliding mode surface. The method comprises the following steps that 1) a transfer matrix from a body coordinate system based on the four-rotor aircraft to the earth based inertia coordinate system is determined; 2) a dynamic model of the four-rotor aircraft is analyzed according to a Newton-Euler formula; and 3) a tracking error is calculated, and a controller is designed according to the rapid terminal sliding mode surface and a first-order derivative thereof. According to the method, sliding mode control of the enhanced bipower reaching law of the inverse proportional function is combined with rapid terminal sliding mode control, the reaching speed can be increased far from the sliding mode surface, buffeting is reduced, the system is rapider and more robust, rapid and stable control is realized, the trackingerror is controlled with limited time, and the problem that the tracking error tends to 0 only when time tends to infinite in a traditional sliding mode surface is solved. The interference boundary isestimated via adaption, and the system stability is improved.

The invention discloses a permanent magnet synchronous motor control method, which is characterized in that variable speed and variable exponential terms are added on the basis of a conventional power reaching rate to form an adaptive reaching law so as to enable the reaching speed to be associated with the system state change, so that on the one hand, the system response speed and the reaching speed are effectively increased, and on the other hand, buffeting of the system is reduced. Compared with conventional reaching law sliding mode control, the method has better dynamic performance and higher robustness. Meanwhile, the invention provides a multi-objective parameter optimization method based on an intelligent algorithm for the designed controller, the three objectives of rotating speed rise time, overshoot and steady-state error are comprehensively considered, the parameters related to the controller are optimized by adopting the intelligent algorithm, a reference is provided for setting of the parameters of the controller, and the blindness of parameter setting is avoided.

The invention provides a dead-beat direct torque control and implementation method based on a sliding mode strategy. The method comprises the following steps: firstly, providing an anti-disturbance sliding mode controller which can provide a quick and accurate reference torque for a DBDTC; introducing an extended sliding mode disturbance observer into a rotating speed loop controller, and estimating system disturbance through the disturbance observer and compensating the system disturbance to the sliding mode controller; and designing a sliding mode disturbance observer in a torque ring to compensate a voltage error caused by parameter disturbance so as to improve the anti-interference capability of the system. In order to solve the problem of inherent buffeting in sliding mode control, a novel variable exponential power reaching law is provided. According to the reaching law, a system state variable is introduced into an exponential term of a power reaching law, so the system reaching speed is related to a system state; and a variable exponential term is added into the power reaching law, so the reaching speed of the system away from a sliding mode surface is further improved. Through the method, the novel reaching law improves the convergence speed of the system while effectively inhibiting buffeting.

The invention relates to a four-rotor aircraft self-adaptive control method based on a hyperbolic sine exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method comprises the following steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, adynamics model of the four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding modesurface and a first-order derivative thereof. According to the method, the hyperbolic sine exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode controlare combined so that the reaching speed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable control can be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity in a traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.

The invention relates to a self-adaptive control method for a four-rotor aircraft based on an arc tangent-enhanced double-power reaching law and a rapid terminal sliding mode surface. The method comprises the following steps: (1) determining a transfer matrix from a body coordinate system based on the four-rotor aircraft to an inertial coordinate system based on the earth; (2) analyzing a kineticmodel of the four-rotor aircraft based on a Newton-Euler's formula; and (3) calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivative of the rapid terminal sliding mode surface. According to the method, by combining arc tangent-enhanced double-power reaching law sliding mode control with rapid terminal sliding mode control, the reaching speed can be increased in a place far from the sliding mode surface, and the material vibration can be reduced, so that the rapidness and robustness of a system can be improved, and the rapid and stable control is realized; and meanwhile, the finite time of the tracking error can be controlled, so that the problem that the tracking error tends to be 0 only when the time tends to be infinite in a traditional sliding mode surface is solved; and meanwhile, an interfered boundary is estimated in a self-adapting manner, so that the stability of the system is improved.

Provided is a four-rotor aircraft finite time control method based on an inverse-proportion function enhanced constant-speed reaching law and a rapid terminal sliding mode surface. The method includesfollowing steps: step 1, determining a transfer matrix from a body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on earth; step 2, analyzing a kinetic modelof the four-rotor aircraft according to a Newton Euler's formula; and step 3, calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivative thereof. For a four-rotor aircraft system, with the combination of the enhanced constant-speed reaching law sliding mode control based on an inverse-proportion function and the rapidterminal sliding mode surface control, the reaching speed can be increased when being far from the sliding mode surface, the buffeting can be reduced, the rapidity and the robustness of the system areimproved, rapid and stable control can be realized, finite time control of the tracking error can be realized, and the problem that in the conventional sliding mode surface, only when the time reaches infinity, the tracking error can reach 0 is solved.

The invention discloses a sliding mode power cancellation direct power control method of a three-phase voltage type PWM converter, The actual value of the active pow decreases and the actual value ofthe reactive pow increases and the actual value of the reactive power of the active power decreases, an another non-zero voltage vector is looked for, An improved vector table is obtained, At that same time, according to the sector where the grid voltage position angle is located, Actual value of active power and reactive power and reference value of active power and reactive power, three optimalvoltage vectors are selected from the improved vector table, which can reduce the error between the actual value of active power and reactive power and reference value at the same time, and calculatethe action time of each vector according to the reference value of active power and reactive power. The control algorithm of the method is simple and easy to realize, the approach speed of the arrivalstage can be improved, the output chattering of the system can be suppressed, the steady-state ripple of the active power and the reactive power can be suppressed at the same time, and the current distortion rate is low, so that the system has excellent dynamic and static performance.

The invention provides a four-rotor aircraft self-adaptive control method based on an exponential enhancement type power reaching law and a fast terminal sliding mode surface. The method includes thefollowing steps that 1, a transfer matrix from a machine body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on the earth is determined; 2, a dynamics model ofthe four-rotor aircraft is analyzed according to a Newton euler formula; 3, tracking errors are calculated, and a controller is designed according to the fast terminal sliding mode surface and a first-order derivative thereof. According to the method, the exponential enhancement type power reaching law, sliding mode control and fast terminal sliding mode control are combined so that the reachingspeed can be increased when the four-rotor aircraft is away from the sliding mode surface, vibration can be reduced, the rapidity and robustness of a system are improved, and rapid and stable controlcan be achieved; meanwhile, limited time control over the tracking errors can be achieved, and the problem that only when the time approaches the infinity, the tracking errors approach the infinity ina traditional sliding mode surface is solved. Meanwhile, the interference boundary is estimated in a self-adaptive mode, so that the stability of the system is improved.