5results about How to "Increase stability margin" patented technology

The application belongs to the technical field of robots, and discloses a three-dimensional force sensing-based detection and balance control method and system for a legged robot. The method comprises the following steps: determining the number of the leg of the multi-legged robot that slips according to a three-dimensional force signal of the multi-legged robot in contact with the ground; and adjusting the multi-legged robot in the following manner when slipping occurs: (1) adjusting the height of the center of mass of the multi-legged robot; (2) for the leg that slips, actively adjusting the joint stiffness and joint damping of the leg to relieve instantaneous impact; applying foot end acceleration and adjusting normal support force to suppress slipping; and adjusting the target foot landing point at the next time. Through the application, the balance of the robot can be quickly restored after slipping occurs, the risk of instability is reduced, and the stability of the robot in a complex environment is ensured.

The invention provides a power hardware-in-the-loop interface compensation method based on power amplifier parameter identification. Parameter identification is carried out on a power amplifier system, parameter information of a passive device in the power amplifier is estimated, and the robustness of the system to parameter changes is improved. Due to the existence of a filter in a power amplifier, deviation of actual power transmission and ideal power transmission characteristics is generally caused, and the amplitude and phase angle deviation caused by the filter is compensated through parameters identified in an interface method, so that the power transmission precision is improved, and the reliability of power hardware in the loop is improved. In addition, the compensated system is closer to an ideal system, is more suitable for power hardware in-loop stability analysis and verification, and particularly has remarkable advantages under the condition of parameter aging offset of the power amplifier.

The invention discloses an LNA (low noise amplifier) with high gain flatness and multi-band adjustment for aerospace information acquisition. Comprising a first low-noise amplification module, a first radio frequency switch, a first filtering module, a second radio frequency switch, a first adjustable attenuation module, a second low-noise amplification module, a second adjustable attenuation module, a third low-noise amplification module, a third radio frequency switch, a second filtering module and a fourth radio frequency switch which are connected in sequence. Each of the first filtering module and the second filtering module comprises a plurality of signal paths with different frequency response characteristics; a signal path of the first filtering module comprises an equalizer and a band-pass filter, and a signal path of the second filtering module comprises a band-pass filter; and the first radio frequency switch, the second radio frequency switch, the third radio frequency switch and the fourth radio frequency switch are used for selecting signal paths, so that the technical problems that in the prior art, extremely low noise and high and flat power gain are difficult to maintain in a wide frequency band, and switching in different frequency bands cannot be flexible are solved.

The application discloses a network-constructing energy storage coordinated control method for supporting grid voltage stability, and steps are as follows: real-time acquisition of state information and network-constructing energy storage output current; when the network-constructing energy storage output current does not reach an overcurrent limiting threshold, the network-constructing energy storage is controlled to adopt a constant voltage amplitude operation mode, the voltage amplitude of a node connected with the network-constructing energy storage is maintained to be equal to a reference value, so that a P-V characteristic curve of a load side is reshaped, the maximum transferable power of the load side is improved, and a static voltage stability margin is increased; when overcurrent occurs in the network-constructing energy storage, the network-constructing energy storage is switched to an overcurrent operation mode, in which mode, the network-constructing energy storage output active power and reactive power are distributed according to the ratio of line resistance to reactance between a grid node and a node connected with the network-constructing energy storage; and when the network-constructing energy storage output current falls below a preset recovery threshold, the constant voltage amplitude operation mode is restored. The application can improve the static voltage stability limit of a load node and the continuous voltage support capability of energy storage to the load under an overcurrent condition.

This invention provides a fault-tolerant control system and method for a magnetic levitation motor based on virtual sensing technology, relating to the field of magnetic levitation motor technology. The system includes a magnetic levitation motor body, a turbine expander, a measurement and monitoring unit, a power amplification and power supply unit, and a digital controller. The digital controller receives multi-source signals synchronously acquired by the measurement and monitoring unit to obtain the physical measured displacement of the rotor. It performs a mechanism-data dual-drive composite aerodynamic disturbance estimation for the magnetic levitation motor to obtain the aerodynamic compensation force and calculate the virtual displacement of the magnetic levitation rotor. It performs orthogonal reconstruction of the physical measured displacement and the virtual displacement to obtain the reconstructed displacement feedback signal for the digital controller to control the rotor. The digital controller calculates the basic feedback control quantity based on the closed-loop error according to the reference levitation control law. The digital controller reassembles the feedback source, aerodynamic compensation force, and control parameters of the basic feedback control quantity online to form the final control output.