26results about How to "Realize decoupling control" patented technology

The invention relates to a super-capacitor-based flicker suppression method for a network construction type STATCOM (Static Synchronous Compensator). The method comprises the steps of network construction outer ring control, fundamental current control and harmonic current control, a virtual synchronous machine VSG control algorithm is adopted for network construction outer ring control, the frequency modulation characteristic and the inertia damping characteristic are decoupled, and the suppression of the active power high-frequency fluctuation quantity through a super capacitor serves as an effective means for flicker suppression; load harmonic current control open-loop control and closed-loop control are combined to achieve an optimal control effect, a first-order differential link and a second-order low-pass filter are cascaded to serve as a correction link, open-loop control gain is improved, resonance between a passive filter and a power grid is suppressed, a second-order low-pass filter link is added to reactive power of a PCC (point of common coupling), and the optimal control effect is achieved. The problem of harmonic amplification caused by the fact that the fundamental reactive power compensation speed is too high and conflicts with a harmonic rapid compensation link is avoided; the flicker suppression effect and the harmonic compensation rate are improved, and pollution of an arc load to a power grid is reduced.

The invention relates to a humanoid robot leg structure which comprises thighs, knee joints, shanks, ankle joints and shanks. The thigh part comprises a first joint module motor and a second joint module motor; the knee joint comprises a first pull rod, a second pull rod and a connecting seat; the first joint module motor is connected with the connecting seat through the first pull rod; the shank part comprises a shank pull rod and a third joint module motor; the second joint module motor is connected with the foot through a second pull rod and a shank pull rod; the third joint module motor is connected with the foot through a shank pull rod; the foot part comprises a front support and a rear support which are connected through a foot support rotating shaft. Compared with the prior art, the humanoid robot has the advantages that the second joint module motor and the third joint module motor are located on the thigh portion and the shank portion respectively, symmetrical arrangement is not needed, module motors with larger size and torque can be arranged, and the motion ability of the humanoid robot is enhanced; the foot part comprises a front support and a rear support, and can adapt to different terrains.

The invention relates to a full-flow circulating liquid rocket engine adopting a precombustion chamber with a fixed mixing ratio, and relates to the field of rocket engines. An oxygen-enriched precombustion chamber and a fuel-enriched precombustion chamber each comprise a combustion component and a mixing component; the oxidant feeding pipe communicates with the oxygen-enriched pre-combustion chamber combustion component, the oxygen-enriched pre-combustion chamber mixing component and the rich-combustion pre-combustion chamber combustion component, and the fuel feeding pipe communicates with the rich-combustion pre-combustion chamber mixing component, the rich-combustion pre-combustion chamber combustion component and the oxygen-enriched pre-combustion chamber combustion component. The volume ratio of the oxidizing agent and the fuel entering the oxygen-enriched pre-combustion chamber combustion component and the fuel-enriched pre-combustion chamber combustion component is a fixed value. According to the method, engine thrust control decoupling is achieved, controllability is enhanced, the deep throttling capacity and low-frequency combustion stability of the engine are improved, and a control system is greatly simplified. The mixing ratio in the combustion process of the pre-combustion chamber is fixed, the design of the pre-combustion chamber is simplified, the combustion stability of the pre-combustion chamber during deep throttling is improved, and the reliability and the high-frequency combustion stability of the pre-combustion chamber are improved.

The invention provides a control method and device of a large-flexibility double-shaft solar panel. The method comprises the following steps: respectively calculating target rotation angles of an alpha axis and a beta axis aiming at the sun based on projections of a sun azimuth in a body coordinate system and an orbital coordinate system; the current rotation angles of the alpha axis and the beta axis are subtracted from the target rotation angles of the alpha axis and the beta axis respectively, and current tracking errors of the alpha axis and the beta axis are obtained; the current tracking errors of the alpha axis and the beta axis are compared with a set threshold value, and if the current tracking errors of the alpha axis or the beta axis exceed the set threshold value, the capture control strategy of the alpha axis or the beta axis is used for conducting autonomous capture; if the current tracking errors of the alpha axis and the beta axis both exceed the set threshold value, the capture sequence of the alpha axis and the beta axis in the double-axis sailboard is determined according to the operation state of the alpha axis, and the capture control strategies of the alpha axis and the beta axis are sequentially used for conducting autonomous capture according to the capture sequence. According to the scheme, smooth and stable control over the large-flexibility solar double-shaft sailboard can be achieved.

The application provides a three-dimensional face editing and system based on neural radiance field decoupling, which performs geometric editing on a three-dimensional face through a semantic mask according to random noise, performs three-dimensional consistent style migration on a material in a case where a reference image is given, and finally outputs a three-dimensional face that can be locally geometrically edited and overall style edited, so as to solve the problems of low generation quality, difficult training, difficult geometric control, difficult material decoupling control and ineffective style migration of the prior art.

This invention belongs to the field of high-power semiconductor laser array coupling technology, specifically providing an optical element dispensing and curing system and method based on dual-target monitoring. The system includes a multi-degree-of-freedom precision displacement platform, a vision inspection unit, a dispensing system, a dual-path photoelectric feedback module, and a central control unit. The dual-path photoelectric feedback module includes a beam splitting unit, an optical power detection unit, and a spot imaging detection unit. The beam splitting unit splits the laser beam into two paths, one of which is used for beam analysis to obtain the beam arrangement. The optical power detection unit receives the other beam from the beam splitting unit and provides real-time feedback of its optical power value. The spot imaging detection unit receives the reflected sampled beam. The central control unit integrates an industrial control computer and a motion control card. This invention designs a closed-loop hardware system including a beam splitting prism, dual detectors, and a multi-degree-of-freedom platform to solve the problem of low multi-degree-of-freedom coupling efficiency in existing technologies.

The utility model discloses a battery system and communication equipment separate warehouse formula heat management system, including cabinet, cabinet door, communication equipment, power, battery, first temperature regulator, second temperature regulator and BMS, the cabinet door is connected in one side of cabinet, communication equipment, power and battery all are arranged in the cabinet, communication equipment sets up in the upper portion of cabinet, the battery sets up in the lower portion of cabinet, and power sets up between communication equipment and battery, first temperature regulator sets up in the upper portion of cabinet door, and second temperature regulator sets up in the lower portion of cabinet door, BMS and battery are adjacent arrangement, through this application, makes that battery warehouse body and equipment warehouse body can independently run heat exchange system, avoids heat cross conduction, realizes the decoupling control of temperature, realizes energy efficiency optimization, can effectively block the diffusion path of battery thermal runaway, effectively improves the thermal safety of system operation.

The invention provides a tunnel single-layer lining maintenance temperature and humidity space-time coordinated regulation and control method and system. The method comprises the following steps: firstly, acquiring a multi-section temperature distribution flow and a humidity concentration gradient field, acquiring wind speed and wind direction data and in-tunnel air pressure fluctuation data to generate a meteorological interference transfer function, then fusing the multi-section temperature distribution flow and the humidity concentration gradient field to generate a spatio-temporal evolution graph, and then constructing a time-varying boundary constraint. The method comprises the following steps: firstly, establishing a time-varying boundary constraint, then reconstructing longitudinal ventilation flow field characteristics based on the time-varying boundary constraint, synchronously resolving an equivalent age rate field, then establishing a real-time weight matrix, extracting a multi-target coupling operator, and finally generating a compensation instruction set according to the multi-target coupling operator to execute a cooperative compensation operation; according to the technical scheme provided by the invention, the core problems of humidity compensation failure caused by ventilation disturbance, temperature and humidity imbalance caused by hydration reaction lag and crack risk aggravated by surface and inside temperature difference in traditional zone control are solved, and the uniformity and long-term durability of early strength development of the single-layer lining structure are improved.

The invention belongs to the technical field of electronic information, and relates to a doubly-fed asynchronous wind driven generator grid-connected robust control method and system, and the method comprises the steps: constructing a doubly-fed asynchronous wind driven generator grid-connected structure, and determining a state equation of the structure based on a value mathematics theory and the grid-connected structure; converting the state equation into a linear equation; obtaining a state-space equation and a parameter uncertainty equation under nominal parameters according to the linear equation; combining the parameter uncertainty equation with the state-space equation under the nominal parameter in a feedback form to obtain a comprehensive state-space equation; converting the comprehensive state-space equation into a transfer function form, and establishing a generalized controlled object of a mixed sensitivity mathematical theory based on a mu value; a D-K iteration method is adopted to solve the linear fractional transformation closed-loop transfer function, a transfer function of the controller is obtained, a doubly-fed asynchronous wind generator grid-connected robust controller is obtained, doubly-fed asynchronous wind generator grid-connected robust control is achieved, and the problem that in the prior art, when rotor current and stator current change, air gap magnetomotive force changes non-linearly, and power consumption is low is solved. And the stability of the control system is influenced.

This invention provides a direct-acting, high-pressure, high-flow-rate three-way proportional pressure reducing valve, comprising a valve sleeve, a valve core, a proportional electromagnet, and a push rod. The valve core is installed inside the valve sleeve and can slide within the valve sleeve. One end of the valve core contacts the end face of the push rod, which is installed inside the proportional electromagnet. The proportional electromagnet is connected to the valve sleeve. The valve sleeve has an inlet port P and an outlet port T. The valve core has a first annular groove and a second annular groove. The areas between the two ends of the valve core and the valve sleeve form a first control cavity and a second control cavity. This invention changes the pressure at the working port A by altering the excitation current, thereby achieving proportional control of the output pressure of the proportional pressure reducing valve. The diameters of the inlet and outlet ports are equal to the large-diameter end face diameter of the valve core. By increasing the large-diameter end face diameter of the valve core, the flow rate at the inlet or outlet port can be increased, thus achieving high-flow-rate control and decoupling control of the output pressure and flow rate of the three-way proportional pressure reducing valve.

The present application relates to injection mold technical field, disclose injection mold waste demolding parameter self-adapting adjustment method and system, method includes: in the clamping state obtains the clamping pressure value, cavity wall temperature distribution value and ultrasonic echo characteristic value;Self-adapting adjustment controller determines the initial moment of opening mold according to clamping pressure value, determines waste solidification state grade according to temperature distribution value, determines waste and cavity combination interface separation trend grade according to ultrasonic echo characteristic value;According to solidification state grade and separation trend grade, match the demolding action parameter set containing clamping force value, pull-off stroke value and movement speed value;After opening mold, manipulator executes clamping, pull-off and take-out action according to demolding action parameter set, and real-time monitoring pull force feedback value;When pull force feedback value exceeds the preset threshold range, the action parameter that has not been executed is online corrected.The present application realizes the self-adapting adjustment of waste demolding parameter, effectively avoids waste residue and product damage.

This disclosure provides a disturbance suppression method for grid-connected energy storage converters. By introducing an improved timing disturbance observer, it achieves rapid and accurate estimation of lumped disturbances such as grid voltage fluctuations and load abrupt changes. Combined with an adaptive sliding mode control algorithm, it dynamically adjusts the switching gain based on the sliding mode surface error, forming an observation-compensation closed-loop suppression mechanism. Simultaneously, relying on a multi-loop collaborative architecture consisting of voltage outer-loop sliding mode control, current inner-loop PR control, and capacitor voltage balance PI control, it achieves hierarchical suppression and decoupled control of multi-dimensional disturbances. Furthermore, it introduces a parameter adaptive optimization mechanism based on disturbance characteristics and device temperature, thereby significantly improving the dynamic response speed and steady-state accuracy of the system under weak grid conditions and complex operating conditions, reducing the DC voltage fluctuation amplitude, and comprehensively improving the system's stability, power quality, and wide-temperature-range operational reliability.

The invention belongs to the technical field of pipe manufacturing and intelligent control, and solves the problems of longitudinal cracks, scratches, pits, non-uniform size and overlarge residual stress on the surface caused by thermal-mechanical coupling imbalance in existing pipe extrusion molding. The invention discloses a pipe forming system based on real-time defect feedback. The pipe forming system comprises an execution device, a central control device, a multi-mode sensing device and a three-section type temperature control device. A three-area temperature control structure of a primary cooling section, a constant temperature section and a final cooling section is adopted, a multi-mode sensing device is arranged at an outlet of each section to collect surface images, wall thickness and temperature data in real time, a defect characteristic spectrum is constructed, and a thermal coupling regulation and control instruction is output by matching with a process knowledge base; stress relaxation and shaping control is achieved through constant-temperature section partition heating and final cooling section gradient cooling, and meanwhile process parameters are dynamically corrected in combination with closed-loop feedback compensation. The method can effectively inhibit pipe surface defects, reduce residual stress, improve wall thickness uniformity and mechanical properties, and improve production stability and product qualification rate.

The invention discloses a three-phase four-bridge arm three-level inverter modulation method for realizing zero midpoint current, belonging to the field of power electronic conversion and control, and the method includes: according to the voltage of each phase AC filter capacitor and the current of each phase AC filter inductor, calculating the differential mode component of the three-phase bridge arm modulation wave and the fourth bridge arm modulation wave before common mode voltage compensation; using the load imbalance of each phase, combined with the modulation wave of the current three-phase bridge arm, calculating the phase where the sub-state switching cycle is output at a constant +1, -1 level, so as to determine the common mode component of the three-phase bridge arm modulation wave; calculating the modulation wave of the three-phase bridge arm and the fourth bridge arm according to the common mode component of the three-phase bridge arm modulation wave, determining the +1, -1, 0 level duty ratio actually output by each phase bridge arm; the three-phase bridge arm modulation wave and the fourth bridge arm modulation wave are respectively intercepted with the corresponding carrier to generate a drive signal of the inverter. The present invention can realize the midpoint voltage balance in the full power factor range and eliminate the low-frequency pulsating component in the midpoint voltage.

The invention discloses a unit regulation power and damping coefficient comprehensive design method of an energy storage-containing grid-connected power generation system. The method comprises the following steps: step 1, constructing a frequency dynamic response model of an energy storage grid-connected power generation system containing a second-order differential damping link; 2, a second-order differential damping link is additionally arranged, and decoupling control over the energy storage unit adjusting power and the damping coefficient is achieved; 3, according to the frequency steady state deviation constraint of the energy storage grid-connected power generation system containing the second-order differential damping link, designing energy storage unit regulation power based on a primary frequency modulation demand; 4, according to the oscillation suppression requirement of the energy storage grid-connected power generation system containing the second-order differential damping link, the energy storage damping coefficient is designed based on the optimal damping ratio constraint; and 5, putting forward an energy storage unit regulation power and damping coefficient comprehensive design method in combination with the frequency stability constraint and oscillation suppression requirements of the energy storage grid-connected power generation system containing the second-order differential damping link. According to the comprehensive design method for the energy storage unit regulation power and the damping coefficient, the primary frequency modulation performance and the virtual damping support of energy storage can be brought into full play, and the frequency stability and the power oscillation suppression capability of an energy storage support system can be remarkably improved.

The invention relates to the technical field of SMT, and discloses an SMT quality control method and system, and the method comprises the steps: calculating a PCB rotation deviation angle and a PCB translation deviation, and superposing the PCB rotation deviation angle and the PCB translation deviation for a target mounting point coordinate, and obtaining a component position deviation value; when the position deviation value of the component exceeds an allowable deviation threshold value, calculating an additional displacement value generated by the rotation action, and deducting the additional displacement value from the position deviation value of the component to obtain a comprehensive compensation displacement value; and a rotation instruction is sent to a rotating head servo motor according to the component position deviation amount, a stepping pulse signal is sent to a gantry stepping motor according to the comprehensive compensation displacement amount, and a rotating head and a gantry execute compensation actions in parallel to complete component alignment. The problem that in the prior art, fixed coordinate mapping cannot adapt to PCB position changes is solved, the double-gantry cooperation efficiency is improved, and the overall production period is shortened.

The invention discloses a compressor control method and device, an air conditioner and a storage medium, and the method comprises the steps: obtaining a rotor angular velocity error and a rotor flux linkage error of a compressor, and inputting the rotor angular velocity error and the rotor flux linkage error into a fuzzy logic controller to obtain a weight coefficient; the direct-axis current sampling amount and the quadrature-axis current sampling amount of the compressor are collected, and the direct-axis current reference amount and the quadrature-axis current reference amount are obtained through a PI controller; inputting the weight coefficient, the direct-axis current sampling amount, the quadrature-axis current sampling amount, the direct-axis current reference amount and the quadrature-axis current reference amount into an intelligent agent module of a TD3 algorithm, and outputting a direct-axis voltage reference amount and a quadrature-axis voltage reference amount by the intelligent agent module; sequentially performing conversion processing and pulse width modulation processing on the direct-axis voltage reference quantity and the quadrature-axis voltage reference quantity to obtain a three-phase control signal; and controlling the compressor by using the three-phase control signal. The control effect of the compressor can be enhanced.

The application discloses a kind of multi-physical field experimental devices for strong magnetic field, it is related to strong magnetic field technical field, including bearing assembly, pneumatic stirring assembly, reaction bottle fixing assembly and photo-thermal liquid bath component;Bearing assembly includes bearing frame and lifting mechanism, pneumatic stirring assembly includes air supply equipment, flexible air pipe, turbine, planetary reducer and stirring paddle, reaction bottle fixing assembly includes fixed frame structure and reaction bottle, photo-thermal liquid bath component includes outer bushing, heat equalizing cylinder, heating film, quartz window, light source and radiator.The application has the advantages that the reaction area can be accurately adjusted to the target magnetic field strength and magnetic field gradient position by precise positioning and lifting, and the illumination, heating and stirring can be cooperatively loaded and relatively independently controlled in the local reaction bottle, so as to meet the stable operation and rapid sampling requirements of multi-physical field reaction experiment under strong magnetic field extreme environment.

The utility model discloses a two-oil-way hydraulic torque converter control oil way for an automatic transmission, and belongs to the technical field of transmission oil ways. The main pressure source is communicated with the main pressure regulating valve, the main pressure regulating valve is communicated with the TC regulating valve, the TC regulating valve is communicated with the TC control valve, and the TC control valve is communicated with the hydraulic torque converter, the lock-up clutch valve and the cooler; the main oil pressure electromagnetic valve is communicated with the acting surface of the main pressure regulating valve and the acting surface of the TC regulating valve; the SLU electromagnetic valve is communicated with the acting surface of the lock-up clutch valve and the acting surface of the TC control valve; a secondary pressure source is in communication with the lockup clutch valve. The oil drainage hole of the lock-up clutch valve is closed under the hydraulic working condition and communicated with an oil drainage way of the lock-up clutch valve under the locking working condition, the oil drainage pressure regulating function is achieved, and oil way decoupling control is achieved. Before the TC pressure hydraulic power is reversed, the side pressure of the hydraulic oil way and the locking oil way is in smooth transition, the rotating speed of the turbine is not jittered during sliding unlocking separation, and the gear shifting feeling is good.

The invention discloses a modeling and testing method of a fan model, which belongs to the field of fan model establishment, and comprises a rotor side converter, a controller of the rotor side converter, a pitch angle controller, a wind turbine, a driving system and a generator / grid side converter, the test method comprises the following steps of: 1, connecting the doubly-fed fan into an infinite bus system; and 2, carrying out a typical test project. According to the method, active and reactive decoupling control of the fan is realized, active control logic is relatively simple, and an active current instruction value is obtained by dividing an active power given value by a current interface voltage after the active power given value passes through an inertia link; reactive power control has multiple control modes, such as fixed power factor, fixed reactive power, fixed voltage and the like, switching is carried out through control words, meanwhile, a reactive current compensation characteristic setting link is provided, and the requirement that in some regulations, after a power grid breaks down, wind power needs to provide moderate reactive current can be met.

The application relates to the technical field of power electronics, and particularly provides a direct-current collection system, aiming to solve the problem of how to decouple control of bus voltage stabilization and midpoint voltage balance of a photovoltaic direct-current collection system. For this purpose, the direct-current collection system is provided with a first converter module coupled to the two ends of any one of a first capacitor and a second capacitor, used for balance control of a midpoint potential between the first capacitor and the second capacitor, and a second converter module used for control of direct-current bus stabilization output, so that the bus voltage and the capacitor midpoint potential are respectively adjusted by different control channels, the bus voltage and the capacitor midpoint potential correspond to independent feedback targets, the problem that the bus voltage is adjusted while the midpoint potential is disturbed or the midpoint is adjusted to affect a power output path in a traditional system is avoided, and decoupling control between bus voltage stabilization and midpoint voltage balance is facilitated.

This invention discloses a tension decoupling control method for a dual-actuator, off-axis cooperative wire feeding system. The method includes: 1. System initialization; 2. Acquiring the current time. k 3. Obtain online identification of rotational inertia; 4. For the current time... k 5. Adaptively adjust the PID gain and decoupling coefficient to obtain the adjusted PID gain and decoupling coefficient; 6. Solve for speed deviation and tension deviation; 7. Perform PID calculation to obtain the current time. k 7. Obtain the decoupled drive speed output and braking tension output; 8. Perform push-pull feedforward correction to obtain the current time. k The final drive command and final braking air pressure command are received; return to step 2 to start the next cycle of control; until the end. This invention uses model-driven control to decouple and eliminate mutual interference, improve dynamic performance through feedforward, and adaptively respond to load changes, thereby achieving independent control of drive and braking.

The invention provides a permanent magnet synchronous motor efficiency optimization method based on optimal system efficiency, which comprises the following steps of: S1, analyzing a loss mechanism and a dynamic efficiency characteristic of each component of an electric drive system of an electric commercial vehicle to obtain each component of the electric drive system and an integral dynamic efficiency model of the electric drive system under different working conditions; s2, formulating a table lookup method flux weakening control strategy of the permanent magnet synchronous motor based on experimental data to serve as a basis of a subsequent permanent magnet synchronous motor control strategy based on optimal system efficiency; and S3, introducing an electric drive system overall dynamic efficiency model and a depth deterministic strategy gradient algorithm to improve look-up table flux-weakening control, obtaining a permanent magnet synchronous motor flux-weakening control strategy based on optimal system efficiency, and realizing efficiency optimization of the permanent magnet synchronous motor. Compared with a traditional motor look-up table flux weakening control strategy, decoupling control over the permanent magnet synchronous motor can be achieved, efficiency optimization of the permanent magnet synchronous motor can be conducted according to the dynamic efficiency characteristic of an electric drive system, and the working efficiency of the vehicle permanent magnet synchronous motor is improved.

The application relates to the technical field of biomedical engineering, and discloses a transcranial electrical stimulation individualized parameter optimization method and system based on an AI algorithm. The method divides a running period into a stimulation execution period and a blanking sampling window, and collects quality signals, reflectivity signals, impedance signals and micro-oscillation signals at different times. The cumulative bleeding volume and bleeding rate are calculated according to the quality signals and the reflectivity signals, the compensatory shock index is generated by fusing the frequency characteristics of the micro-oscillation signals and the descending gradient of the impedance signals, the initial alternating current stimulation parameters are generated by inputting the compensatory shock index into an inner ring reinforcement learning model, the initial direct current stimulation parameters are generated by inputting the bleeding indexes into an outer ring reinforcement learning model, the initial alternating current and direct current parameters are subjected to safety boundary projection operation by using a control barrier function, and the checked instruction set is acquired to output the electrical stimulation signals. The application realizes decoupling control of different physiological response periods, and avoids the risk of parameter out-of-range during model exploration from the algorithm level.

The invention discloses a dual three-phase permanent magnet synchronous motor model prediction torque control method based on time-sharing control, and the method comprises the steps: firstly constructing a virtual voltage vector according to a principle that a harmonic space current is suppressed to be zero; and secondly, stator flux linkage and torque decoupling control is realized by utilizing the stator flux linkage and torque decoupling characteristics in a stator flux linkage oriented two-phase rotating coordinate system. And then, selecting a pair of mutually vertical virtual voltage vectors to respectively control the stator flux linkage and the torque. Finally, the duty ratio of the virtual voltage vector is calculated, and stator flux linkage and torque time-sharing control is achieved. By adopting the method, the setting of the weight coefficient and the repeated iteration of the cost function are avoided, the stator flux linkage and the torque ripple are reduced, the current harmonic is inhibited, and the steady-state and dynamic performance of the system is improved.

The application discloses an integrated charging system and a control method thereof, and belongs to the technical field of new energy automobile charging. The integrated charging system comprises the following steps: performing double-port voltage independent control, controlling the integrated charging system to realize grid-side power factor correction in a charging process, performing motor torque ripple suppression in the charging process, and controlling the integrated charging system to realize double-port power distribution. The integrated charging system and the control method thereof can construct a multi-port integrated charging system without increasing winding switching switches, power devices and magnetic elements, and realize decoupling control of energy of each channel, thereby improving the reliability and safety of charging.