40results about How to "Reduce control error" patented technology

The invention provides a solenoid valve precise control method based on flow dynamic adjustment, which comprises the following steps: acquiring working parameters in real time through a sensor, obtaining real-time working condition data of a solenoid valve, and carrying out noise reduction and normalization preprocessing on the data to generate a comprehensive working condition feature vector; and on the basis of the feature vectors and the target output parameters, flow, temperature and outlet pressure values of future working conditions are calculated through a prediction algorithm. And in combination with the calculated future working condition and real-time working condition data, an optimized control signal is generated and used for dynamically adjusting the opening degree of the electromagnetic valve, and initial dynamic control over the flow and the pressure is achieved. Outlet pressure and flow are monitored in real time through high-frequency sampling, the deviation between actual output and a target value is calculated, and a control signal is corrected based on the deviation. The electromagnetic valve is suitable for high-precision flow and pressure regulation under complex working conditions, has the characteristics of quick response and high regulation precision, and can be widely applied to the fields of environmental protection, industrial automation and fluid control.

The invention discloses a micro-distribution cooperative voltage optimization scheduling method based on multi-sensitivity sensing, which comprises the following steps: firstly, establishing a multi-sensitivity real-time sensing model, and sensing real-time sensitivity on line based on the multi-sensitivity sensing model of offline training under the condition of incomplete real-time measurement; furthermore, a model prediction control method is adopted, a line loss, voltage and real-time operation cost prediction model is established based on the multiple sensitivities, the line loss and the real-time operation cost of equipment can be measured in real time through joint optimization, the line loss and voltage sensitivities are corrected in real time based on the multiple sensitivity perception model, and control errors caused by power variation are reduced. And finally, under the condition that the node voltage can be measured in real time in the micro-grid to be out of limit, voltage autonomy is carried out based on the micro-grid voltage sensitivity fitted in real time, and real-time, economical and safe operation of the whole micro-distribution system is realized.

The present invention discloses a method and system for calibrating the zero position of a permanent magnet synchronous motor with different rotation speeds, and relates to the technical field of drive motors for new energy electric vehicles. The method includes: S1: pre-positioning the rotor position and determining the initial zero position value of the resolver; S2: controlling the drive motor to a predetermined speed; S3: implementing zero current control through a controller to allow the motor speed to drop freely; S4: adjusting the zero position value of the resolver to keep the target voltage at zero; S5: recording the zero position value of the resolver at different speeds and fitting the curve to complete the calibration. According to the technical solution of the present application, high-precision resolver zero position angle calibration can be achieved without the need for additional bench resources, which reduces the complexity of the calibration process and has high practical value.

The invention relates to the technical field of robot control, in particular to a robot rescue emergency control system based on voice interaction. The system is used for performing control voice signal acquisition and rescue emergency voice control task structured analysis by using a built-in voice receiving function of a robot, and generating rescue emergency voice control task structured data; acquiring panoramic image data, environment sensing data and long-distance laser radar data monitored by the robot; the method comprises the following steps: performing global image point cloud model construction and multi-level environment change collaborative optimization processing based on panoramic image data, environment perception data and long-distance laser radar data monitored by a robot, and generating an optimized global image perception model; and performing rescue emergency intelligent control operation on the robot based on the rescue emergency voice control task structured data and the optimized global image perception model. According to the invention, the voice instruction is received through the voice interaction function, so that automatic and efficient robot rescue emergency control is realized.

The invention discloses a balance control method and system for amplitude and flow of a regulating valve for a chemical plant. The invention relates to the technical field of regulating valves. Calculating an error E between the target value O and the feedback value F: E = O-F; then, each PID controller i calculates an initial electric signal ei (t); each PID controller activates a bidirectional Seq-Bi-GRU recurrent neural network, executes a regression task based on the data set D of historical errors and the error E as input, and outputs an error threshold T1 for each PID controller, which is used for judging whether to activate the integral action of the PID controller or not; by introducing the bidirectional Seq-Bi-GRU recurrent neural network, the error threshold T1 and the saturation threshold T2 can be dynamically calculated based on the historical error data set and the current error. According to the dynamic adjusting mechanism, the integral action of the PID controller can be flexibly activated or closed according to the actual situation, and the integral saturation phenomenon of the multi-branch flow conveying system is effectively avoided.

The invention discloses a self-adaptive cruise dead zone processing control system and method, and belongs to the field of intelligent driving. The adaptive cruise dead zone processing control system comprises an ADS module, a BCM module, an environment sensor, an ESP module, a function switch and a center control large screen, the environment sensor is used for sensing external environment information, the ADS module is used for receiving a vehicle body state and a switching signal sent by the BCM module, receiving the external environment information sent by the environment sensor and then conducting transverse and longitudinal control on a vehicle, and the function switch is used for controlling the center control large screen. The BCM module is used for acquiring a vehicle body state and a switching signal of the function switch and transmitting the vehicle body state and the switching signal to the ADS module, and the ESP module is used for performing acceleration and deceleration control and stability control on a vehicle. According to the adaptive cruise dead zone processing control system and method, the adaptability and stability of an adaptive cruise system are improved, the control precision and safety of the adaptive cruise system are improved, and the comfort experience of a driver and passengers in the adaptive cruise process is enhanced.

The invention discloses an interchange intelligent motorcade sliding mode control method considering disturbance and actuator saturation. The method comprises the following steps: respectively constructing three-order dynamic models considering disturbance and actuator saturation; establishing an intelligent network connection vehicle following model considering the expected speed of the road section in the interchange area, and combining a vehicle position tracking error and a speed error to construct an integral sliding mode surface and generate a coupling sliding mode surface; constructing a non-linear disturbance observer on the basis of the three-order dynamic model considering disturbance to generate a disturbance observation value; constructing an auxiliary dynamic system on the basis of the three-order dynamic model considering the saturation of the actuator to generate an auxiliary signal; in order to realize a motorcade control target, a motorcade controller is designed in combination with a coupling sliding mode surface, a disturbance observation value and an auxiliary signal to control the motion state of vehicles in the intelligent network connection motorcade, so that the driving of the intelligent network connection motorcade in an interchange area conforms to a traffic flow theory, and the consistency of the positions and the speeds of the vehicles in the motorcade and the stability of a motorcade string are ensured.

The application provides a kiln ventilation regulation device, comprising: a ventilation pipe; a protection shell is fixedly installed on the surface of the ventilation pipe, a connecting shell is fixedly installed on one side of the protection shell, a supporting plate is fixedly installed in the inner cavity of the ventilation pipe, a supporting rod is fixedly installed on the top of the supporting plate, and a supporting disc is fixedly installed on the top of the supporting rod. Through the design of the regulation assembly, the regulation assembly adopts a worm, a worm wheel, a rotating gear and an adjusting disc transmission structure, worm and worm wheel transmission improves stability, the rotating gear and the teeth can realize precise adjustment of the angle of the adjusting fan blade, the ventilation volume control error is reduced, the precision is improved compared with traditional manual adjustment, multiple adjusting fan blades are linked through adjusting rods and adjusting discs, the ventilation pipe inner cavity ventilation cross-sectional area can be changed synchronously, the airflow deflection problem of traditional single baffle adjustment is avoided, the kiln working condition rapid change demand is adapted, a sealing strip is arranged on the top of the adjusting fan blade, and heat loss caused by traditional baffle gap air leakage is avoided.

The utility model provides a mechanical leg and a robot thereof, the mechanical leg comprises a first leg mechanism, a second leg mechanism, a foot assembly and a first driving mechanism, and the first leg mechanism is relatively rotatably connected with a robot body of the robot; the foot component is rotationally connected with the second leg mechanism; the first driving mechanism comprises a first motor, a second motor, a first transmission wheel assembly and a first flexible transmission piece, and the first transmission wheel assembly is connected with an output shaft of the first motor and an output shaft of the second motor and is connected with the foot assembly, the first leg mechanism and the second leg mechanism; the first flexible transmission part is in transmission connection with the first transmission wheel assembly; the first motor and the second motor are used for jointly working and cooperatively driving the first transmission wheel assembly to drive the foot assembly to rotate relative to the second leg mechanism and drive the second leg mechanism to do linear telescopic motion relative to the first leg mechanism in the vertical direction.

The present invention discloses a proportional valve for a ventilator, which relates to the field of fluid control. The valve comprises a valve body, a valve core and a driving assembly, wherein the valve body is provided with an air inlet, an air outlet and a cavity connecting the air inlet and the air outlet, and is characterized in that the valve core has no direct contact with the valve body, an elastic sheet is provided between the outer wall of the valve core and the inner wall of the valve body, the elastic sheet divides the cavity into a first cavity and a second cavity which are not connected to each other, the second cavity is connected with the air inlet and the air outlet, the elastic sheet can hold the valve core against the inner wall of the valve body to cover the air inlet, the driving assembly can drive the valve core away from the inner wall of the valve body to connect the air inlet and the air outlet, and an air pipe connecting the air inlet and the first cavity is provided inside the valve core. The valve core in the proportional valve has no direct contact with the valve body, the friction generated by the proportional valve during operation is reduced, and the control of the gas flow is more precise and linear.

The application relates to the field of mechanical arm control, and discloses a mechanical arm speed control method and device, computer equipment and a storage medium, the method comprising the following steps: acquiring an actual position of a robot end flange at a current moment, and acquiring a desired position of the end flange of the mechanical arm at a next moment according to path planning of the mechanical arm; calculating a control speed of the mechanical arm at the current moment according to the actual position, the desired position and a preset trajectory tracking model; performing inverse Jacobian transformation on the control speed to obtain corresponding motor output force, and performing corresponding control according to the motor output force. The movement of the mechanical arm can be controlled in a speed control mode, the control speed and real-time performance are improved, and control errors are reduced.

The invention relates to a torsional vibration active control method in the starting and stopping process of an engine of a power split type hybrid power system, and aims to solve the problem of torsional vibration of a transmission system under the high coupling effect of multiple excitation sources of the system. Firstly, a transmission system multi-degree-of-freedom kinetic equation used for simulating the engine start-stop torsional vibration phenomenon is established; secondly, considering excitation input of the engine, and designing a self-adaptive filtering feedforward control algorithm to counteract fluctuation components of gas torque and inertia torque of the engine; finally, considering interference input in the start-stop process of the engine, designing a pole assignment feedback algorithm, and reducing a torsional amplitude value from a drive shaft of the transmission system to wheels; according to the method, the torsional vibration of the transmission system in the engine starting and stopping process is remarkably improved through fusion of the two control algorithms, and a new research reference is provided for torsional vibration control in the engine starting and stopping process.

The invention relates to a mechanical arm and a medical trolley. Comprising a first arc-shaped joint which is provided with a first arc-shaped track and a first central axis perpendicular to the plane where the first arc-shaped track is located; the first arc-shaped joint comprises a first arc-shaped arm and a second arc-shaped arm, and the second arc-shaped arm and the first arc-shaped arm are movably connected along a first arc-shaped track; and the second arc-shaped joint is provided with a second arc-shaped track and a second central axis perpendicular to the plane where the second arc-shaped track is located, the second central axis and the first central axis intersect at the virtual motion center, and the second arc-shaped joint is movably connected with the second arc-shaped arm along the second arc-shaped track. The motion center can be kept unchanged, the control stability of the motion center can be improved, and the control error of the motion center is reduced.

The invention discloses a method for suppressing rotation speed pulsation of a permanent magnet synchronous motor caused by a current measurement error. Acquiring state data of the permanent magnet synchronous motor; according to the acquired state data, based on a given signal and an actual three-phase current signal of the permanent magnet synchronous motor, determining a PWM wave signal for controlling the operation of the permanent magnet synchronous motor; according to the determined PWM wave signal and the constructed permanent magnet synchronous motor mathematical model; then, by optimizing a control strategy, such as a vector control method, the rotating speed of the motor can be adjusted more accurately, and pulsation caused by current measurement errors is reduced; and finally, by applying a filtering algorithm on a current measurement value, noise and interference from the sensor can be reduced, so that the measurement precision is improved. By adopting a filtering algorithm, adjustment and optimization can be carried out according to specific application and requirements so as to realize effective filtering and smooth processing of signals, thereby reducing noise and interference from the sensor and improving measurement precision.

The invention discloses a doubly-fed flywheel energy storage-based network following-construction fusion control method, which comprises the following steps of: 1, acquiring electrical parameters of a stator and a rotor of a doubly-fed fan, performing coordinate transformation to obtain dq-axis components, and calculating real-time output power of the stator; 2, a virtual internal potential phase is generated through virtual synchronous control, a phase-locked loop obtains a power grid phase, modulation voltage reference values are output respectively, and a final modulation voltage reference value is obtained through weighted sum so as to realize dynamic fusion control of network following and network construction characteristics, and in the network following control, a modulation voltage is obtained through a rotating speed-active and reactive outer loop and a current inner loop, and the current inner loop is added to the rotating speed-active and reactive outer loop; in the network construction control, instantaneous power is calculated through electrical parameters, a reference phase and voltage are obtained through virtual synchronous control, and modulation voltage is output through a single voltage loop. According to the method, the characteristics of the network following current source and the network construction voltage source are fused, advantage complementation is achieved, the method has fast power adjustment and power grid supporting performance, the method is adaptive to a wide-short-circuit-ratio power grid scene, and therefore the weak power grid stability and the new energy consumption capacity can be effectively improved.

The invention discloses a variable pitch control method for a permanent magnet direct-drive wind power system of a floating offshore wind turbine, comprising the following steps: S1, obtaining the output power of the generator set; S2, performing a difference operation between the output power of the generator set and the rated power to obtain the power deviation of the generator set, and calculating the power deviation rate of the generator set within a period of time; S3, designing a dual-input, three-output fuzzy PID control model, inputting the power deviation and the power deviation rate obtained in step S2 into the fuzzy PID control model, the fuzzy PID control model making corresponding decisions through neural fuzzy reasoning, and adjusting PID parameters online to meet the self-tuning requirements of the power deviation and the power deviation rate at different times on the PID parameters, thereby obtaining the best adjustment of the pitch angle change target; S4, repeated compensation control, embedding repeated control based on the internal model principle into the fuzzy PID control, and forming a fuzzy PID control based on repeated compensation.

Embodiments of the present application are applicable to the field of industrial control technology, and provide a temperature control method of a cooling circulating water system and the cooling circulating water system. The cooling circulating water system comprises a cooling device and a process equipment to be cooled connected to the cooling device through a circulating water pipeline, a reference temperature monitoring unit is installed on the circulating water pipeline, and the method comprises the following steps: determining a device outlet water temperature of a process equipment outlet; receiving a reference temperature collected by the reference temperature monitoring unit; correcting the device outlet water temperature based on the reference temperature to obtain a corrected outlet water temperature; and determining a control parameter of the cooling device according to the corrected outlet water temperature and controlling the cooling device according to the control parameter, so that an actual outlet water temperature of the process equipment is within a predetermined temperature range. By using the above method, the temperature of the cooling circulating water system can be finely adjusted.

The invention relates to an iterative learning control method and system for a vehicle lifting system, belongs to the technical field of lifting system control, and solves the problems of insufficient control precision and poor robustness in the prior art. The method comprises the steps that vehicle lifting system structure parameters are obtained, a vehicle lifting system power model is constructed according to the vehicle lifting system structure parameters, and a vehicle lifting system control model is obtained; an expected lifting angle track of the vehicle lifting system supporting frame is generated; constructing an iterative learning control model of the vehicle lifting system; iterative control is carried out based on the iterative learning control model, and lifting angle control of the supporting frame is achieved; during each iteration, based on the actual lifting angle and the pressure of an oil inlet and an oil outlet of a lifting oil cylinder, the expected lifting angle track and the vehicle lifting system control model are used for obtaining the control quantity deviation and the angle deviation, the control quantity obtained through the previous iteration and the control quantity deviation and the angle deviation obtained through the current iteration are substituted into the iterative learning control model, and the control quantity deviation and the angle deviation are obtained. And obtaining the control quantity of the current iteration.

The invention discloses a cement production control system for predicting disturbance compensation based on time sequence data, and belongs to the field of automatic control. The control system comprises a control target setting module, an MPC controller, a disturbance prediction module, a cement production system and a feedback module, and the control target setting module is used for setting an ideal control target of the cement production system; the disturbance prediction module is used for predicting measurable disturbance; the MPC controller is used for generating a control quantity according to an ideal control target and a feedback value of the measurable disturbance and feedback module; the cement production system is used for inputting the control quantity to the corresponding controlled quantity; and the feedback module is used for measuring the controlled quantity change of the cement production system and feeding back the controlled quantity change to the MPC controller. According to the method, a disturbance compensation mechanism based on multivariable time series data prediction is introduced, so that the prediction precision is improved, the control adaptability is enhanced, the control error is reduced, the control effect is optimized, and the stability and robustness of a cement production control system are improved.

The invention discloses a method for controlling a boom, high-altitude operation equipment and a machine readable storage medium, and belongs to the technical field of engineering machinery, the method comprises the steps that the target displacement amount of an executing mechanism of the boom in the next control period is obtained, and the executing mechanism of the boom comprises at least one of a rotary motor, a telescopic oil cylinder and a variable-amplitude oil cylinder; according to the target displacement, a target control current of the execution mechanism is determined based on a pre-constructed prediction model and a preset constraint condition, and the prediction model is used for predicting the corresponding displacement according to the input control current; and outputting the target control current of the execution mechanism to the execution mechanism so as to control the arm support to act. The control quantity of each execution mechanism of the boom can be determined by adopting the model prediction control method on the basis of the pre-constructed prediction model in combination with the preset constraint condition, so that the control error can be reduced, and the control stability can be improved.

The invention discloses a three-dimensional correction method and system for a medical linear accelerator beam limiting device, and the method comprises the steps: collecting a radiation field image generated by a medical linear accelerator; actual position information of the beam limiting device is obtained through processing and calculation based on the radiation field image, difference analysis is carried out on the actual position information of the beam limiting device and target position information, and a motion correction file is generated; and correcting the motion position of the beam limiting device according to the difference value information in the motion correction file. According to the method, the radiation field image generated by the medical linear accelerator is collected, the radiation field image is processed and analyzed to obtain the deviation between the actual position information and the target position information of the beam limiting device, the correction file is generated, the control system of the medical linear accelerator receives the correction file and analyzes the correction file, and automatic correction of the beam limiting device is achieved. And the movement in-place precision of the beam limiting device is improved.

This invention relates to an uplink power control method and control device for a satellite communication system. The uplink power control method for the satellite communication system includes: S100, acquiring the downlink signal strength P0 of the satellite under clear sky weather conditions; S200, at t i Continuously measure the signal strength P of the satellite downlink under severe weather conditions i S300, based on P0 and P i Calculate the downlink signal attenuation value Ad i S400 divides the uplink frequency band into multiple sub-bands, according to Ad... i Calculate the signal attenuation value Au for each uplink sub-band. ki S500, according to Au ki Adjust the compensation attenuation value A of the corresponding sub-band ki This can effectively reduce uplink power compensation errors in satellite communication systems and improve the control accuracy of uplink power.

The invention discloses an unmanned ship with a high-precision connecting structure for ocean observation, and relates to the technical field of ocean environment observation sailboats. The unmanned ship with the high-precision connecting structure for ocean observation comprises an outer ship body, and a groove is formed in the outer ship body; an expandable solar panel structure is arranged on the upper portion of the front side of the outer hull, a hull positioning and moving structure is arranged in a groove of the outer hull, energy is accurately supplied through the expandable solar panel structure by means of double servo motors and the like, and a connecting rod sliding sleeve and a protective supporting plate are kept stable; the expandable connection operation structure flexibly adapts through a fourth servo motor and the like, the buffer linkage and adaptation structure stably operates, the ship body positioning and moving structure accurately controls poses through a fifth servo motor, a sixth servo motor and the like, and bevel gear transmission and a limiting sliding rod improve reliable sailing. The unmanned ship is long in endurance, high in task adaptability and accurate in navigation level control in ocean operation, and powerful support is provided for ocean observation and the like.

The present invention discloses a non-uniform speed pressure control monkey car operation system and several operation methods of the system, including a uniform speed track, a first transition track, a second transition track, and a control mechanism; the stations at both ends of the uniform speed track are respectively connected with the first transition track and the second transition track, the first transition track and the second transition track are higher than the uniform speed track, and the first transition track and the second transition track are arranged parallel and spaced with the uniform speed track; the lateral arrangement width of the first transition track, the second transition track and the uniform speed track is smaller than the width of the monkey car gripper. By making the first transition track and the second transition track higher than the uniform speed track, when the monkey car is at the station, the gripper will not cause pressure on the uniform speed track when hanging on the transition track, and it is convenient to smoothly transition to the uniform speed track, so that different pressure sensors can collect pressure information at different stages, providing a basis for effectively controlling the track running speed of the monkey car station.

The invention relates to the technical field of energy conservation and environmental protection, and discloses an energy-saving control method and system for preparation of an HSR dry powder denitration agent, and the method comprises the steps: firstly, obtaining real-time parameter data in a preparation process, and carrying out data cleaning and normalization processing to remove noise; secondly, performing multi-dimensional feature extraction on the cleaned data, generating a preparation state portrait, inputting the portrait into an energy-saving optimization model based on artificial intelligence training, outputting an energy-saving score and an optimization coefficient, and dynamically adjusting equipment operation parameters according to a mapping rule of the score and the coefficient; and finally, continuously monitoring the adjusted process, generating an energy-saving audit report and implementing authority hierarchical control. The system comprises a data acquisition module, a portrait modeling module, an energy-saving optimization engine, a control execution engine, an audit backtracking module, a context sensing module and an authority management module, the stability of equipment operation and the reliability of energy-saving control are ensured, and the accuracy of energy-saving control and the overall energy efficiency of the system are improved.

The invention discloses an industrial scene-oriented humanoid robot co-simulation control method and related equipment. The method comprises the following steps of: determining a functional module of a humanoid robot; constructing a simulation unit corresponding to the function module; according to a container distribution algorithm, a container is distributed to the virtual module in each simulation unit, and a corresponding container resource is distributed to each container; collecting simulation performance data corresponding to each simulation unit; data transmission is carried out based on a differential transmission channel when the simulation units carry out function simulation, the differential transmission channel comprises a first network and a second network, the first network is used for realizing low-delay communication between the virtual modules in the same simulation unit, and the second network is used for realizing cooperative communication between the virtual modules crossing the simulation units; and according to the simulation performance data, performing feedback optimization operation on the function simulation of each simulation unit. The precision, the stability and the real-time performance of multi-module cooperative control of the humanoid robot can be improved, and the method can be widely applied to the technical field of computers.

The invention discloses a power system for a light-hydrogen-electric vehicle and a control method, and relates to the field of hybrid power systems for light-hydrogen-electric vehicles and energy management. According to the invention, a fuel cell, a power cell and a photovoltaic cell are integrated to form a vehicle multi-energy power system, three energy optimal output proportion calculation methods are given, and an optimal control strategy is explored by using a depth deterministic strategy gradient algorithm. According to the algorithm, the influence of external variables such as road conditions, illumination intensity and traffic flow on energy management is fully considered, so that control errors are reduced, and the strategy reliability is improved. The network information layer interacts with a vehicle system in real time and comprehensively analyzes road conditions, illumination, traffic flow, hydrogen consumption, bus stability, power battery durability and other multi-dimensional factors, so that the optimal balance between hydrogen consumption and energy stability is realized.

This disclosure provides a robot control method, apparatus, device, and computer-readable storage medium. The method estimates the Jacobian matrix of robot motion based on real-time acquired robot motion data and establishes an optimization problem for a specific task based on physical constraints on the joint angular velocities and accelerations of each joint of the robot. This determines the control information for the robot's joint angular velocities, thereby achieving precise control of the robot's motion. This method enables fast and accurate robot motion control based on data-driven approaches even when the robot model structure is unknown or inaccurate, reducing computational costs and control errors caused by inaccurate structural information, and effectively reducing joint angular deviations during task execution. Furthermore, by limiting the robot's joint angular acceleration, it solves the problem of discontinuous speed or even motor damage caused by excessively large joint angular acceleration.