17results about How to "Reduce control error" patented technology

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 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 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 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.

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.

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 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.

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.

The application provides a virtual impedance design method and system considering high-precision power output of an inverter, and is suitable for a capacitive coupling inverter. The application firstly selects an equivalent coupling impedance boundary according to a physical impedance calculated active power output limit value; secondly, an inner boundary and an outer boundary meeting instantaneous response requirements are added to reduce the selection range of the virtual impedance; further, a stability margin parameter is introduced to derive a stability boundary of the coupling impedance, further reducing the selection range of the virtual impedance; then, considering possible power loss, a range in which the equivalent impedance approaches zero is taken as a feasible range of the equivalent coupling impedance; finally, a virtual impedance value is obtained by using the difference between the physical impedance and the equivalent coupling impedance. The application can reduce control errors in droop control and reduce capacity waste of CCI.

The invention relates to the technical field of medical microwave energy delivery control and power regulation, in particular to an effective absorption power constant control method for a microwave ablation therapeutic apparatus, which comprises the following steps of: forming an observation record by collecting each measured value and a working frequency identifier, realizing the correlation of observed quantity in the same period, and reducing a control error caused by measurement drift; reflection power fluctuation characteristics are extracted in a calibration power interval, a recursive least square link loss recursive updating model is input in combination with the link temperature and the working frequency, link loss online updating is achieved, and loss deviation caused by temperature drift and frequency difference is restrained; an effective absorption power estimation value is generated through energy conservation deduction, power deviation is obtained through differencing, and a control object is converted into absorption power from output power; the adjustment amount is generated through discrete PI and is issued through amplitude limiting and slope limiting constraints, and recalibration is triggered when the deviation threshold and the triggering duration are met, so that smooth adjustment and transient disturbance resistance are realized, and the stability of the absorption power is improved.

The utility model relates to laser cutting technical field, specifically disclose a swing shaft mechanism and processing equipment, in this swing shaft mechanism, the displacement drive assembly includes the displacement output shaft along the first direction extension, and the end of displacement output shaft forms the displacement output end, and the displacement drive assembly is located in the base, first drive assembly has the first output shaft, and the first output shaft extends along the second direction, and can rotate around the own axis, and first drive assembly is located in the displacement output end, second drive assembly has the second output shaft, and the second output shaft extends along the third direction, and can rotate around the own axis, and second drive assembly is located in the first output end of first output shaft, and processing head is located in the second output end of second output shaft, and the displacement output end can act to drive first drive assembly and move and / or rotate between the first position and the second position, and drive second output end to be close to or away from the base, the above -mentioned setting has improved the end positioning and processing accuracy of processing head.

The invention relates to a polyethylene pipeline welding method based on self-adaptive bandwidth adjustment and improved active disturbance rejection control, and belongs to the technical field of hot melting butt welding of plastic pipelines. According to the pipe diameter and the material of the pipeline, the temperature and the pressure value of the heating plate are set in a self-adaptive mode, temperature control is achieved by conducting zoning processing on the temperature of the heating plate in different periods, and different heating plate temperature control algorithms are adopted; therefore, the problems of low temperature rise efficiency, large temperature control error, limited generalization ability of a single temperature control algorithm and the like caused by the characteristics of large temperature target value of the heating plate of the welding machine, high temperature precision requirement, slow temperature change, uncertain environment temperature, adjustable temperature target value of the heating plate and the like are avoided. According to the pressure control, the transient response speed, the steady-state precision, the load disturbance resistance and the overshoot suppression capability of the pressure are improved by combining the bandwidth of a neural network adaptive expansion state observer with integral separation type feedback control and load disturbance feedforward.

This invention discloses an open-circuit fault-tolerant control method for a six-phase motor suitable for low carrier ratio conditions, belonging to the field of motor fault-tolerant control. The invention addresses the problem of degraded control performance and poor stability of existing single-phase open-circuit fault-tolerant control methods for six-phase motors under low carrier ratio conditions. The invention includes: constructing a fault-tolerant coordinate transformation matrix to transform the mutually inductively coupled mathematical model in the natural coordinate system into a mathematical model without mutual inductive coupling in the synchronous rotating coordinate system, obtaining mutually decoupled and linearly independent space and space voltage equations; transforming the fault-tolerant phase current into current components in two spaces through forward coordinate transformation; setting discrete second-order rotating decoupling controllers in both spaces to generate voltage control quantities; and obtaining the phase voltage to drive the motor through inverse coordinate transformation. This invention configures the fault-tolerant current loop as a discrete second-order system, where the closed-loop pole distribution does not change with decreasing carrier ratio, thus ensuring good stability of the fault-tolerant control under low carrier ratio conditions.