176results about How to "Reduce control error" patented technology

The invention relates to an improved auto-disturbance rejection controlling method, and provides the improved auto-disturbance rejection controlling method to overcome the defect that a nonlinear auto-disturbance rejection controlling method has a plurality of parameters which are difficult to set. According to the improved auto-disturbance rejection controlling method, an extended state observer in a traditional auto-disturbance rejection controlling method is designed as a disturbance observer which is not based on a system model; the disturbance observer is designed to be only related to two parameters by using a linear auto-disturbance rejection controller parameter setting method, so as to achieve the purpose of reducing the amount of setting parameters. Moreover, the improved auto-disturbance rejection controlling method fully integrates the advantages and disadvantages of linear auto-disturbance rejection and nonlinear auto-disturbance rejection, so that the performance of the controller is maximized; the controlling method can reduce the error of the traditional auto-disturbance rejection controlling method, and improves the control accuracy of the system.

The invention provides a mechanical arm obstacle avoidance path planning method and device and a storage device. The mechanical arm obstacle avoidance path planning method is characterized in that animproved A * algorithm is adopted, the obstacle avoidance path of the tail end of a mechanical arm from a starting node to a target node is searched, so that the problem that the mechanical arm collides with an obstacle is solved, smoothing treatment is carried out on the obstacle avoidance path according to a cubic uniform B-spline curve method, so that the problem that due to the fact that the mechanical arm shakes, the control error is large is solved. The mechanical arm obstacle avoidance path planning device and the storage device are used for achieving the mechanical arm obstacle avoidance path planning method. The mechanical arm obstacle avoidance path planning method and device and the storage device have the beneficial effects that through the provided technical scheme, the mechanical arm is prevented from colliding with the obstacle in the working process, the control error of the mechanical arm is reduced, the path tracking precision of the mechanical arm is improved, the mechanical vibration generated in the movement process of the mechanical arm is reduced, and the service life of the mechanical arm is prolonged.

The invention relates to an aerial three-level electric excitation motor starting control method and an aerial three-level electric excitation motor starting control device. The method comprises the following steps of: determining the controller output voltage vector in the mode of directly controlling the module value of the voltage vector and an included angle between the voltage vector and a main generator rotor, transmitting a switching signal of a three-phase full-bridge inverter in a mode of modulating a support vector machine (SVM) through a space vector, controlling the inverter to drive the main generator, and realizing the starting function of the three-level electric excitation synchronous motor. The aerial three-level electric excitation motor starting control method has the advantages that 1) the control links are fewer, a speed ring PI regulator and a current ring PI regulator are independent, and the parameters are conveniently adjusted; 2) real-time state information of the system is not required, the acquired original information of the main generator can be processed by using a complicated filtering algorithm, the information has certain robustness on transient interference, and the control performance of the system can be effectively improved; and 3) control objectives are fewer, and the comprehensive control error caused by electromagnetic interference of an exciter on the main generator can be effectively reduced.

The invention discloses an automatic line-grasping control method of a deicing robot in a high-voltage transmission line. An enhanced learning system is established by setting a state set, an action set, a Q table and a reward function. The method comprises the following steps of: selecting an action a to act on the environment by the system; after the action is accepted, transferring the environment to next state s'; meanwhile, giving out an evaluation signal r; if r meets certain conditions, stopping controlling, and otherwise deciding next action a' by the enhanced learning system according to the evaluation signal and the state s' through a behavior selection strategy; and entering next iteration after updating the Q table. The method overcomes the influence brought by the model error of the robot, inaccurate posture at the tail end of robot arms, complicated environment and the like, and can be used for adjusting the posture at the tail end of the arm on line in real time for realizing the quick and accurate line grasping of the arm without human remote control, thereby achieving the aim of the automatic line-grasping control.

The invention belongs to the environment reliability test technology field, and discloses a multi-degree-of-freedom sine vibration control method and controller. The multi-degree-of-freedom sine vibration control method comprises steps of obtaining a system transmission function through testing, generating a time domain sine frequency swept-frequency signal according to a reference spectrum and driving a vibration table, collecting a responding signal as a control spectrum, comparing the control spectrum with the reference spectrum, correcting driving sine swept-frequency signal amplitude and a phase, and enabling the control spectrum and the reference spectrum to tend to be uniform in a tolerance. The controller comprises a controlling computer, a main control board, a front end plate, a main connection line and a power supply module; the main control board comprises a communication module, a bus module and an operation module; and the front end plate comprises a sine swept-frequency signal generation module and a control signal collection processing module. The invention adds a feedforward correction vector, improves control accuracy, reduces the high frequency band control calculation time and control errors through changing the quantity of full period sine signal data points which are stored in the sine inquiry table in the sine signal generator under various frequencies, and improves the control speed.

A temperature control system comprises a plurality of distributed heat sources and a plurality of temperature sensors. Each heat source is connected with a respective power drive module, all power drive modules are controlled by a temperature controller, and a temperature control system takes a target temperature as reference input and output temperatures of the temperature sensors as feedback; tracking errors between the reference input and the output temperatures are input in the temperature controller, and the temperature controller converts the tracking errors into average errors, obtains error deviations between the average control quantity and the tracking errors and the average errors through calculation according to the average errors, obtains the superposition control quantity of each heat source according to the average errors and takes sum signals of the average control quantity and the superposition control quantities as the final output of the temperature controller. The temperature control system has the advantages of being low in dependence on single channels, high in anti-interference capacity and capable of performing uniformity control on temperatures of temperature boxes with distributed heat sources.

The invention aims at providing a method for calibrating a current in a motor-driven control system of an electric automobile. According to the method, current measurement error caused by circuit parameter deviation is revised, and the current loop-locked feedback accuracy is ensured, so that the control error of the motor-driven system is reduced. The method for calibrating the current in the motor-driven control system of the electric automobile is as follows: a control unit in the motor-driven control system acquires a current feedback value by use of a current sampling circuit, and obtains a corresponding relation table of input and output currents by virtue of a method of inputting a calibrating current into the current sampling circuit and collecting a corresponding current feedback value; and the corresponding relation table is applied to a control program so as to compensate an actual measurement current for current loop-locked feedback.

The invention discloses a circuit security constraint-considering provincial grid AGC (automatic generation control) unit dynamic optimization scheduling method. The method comprises the following steps of firstly, inputting provincial grid basic data, i.e., acquiring a network structure and related data of a provincial grid, acquiring AGC related data, and setting an evolutionary programming parameter; secondly, randomly generating an initial population of control variables (a regulating instruction and a regulating rate), and performing adaptive mutation operation on antibodies in the population; thirdly, correcting the antibodies according to a regulating instruction constraint, a regulating rate constraint and the minimum continuous climbing time constraint, and comprehensively considering target functions of a CPS1 (control performance standard) index and AGC regulation ancillary service charge, and inequality constraints of tie-line power deviation, system frequency deviation, CPS indexes, unit output and circuit safety, and calculating the adaptive value of each antibody in the population; finally, on the basis of adaptability, evaluating and selecting the antibodies, and performing termination judgment to realize decision on the regulating instruction and the regulating rate of an AGC unit.

The invention discloses a stability and energy-saving control system for a distributed drive electric automobile, and belongs to the technical field of control. The stability and energy-saving controlsystem for the distributed drive electric automobile aims to achieve the purposes of improving operation stability of the distributed drive electric automobile and reducing energy consumption by a master-slave control structure and vehicle dynamic control. The system is divided into a driving layer and a driven layer, the driving layer comprises a vehicle reference state module and a vehicle operation stability controller. The stability and energy-saving control system for the distributed drive electric automobile is based on the master-slave structure, the operation stability control and theenergy-saving control of the automobile can be combined, the energy consumption is reduced as much as possible on the premise of ensuring the operation stability of the automobile, and the influenceon the power performance of the automobile is reduced. The operation stability controller actively adjusts the front wheel steering angle of the automobile, independent control over the yaw velocity and the mass center yaw angle of the automobile is realized to a certain extent, and the maneuverability and the stability of the automobile are improved.

The invention relates to an intelligent compensation method and a control system for a linear voice coil motor. The method is based on a mixed inverse hysteresis model of the voice coil motor, the mixed inverse hysteresis model of the voice coil motor is formed by connecting an inverse hysteresis model of the voice coil motor and a neural network model in series, the input is set displacement r(t), and the output is voltage uu1(t). A friction model and a second neural network model are connected in series to form a mixed friction model of the voice coil motor, the input is displacement y(t), and the output is voltage uu2(t). The mixed inverse hysteresis model is connected with the voice coil motor in series by a feedforward mode, the mixed friction model is connected with the voice coil motor by a feedback mode, the neural networks of the two models regulate the parameters at real time, and feedback control can be carried out according to a weakly nonlinear object after intelligent compensation is carried out on the non-smooth hysteresis characteristic and the non-smooth friction characteristic of the voice coil motor. In the system, a displacement sensor is connected with a signal processor, a program memory stores a mixed inverse hysteresis model compensation program, a mixed friction model compensation program and a weakly nonlinear object control algorithm program, and a CPU regulates driving voltage to control the forward and reverse movement of the voice coil motor.

The invention relates to the field of microalgae cultivation, particularly a microalgae cultivation method and a device for controlling nutritive salt replenishment on the basis of pH feedback. According to the method, CO2 is replenished through pH feedback, the pH value of a cultivation system is kept at a set value, the CO2 replenishment amount of the cultivation system is calculated, and the nutritive salt replenishment is controlled by utilizing the relationship between the CO2 replenishment amount and the nutritive salt consumption. In the method, the replenishment amount of a nutritive salt fed-batch liquid is calculated through a formula (I), wherein alpha refers to a conversion factor between the nutritive salt consumption and the CO2 replenishment amount, and Delta CO2 refers to the CO2 replenishment amount of the cultivation system. Compared with a traditional method, the method provided by the invention can control the nutritive salt concentration of the cultivation system to fluctuate within a small range, the nutritive salt utilization rate during the cultivation process can be improved, and the cost is saved.

The invention relates to a method for implementing master-slave control for a microgrid under an islanding condition, which realizes master-slave operations of a plurality of parallelly connected DGs (distributed generations) in the microgrid, wherein each DG adopts a segmented novel droop control method which comprises improved droop control and traditional droop control, the DG acting as a master control unit stays at an improved droop control state, and the DGs acting as slave control units stay at a traditional droop control state. In the improved droop control, P-f control adopts a method of automatically adjusting a droop factor of a P-f curve so as to realize maintenance for system frequency f, and Q-V control adopts a method of parallelly changing droop external characteristics so as to realize maintenance for system voltage V. Compared with the prior art, the method provided by the invention is used for solving substantial changes in frequency and voltage caused by load or mode conversion in the operating process of the microgrid, thereby improving the quality of electric energy of the microgrid.

The invention relates to a film thickness monitoring method capable of increasing spectral characteristics of film, for a computer-controlled coating device. The method comprises the following steps: (1) inputting coating parameters to a computer before coating; (2) selecting the monitoring wavelengths and monitoring glass number satisfying the limited conditions through the calculation of the computer to obtain a coating monitoring table of the coating system, wherein lambda Min<lambda<lambda Max and the coating monitoring table contains sequential films of the coating system, the corresponding monitoring wavelengths and monitoring glass serial numbers; and (3) coating and the like. By adopting the method, the monitoring wavelengths and required mininum monitoring glass number can be automatically selected; by adopting the proportional film thickness monitoring method, the film thickness monitoring error can be reduced, the film thickness monitoring precision can be increased and the normalized coating system and the non-normalized coating system can be monitored. Under the condition that the control precision of the film thickness monitoring system is not changed, the spectral characteristics of the film can be effectively increased.

The invention provides a cross-section power flow control method based on power flow tracing and generator re-dispatching. The method comprises the following steps: firstly, the power flow trace is used for tracing the cross-section regulating quantity to a generator bus used for outputting along the reverse direction of power flow, so as to ensure the power generation dispatching quantity on the power flow output side; then, the cross-section regulating quantity is traced to the influenced load bus along the power flow direction, and the influenced load quantity is reversely traced for the second time, so as to ensure the power generation variation quantity on the power receiving side. The method is realized only by changing the dispatching mode of a generator, the load supply is not influenced, the cross-section power flow is controlled within a large range, and the control error is small.

The invention discloses an on-line control method of a big climbing rate event of battery energy storage stabilized photovoltaic power generation. The on-line control method of the big climbing rate event of battery energy storage stabilized photovoltaic power generation comprises the following steps: confirming MPC control variables based on the statistical results of the duration of climbing events throughout a year, wherein the MPC control variables comprise control period, control time domain and optimizing time domain; confirming charging and discharging rules according to the energy storage capacity of the energy storage system and the photovoltaic climbing rate in the MPC control time domain; confirming the action state of the energy storage system at the next moment; establishing aMPC optimizing control model; and executing the calculation results by the energy storage system according to the idea of rolling optimization. According to the invention, the stabilizing is performed only aiming at the big climbing rate events that the photovoltaic output fluctuation exceeds a certain range, therefore, the configuration capacity and charging and discharging times of the energy storage system can be reduced; and the control error for the energy storage system is reduced through continuous rolling optimization, therefore, photovoltaic power generation can be effectively stabilized.

The invention provides an intra-frame prediction code rate control method. An R-lambda model is adopted, and the method comprises the following steps: dividing a frame for intra-frame encoding into a plurality of encoding tree units; inputting the plurality of encoding tree units into a pre-trained convolutional neural network, and performing operation to obtain each model parameter in the plurality of encoding tree units; performing bit allocation on the plurality of encoding tree units according to the model parameters; obtaining a target bit number of each one of the plurality of encoding tree units, and accomplishing the intra-frame prediction code rate control. According to the intra-frame prediction code rate control method, as the parameters of the R-lambda model are predicted by using the convolutional neural network, thereby realizing precise description of the video contents encoding property, and thus the intra-frame prediction code rate control performance is improved.

The invention provides a spin control method for a rotation modulation inertial navigation system, and belongs to the field of rotation modulation inertial navigation systems. An integrated strategy is provided on the basis of an active-disturbance-rejection controller control method and a sliding mode variable structure control method, so that a compound control method for the rotation modulation inertial navigation system is formed. When a control error is relatively large, the sliding mode variable structure control method is mainly adopted, the system response speed is increased, and the error is rapidly reduced; along with the reduction of the control error, the control precision is guaranteed by utilizing the accurate control capacity of the active-disturbance-rejection controller control method, and the control stability and robustness are improved. With the adoption of the control method, the response speed of the system can be increased, the control precision of the system can be improved, buffeting caused by sliding mode variable structure control is inhibited, and thus negative effects to navigation accuracy, due to non-ideal rotating platform control, is reduced.

The invention relates to a defrosting method of a microwave oven. The method is characterized by: detecting a initial lowest temperature of a food through a temperature sensor before starting each corresponding power level, simultaneously determining a base operation power and a corresponding power level; continuously adjusting execution power of a magnetron according to a difference between a lowest temperature at current time and the initial lowest temperature during a process of food defrosting through the magnetron, such that the power of the magnetron is continuously changed instantaneously according to a actual condition of the defrosted food; reducing the difference between the food surface and the food interior through promptly changing a plurality of power levels; promptly switching the power of the magnetron, such that the excess defrosting of the food is avoided.

The invention discloses a DC microgrid group system and a novel layered control method thereof. The DC microgrid group system includes three DC sub-microgrids, each of the DC sub-microgrids includes three BUCK converters, each BUCK converter is connected to a DC bus through a connection line, and the resistance of a connection line of each BUCK converter in the sub-microgrid is not equal to each other. The invention provides the novel layered control method which can be divided into three layers of control in total. The top layer is DC microgrid group coordinated control, and the main goal ofthe layer is to coordinate the sub-microgrids to achieve the current distribution of any ratio between the sub-microgrids. The second layer is voltage compensation control and droop coefficient correction control, and the main goal of the layer is to improve the control accuracy of the DC bus voltage and improve the current distribution accuracy between DC converters in the sub-microgrids. The bottom layer is droop control and voltage single-closed-loop control, and the main goal of the layer is to perform quick and reliable tracking control on a control result obtained by an upper layer. According to a layered control algorithm proposed by the invention, the arbitrary ratio distribution of the current between the sub-microgrids is realized, the current distribution precision of the converters in the sub-microgrids is improved, and the control error of the DC bus voltage is reduced.

The invention discloses an intelligent substation reactive power optimization configuration method based on an improved optimal covering method. The method includes the steps that firstly, an annual reactive load curve is generated according to historical reactive data of an intelligent substation, and a reactive load probability curve is acquired based on the annual reactive load curve and a probability distribution principle; secondly, a region formed by the reactive load probability curve and a coordinate axis is covered with a capacitor bank and a dynamic reactive power compensation device; thirdly, an objective function is acquired by taking minimum of a mismatch area function and an investment cost function into consideration; fourthly, an optimal configuration scheme is acquired through a genetic algorithm according to the objective function. The purpose of coordinated configuration of the dynamic reactive power compensation device and the capacitor bank under the new reactive power compensation situation of the intelligent substation is effectively achieved, reactive power configuration is optimized from the probability aspect, minimum control errors are accumulated in the probability, the equipment utilization probability is increased, and the method has theoretical and guiding significance in the new construction situation of an intelligent power grid.

The invention discloses an axially-moving rope transverse vibration measurement device. The axially-moving rope transverse vibration measurement device is characterized in that the device is provided with a rope circulating transmission unit, a driving wheel, a driven wheel, a tensioning wheel, a tension sensor wheel train and a first stepping motor driving the driving wheel form a circulating wheel train, a rope in a closed-ring mode is wound around the circulating wheel train to form the rope circulating transmission unit in a vertical plane; a method for measuring the fixed length, extension and shortening working conditions and the like and corresponding working conditions of the rope is achieved through separated motions or linkage of a first slide block and a second slide block; the device is provided with a displacement measurement system which is arranged right above the rope through a non-contact displacement sensor and can measure displacement of a particle on the rope right under the system in the vertical direction. The axially-moving rope transverse vibration measurement device can be used for simulating various working conditions for applying a moving rope on a project and measuring transverse displacement vibration of multiple specific points on the moving rope under various working conditions, provides an experiment basis for a moving rope model vibration response checkout computational algorithm and can be also used for moving rope vibration control.

The invention discloses a rapid analysis method for sodium hydroxide and ammonia content in sodium cyanide reaction solution and its liquid products, which uses excess formaldehyde and ammonia to react to generate hexamethylenetetramine, and then divides into two groups of titration with hydrochloric acid, Obtain two sets of values ​​of ammonia-containing acid consumption and ammonia-removing acid consumption, and then calculate the content of sodium hydroxide and ammonia in the sample through data measurement, thereby effectively reducing the interference of free ammonia on the analysis of sodium hydroxide content, and quickly and accurately analyzing cyanide. Sodium hydroxide content and ammonia content in sodium chloride reaction liquid and its liquid products. The method of the invention is fast and effective, has obvious mutations in analysis and titration, accurate and reliable measured values, simple and convenient operation and easy mastery.

The invention discloses a method for adjusting a fixed point position of a satellite stationary orbit. The method comprises: S1, calculating orbital transit time of a satellite according to a transferinitial point, an end point and maximum transfer time; S2, calculating a semi-major axis changing amount of a satellite secondary pulse with harmonic term perturbation; S3, calculating a secondary pulse considering tesseral harmonic term perturbation; and S4, calculating a cubic pulse considering the tesseral harmonic term perturbation. Therefore, a problem of low fixed point position adjustmentprecision of the stationary orbit satellite is solved.