45results about How to "Reduce oscillation" patented technology

The invention relates to the technical field of wind power generation, and discloses an optimal configuration method, device and equipment of a multi-network-construction converter and a medium. The method comprises the following steps: constructing a mathematical model of an interconnection system according to a power coupling effect among a plurality of network construction type converters in the interconnection system formed by the plurality of network construction type converters; according to the mathematical model of the interconnection system, constructing a network model of the interconnection system, wherein the network model is used for describing the energy interaction process of the plurality of network construction type converters during power coupling; according to the dissipated energy and the interactive energy of each network-forming converter, obtaining an interactive energy coefficient for reflecting whether the stored energy of each network-forming converter in the interconnection system is dissipated or accumulated; the optimal configuration of the plurality of network-building type converters is determined according to different configuration schemes of the plurality of network-building type converters in different installation positions of the network-building type converters in the interconnection system and / or different control parameters adopted by the network-building type converters by acquiring interaction energy coefficients corresponding to the different configuration schemes.

The application discloses a vehicle control method and device on a transverse slope road, equipment and medium, relates to the field of advanced driving assistance, and comprises the following steps: acquiring the vehicle speed, yaw angular velocity and first lateral acceleration of a vehicle, determining the second lateral acceleration based on the vehicle speed and yaw angular velocity; high-order filtering the first lateral acceleration and the second lateral acceleration respectively; determining the target acceleration based on the filtered first lateral acceleration and the filtered second lateral acceleration, and high-order filtering the target acceleration; determining the transverse slope compensation torque through the filtered target acceleration and a torque compensation coefficient, so as to control the vehicle. The vehicle speed, yaw angular velocity and first lateral acceleration and other information in the application are information that can be acquired in a low-cost manner, therefore, the application reduces the calculation cost of the transverse slope compensation torque, and through high-order filtering of the lateral acceleration and the target acceleration, the application improves the smoothness of the vehicle in a curve and reduces oscillation.

The application provides a cooling tower constant pressure PID adaptive control method and system based on process monitoring, and relates to the technical field of PID control.The method comprises the following steps: decoupling a working condition characteristic index group and a deviation feedback index group; constructing an operating condition vector and matching an initial operating scene group; calling a historical state transition chain, performing scene membership probability correction based on scene state transition prediction, and outputting a real-time operating scene; performing disturbance-free smooth coarse adjustment of the cooling tower constant pressure control; executing fine-grained PID fine adjustment of the cooling tower constant pressure; and performing scene switching analysis under incremental monitoring until the operating scene is changed, triggering fine-grained PID fine adjustment under disturbance-free smooth coarse adjustment. The application solves the technical problem that the prior art usually performs control parameter setting based on single or low-dimensional characteristics, cannot accurately identify the current operating condition category, and thus leads to PID parameter update lag and difficulty in timely matching the actual system dynamic characteristics when the operating condition rapidly changes.

This invention discloses a method and system for detecting and correcting mismatches in time slices and processor frequencies between task groups, relating to the field of automatic control and regulation of computer system resources, specifically a collaborative closed-loop correction method for operating system scheduling and processor frequency control. The method identifies a target task group and a control task group, statistically analyzes the average effective time slices and average effective frequencies of the two task groups within an observation window, constructs time slice differences and frequency differences, and calculates a mismatch index based on the service quality deviation of the target task group to determine the mismatch mode. Correction actions are generated for different modes, performing time slice parameter compensation on the target task group and / or applying frequency constraint compensation to its running processor. Stability is ensured through upper bounds on amplitude, trigger frequency limits, hysteresis / cooling, and abnormal backoff, thereby reducing long-tail latency, frame drop risk, and unnecessary power consumption under mixed loads.

The application discloses a high-precision oscilloscope probe delay correction platform, and relates to the field of power electronic device testing. In the oscilloscope probe delay correction platform, a high-speed pulse generation module is used to output a control signal, and a driving module is used to amplify the control signal to generate a corresponding driving signal to drive a transistor, so that a voltage pulse signal is generated on a power resistor in series with the main current path of the transistor and is output through a parallel voltage probe interface, and a current pulse signal is generated and is output through a series current probe interface. The platform can realize delay correction of a high-voltage and high-current probe range, is favorable for reducing the minimum distinguishable time lag, improving the delay correction precision, reducing the oscillation in the rising and falling processes, and can also be used for delay correction of a high-voltage and high-current probe range in addition to a low-voltage and low-current probe, so that more extensive range adaptation is realized.

The invention belongs to the technical field of nanometer measurement and control, provides a multi-mode cooperative force control method for contact mode scanning of an atomic force microscope, and aims to extract contact state information in real time by carrying out drift and aberration compensation on a measurement signal so as to realize multi-mode cooperative force control. Combined self-adaptive setting of control parameters is carried out in combination with sample morphology characteristics and error signal statistical characteristics, and undisturbed switching between a steady state controller and a transient state controller is realized, so that stable, rapid and low-noise force tracking control is realized in samples with different rigidities and changing noise environments. And the stability and the imaging quality of AFM contact mode scanning are obviously improved. According to the invention, adaptive force control on samples with different rigidities and complex shapes is realized, and the scanning stability and imaging quality of the contact mode atomic force microscope are remarkably improved.

The utility model provides a smelting furnace slag transfer trolley, and belongs to the technical field of smelting furnace slag transfer. The smelting furnace slag transfer trolley comprises a trolley frame, wheels arranged on the two sides of the trolley frame and a transfer furnace placed on the trolley frame, a sinking groove used for containing the transfer furnace is formed in the part, located between the wheels on the two sides, of the trolley frame in a sinking mode, and surrounding plates are arranged on the four sides of the sinking groove. A supporting lug is fixedly arranged on the side, corresponding to the width direction of the vehicle frame, of the transfer furnace, pin shafts are fixedly arranged on the two sides, corresponding to the length direction of the vehicle frame, of the transfer furnace, dumping oil cylinders are arranged between the pin shafts and the vehicle frame, and the top of the transfer furnace is covered with two opposite-opening furnace covers. The outer side of the split furnace cover is connected with a furnace cover supporting arm, and a cover opening oil cylinder is arranged between the furnace cover supporting arm and the frame. The slag transfer furnace has the advantages of being high in stability and high in transfer safety during slag transfer.

The present application relates to the technical field of intelligent control of industrial robots, in particular to a constant force polishing dynamic parameter self-tuning method. The method comprises the following steps: 1) when the robot moves along a predetermined trajectory, real-time acquisition of multi-modal sensing data and extraction of data features; 2) taking the extracted multi-modal feature vector as input, predicting the bottom robot force controller parameters through a pre-trained deep learning model; 3) the robot force controller uses the new parameters and contact force feedback signals, generates joint torque instructions through impedance control algorithm, and drives the industrial robot to perform polishing work. Through visual foresight, the system can predict the working condition change in advance and adjust the parameters in advance, greatly reducing the force overshoot and oscillation, and realizing smooth transition.

The application discloses a GNSS / INS robust factor graph optimization method, system, device and medium, and belongs to the technical field of integrated navigation positioning. The method comprises the following steps: acquiring an IMU measurement sequence and a GNSS position observation sequence, and constructing a GNSS / INS factor graph model in a sliding window; in the current window, first-stage robust optimization is performed by using fixed GNSS covariance and a Huber robust kernel function, intermediate state estimation is obtained, normalized residual energy of GNSS position residuals in the north, east and sky directions is calculated, a direction-level quality state machine and state-aware smoothing confidence are updated; a direction-level standard deviation scaling factor is generated according to the state-aware smoothing confidence, and a direction-level GNSS adaptive covariance is reconstructed; the GNSS position factor weight model is replaced in the same window, second-stage adaptive re-optimization is performed, and final state estimation is output. The application can dynamically adjust the observation weights in each direction, suppress abnormal influences and retain reliable information, and improve the positioning accuracy and robustness of integrated navigation in a complex environment.

This invention relates to an energy-saving and efficient combustion control method and system for industrial furnaces, belonging to the field of industrial furnace automatic control technology. The method includes: acquiring the industrial furnace zone number; obtaining the corresponding target temperature and current temperature based on the industrial furnace zone number; calculating the temperature difference based on the target temperature and current temperature; when the temperature difference is less than a preset temperature difference threshold, finding the corresponding PID parameter based on the industrial furnace zone number; calculating a first required fuel amount based on the temperature difference and the PID parameter; controlling the zone corresponding to the industrial furnace zone number to add fuel according to the first required fuel amount; when the temperature difference is greater than the preset temperature difference threshold, finding a proportionality coefficient based on the industrial furnace zone number; calculating a second required fuel amount based on the temperature difference and the proportionality coefficient; and controlling the zone corresponding to the industrial furnace zone number to add fuel according to the second required fuel amount. This invention effectively reduces energy waste in industrial furnaces.

The invention discloses a photovoltaic MPPT (Maximum Power Point Tracking) control algorithm, which relates to the technical field of photovoltaic control algorithms, utilizes the characteristics of simple structure, high convergence speed, high global optimization capability, wide applicability and the like of a gradient optimization algorithm, and improves the defects of premature convergence and sensitivity to control parameters of the gradient optimization algorithm. Meanwhile, the photovoltaic output energy efficiency and the stability of the photovoltaic output energy efficiency serve as the evaluation basis, an MPPT algorithm performance evaluation model is constructed through an analytic hierarchy process, photovoltaic MPPT performance is evaluated, and GTO performance is verified and improved.

The application relates to an automatic ink adding device of an external ink cabinet, and belongs to the technical field of ink cartridges. The automatic ink adding device comprises an external ink cabinet, an ink barrel, a liquid level sensor arranged on the outer wall of the ink barrel and used for monitoring the liquid level in the ink barrel and an electric control system. The electric control system controls the ink in the external ink cabinet to enter the ink barrel. The liquid level sensor is in communication connection with the electric control system. A driving part rotates through driving a double roller shaft belt transmission part. The belt of the double roller shaft belt transmission part is in friction with a comb part to generate electricity, so that a metal protection part forms a positive electricity output body. The positive electricity output body formed by the metal protection part reduces the oscillation of the ink entering the ink barrel. When the added ink is close to a ball, positive charges gather in the ink, so that the ball repels the ink like a magnet, finally bends the originally vertically flowing ink, and makes the ink flow down along the ink barrel wall after entering the ink barrel, so that the problem that the ink will oscillate in the ink barrel and affect the monitoring result of the liquid level sensor is solved.

This invention belongs to the field of automatic control technology, specifically relating to a parameter adaptive optimization control method for a carrier gas evaporator-condenser. The method includes: acquiring and denoising the inlet carrier gas temperature, outlet carrier gas temperature, inlet carrier gas volumetric flow rate, inlet carrier gas relative humidity, and real-time spray water flow rate to obtain an effective operating dataset; acquiring the instantaneous heat transfer power at the sampling time based on the effective operating dataset; obtaining the evaporation efficiency ratio coefficient based on the instantaneous heat transfer power; acquiring the adaptive control gain based on the deviation between the evaporation efficiency ratio coefficient and a preset benchmark efficiency coefficient; compensating for the pressure deviation value of the condensing pressure using the adaptive control gain; and acquiring and issuing target frequency commands to the variable frequency drive devices for the fan and the spray water circulation pump. This invention solves the problem that control parameters cannot be dynamically adjusted according to environmental load, reduces energy consumption, and improves the stability of condensing pressure control.

This invention discloses a longitudinal anti-interference control method for a small fixed-wing unmanned aerial vehicle (UAV) based on the Actor-Critic framework. The steps are as follows: First, a longitudinal model of the UAV under disturbance is established; second, a performance function is designed to evaluate the control performance of the UAV, the Critic approximates the nonlinear performance function, and the Actor learns the optimal control law that minimizes the performance function; third, a disturbance neural network is added to estimate the disturbance of the UAV in the worst-case scenario, and a momentum neural network is used to improve the learning speed. This invention uses reinforcement learning technology and a neural network to approximate the performance function with the optimal control law, achieving adaptive control of the UAV under disturbance. This invention not only enhances the anti-interference capability of the UAV but also accelerates the convergence speed of the reinforcement learning control law.

In a crystal resonator (100), a crystal resonator plate (10) includes: a vibrating part (11); an external frame part (12) provided at a side of an outer periphery of the vibrating part (11); and a penetrating part (10a) provided between the vibrating part (11) and the external frame part (12) so as to penetrate the crystal resonator plate (10) in a thickness direction of the crystal resonator plate (10). An inclined surface (11c) is provided at an end part of the vibrating part (11) at the side of the penetrating part (10a) so as to protrude in the thickness direction and to be inclined with respect to a vibrating surface (11b) of the vibrating part (11).

The application discloses a grid-connected system eigenvalue calculation method, device and equipment and a readable storage medium. The method first determines a frequency range corresponding to a grid-connected system eigenvalue. Then, an aggregated impedance amplitude frequency response curve of the grid-connected system can be drawn, and a minimum point of the aggregated impedance amplitude frequency response curve of the grid-connected system in the frequency range is determined. In this way, the aggregated impedance amplitude frequency response curve of the grid-connected system is easy-to-obtain frequency domain information, and the damping ratio corresponding to the grid-connected system eigenvalue can be estimated through the minimum point in the aggregated impedance amplitude frequency response curve. That is, the grid-connected system eigenvalue in the time domain can be calculated through the damping ratio. It can be seen that the grid-connected system eigenvalue in the time domain can be calculated through the easy-to-obtain frequency domain information according to the application, and the grid-connected system eigenvalue is provided as research basis for analyzing and understanding oscillation in the grid-connected system, so that the oscillation of the grid-connected system is reduced.

The utility model discloses an electric flow regulating valve which comprises a regulating valve body, one side of the regulating valve body is fixedly connected with an air cylinder, the output end of the air cylinder penetrates through the regulating valve body in a sliding mode, the output end of the air cylinder is fixedly connected with a sliding plate, and the side, away from the air cylinder, of the sliding plate is fixedly connected with a plurality of dredging shafts. The two ends of the sliding plate are fixedly connected with connecting lugs correspondingly. The output end of the air cylinder drives the sliding plate and the dredging shaft to slide along the track of the fixed shaft, so that the dredging shaft can flexibly move in the discharging pipe to dredge the discharging pipe, powdery materials are prevented from being accumulated and caked in the flowing process, normal operation of the electric flow regulating valve is guaranteed, stability and reliability of a system are improved, and the service life of the electric flow regulating valve is prolonged. The damage to the valve due to blockage is reduced, the service life of equipment is prolonged, the frequency of replacing the equipment is reduced, and the cost is saved.

The invention discloses a fluid migration prediction method and device based on uncertainty constraints, relates to the technical field of data processing, and mainly aims to solve the problems of poor accuracy and effectiveness of existing fluid migration prediction based on uncertainty constraints. Comprising the following steps: acquiring a noisy data set of a medium of the uranium-containing solution migrated underground, and constructing a convective diffusion physical control model for representing the convective diffusion process of the uranium-containing solution; constructing a joint posterior probability model based on the joint posterior distribution of the noisy data set, the physical consistency likelihood item of the convective diffusion physical control model and the physical residual item of the physical information neural network model; and solving the joint posterior probability model based on variational gradient descent to obtain a particle set of posterior distribution, and predicting the noisy data set according to the particle set and the physical information neural network model to obtain a fluid migration prediction result.

The present application belongs to the field of unmanned aerial vehicle precise landing control, and specifically proposes an unmanned aerial vehicle precise landing delay compensation control method; first, the sampling time and output time of the on-board sensor of the unmanned aerial vehicle are obtained, the input and output time of the calculation module is calculated, and the input and output time of the control instruction transmission process is calculated, so as to obtain the delay time length of the whole process; then, the segmented approximate accumulation method is used to calculate the position of the unmanned aerial vehicle in the delay stage; then, the moving target position of the unmanned aerial vehicle is corrected; finally, according to the corrected target position, the speed and acceleration of the unmanned aerial vehicle are determined in combination with the rule base. Using the position compensation method, the position deviation of the unmanned aerial vehicle in the delay stage can be corrected, which provides a basis for position control. The fuzzy control strategy better suppresses the overshoot, reduces the horizontal position oscillation of the unmanned aerial vehicle during landing, and shortens the landing time.

The application relates to the technical field of nonlinear electromechanical system control, and discloses a rotary inverted pendulum composite nonlinear feedback tracking control method. The method establishes a nonlinear dynamics model based on the mechanical structure parameters of a rotary inverted pendulum and the driving relationship of a direct-current motor, linearizes the model near a balance point of a pendulum rod, and obtains a state space model with motor control variables as inputs; according to the coupling relationship between each state variable and a control target, the system state vector is decomposed into a pendulum rod stable ring state vector and a rotary arm tracking ring state vector, the pendulum rod stable ring constructs a pendulum rod stable control law to keep the pendulum rod upright, and the rotary arm tracking ring constructs a composite nonlinear feedback control law on the basis of the pendulum rod stability. The composite nonlinear feedback control law takes the rotary arm position tracking error as a regulating variable, adjusts the feedback strength through a non-positive bounded nonlinear function, strengthens the damping action when the rotary arm approaches the target position, thereby reducing the overshoot and oscillation in the position tracking process, and improving the rapidity and stability of the tracking response.

The invention belongs to the technical field of electronic equipment, and particularly relates to a digital-to-analog conversion control voltage variable LDO (Low Dropout Regulator) based on current negative feedback, which comprises a digital bit control DAC (Digital-to-Analog Converter) module, an error amplifier, an mos (Metal Oxide Semiconductor) tube, feedback resistors R1 and R2 and feedback capacitors C1 and C2, output current of the digital bit control DAC module is connected with a reverse input end of the error amplifier, a positive input end of the error amplifier is externally connected with reference voltage, and an output end of the error amplifier is connected with a grid electrode of the mos tube; a drain electrode of the mos tube is externally connected with power supply voltage, and a source electrode of the mos tube is connected with one ends of the R1, the R2, the C1 and the C2 respectively; the other end of the R1 is respectively connected with the other ends of the C1 and the C2, and is connected with the reverse input end of the error amplifier; the other end of the resistor R2 is grounded. According to the invention, the change of gain can be reduced through current negative feedback, so that the system is more stable under different working conditions, and oscillation and nonlinear distortion are reduced.

The present invention discloses a laminated lead terminal and a power module using the same. The laminated lead terminal includes a first lead terminal and a second lead terminal. The first lead terminal and the second lead terminal both include a main body, a connecting part is bent out at one end of the main body, a connecting part is provided with a connecting hole, a connecting arm is extended to both sides and away from the connecting part at the other end of the main body, and a welding foot is bent out at the end of the connecting arm; the connecting part of the second lead terminal is also provided with a transition hole, the connecting arm, the main body and the connecting part of the first lead terminal and the second lead terminal are laminated, and the connecting hole of the first lead terminal is provided above the transition hole. The lead terminal of the present application adopts a laminated structure, which reduces the parasitic inductance of the power module and reduces the oscillation of the switching voltage and current waveform.

Provided are a power semiconductor module and a power conversion device that have an internal wiring structure that can reduce electrical vibration that occurs in internal wiring. This power semiconductor module comprises: an upper arm that has a first substrate upon which at least one power semiconductor chip including a first switching element is mounted, and a second substrate upon which at least one power semiconductor chip including a second switching element connected in parallel to the first switching element is mounted; and a lower arm that has a third substrate upon which at least one power semiconductor chip including a third switching element is mounted, and a fourth substrate upon which at least one power semiconductor chip including a fourth switching element connected in parallel to the third switching element is mounted. The power semiconductor module is characterized in that: the upper arm has first wiring that connects the first substrate and the second substrate and connects an emitter or source for the first switching element to an emitter or source for the second switching element; and the first wiring is disposed at a position further away from the lower arm in comparison to the end portion on the far side away from the lower arm of the power semiconductor chip positioned furthest from the lower arm from among the power semiconductor chips of the upper arm.

The application relates to the technical field of computer system evaluation, and particularly discloses an evolvable and reliable cloud level calculation system and method based on game optimization; the method comprises the following steps: in the first stage, a pair comparison matrix is established based on the theory of trusted computing dependency tree and the analytic hierarchy process to generate a static weight vector; in the second stage, multi-source threat data is collected through an AI model, a double comparison matrix is constructed through double-dimension labeling classification, and a dynamic weight vector is output; through game theory, an antagonistic pair of core security mechanisms is identified, an antagonistic gradient and the dynamic weight vector are calculated, a weight convergence interval and a level promotion upper bound are predicted, and an optimal weight evolution path is generated; the system is used for realizing an evolvable and reliable cloud level calculation method based on game optimization; and the application is favorable for improving the adaptability and predictability of cloud security evaluation and providing a decision basis for cloud service security optimization.

The application provides a communication method and device, the method is applied to a first network device, the first network device is in an M-LAG networking, the M-LAG networking further includes a second network device, the first network device includes a first MLAG interface, and the method includes: if the first network device senses that the M-LAG networking is split, sending first protocol packets to a plurality of third network devices accessing the M-LAG networking through the first MLAG interface respectively; if second protocol packets sent by the third network devices are received through the first MLAG interface, and the number of the second protocol packets is the same as the number of the first protocol packets, maintaining a current working mode.

The invention discloses a fixed base mechanical arm point-to-point trajectory optimization method based on a near-end strategy optimization algorithm, solves the problem that a high-dimensional continuous action space exists when deep reinforcement learning is directly used for a fixed base mechanical arm tail end position to reach a task, and belongs to the field of robot operation control and mechanical arm autonomous motion optimization. The method comprises the steps that a mechanical arm kinematics model is established, and constraint conditions are defined; modeling a tail end point-to-point arrival task as a sequential decision process, constructing a state vector as the input of a strategy network, and taking a tail end displacement increment direction vector as the action output of the strategy network; mapping the tail end displacement increment direction vector into a joint increment through differential inverse kinematics, and performing constraint processing according to a constraint condition to generate an executable joint control instruction; and training the strategy network by adopting a near-end strategy optimization algorithm, obtaining a single-step reward through a multi-target reward function, and evaluating the performance output by the action of the strategy network according to the single-step reward until convergence.

The utility model discloses an oil-submerged pump test tool which comprises an oil tank profiling container, a manhole seat ring, a supporting piece, an oil-submerged pump, an oil conveying pipeline, a manual ball valve, a pressure gauge, a flow meter, a shock absorber, a shock absorption elbow and an oil outlet pipe. The manhole seat ring is arranged on the oil tank profiling container, the manual ball valve and the pressure gauge are adjacently arranged on the horizontal section of the oil conveying pipeline, the oil outlet end at the tail end of the oil conveying pipeline is connected with the flow meter inlet end through the shock absorber, the flow meter outlet end is connected with the oil outlet pipe through the shock absorption elbow, and the oil outlet pipe extends into the oil tank profiling container. The device is simple and reasonable in overall structure, light in weight design, convenient to disassemble and assemble, small in occupied space and convenient to arrange, and the labor intensity of an operator is relieved; the reading is convenient and quick, the test result can be quickly obtained, the test efficiency is improved, the recycling of the test liquid is realized, the resource is saved, and various application scenes are met.

The application discloses a power coordination control method of a charging system and relates to the technical field of charging piles, and comprises the following steps: S1: acquiring three-phase voltage of a power grid in real time, obtaining three-phase safe voltage of the power grid through the three-phase voltage of the power grid, acquiring a maximum allowable working current, acquiring a power factor, obtaining a maximum power limit value of a PCS through the three-phase safe voltage of the power grid, the maximum allowable working current and the power factor; when a charging gun is converted from slow charging to fast charging and proposes a power up-regulation request, whether there is a power up-regulation space is judged through a total output power and the maximum power limit value of the PCS, so that different power up-regulation strategies are formulated according to the size of the up-regulation space, which is beneficial to avoiding PCS overcurrent faults caused by uncontrollable sequences of power adjustment, and is also beneficial to improving the safety of power adjustment, so that circuit oscillation is smaller and more stable and safe.

The present invention provides an engine control method and system based on a throttle valve, and relates to the technical field of engine control. The method comprises: combining the gas pressure upstream and downstream of the throttle valve, establishing an engine dynamics model with a throttle valve opening and an engine theoretical output power; linearizing the engine dynamics model under the engine idle condition, and outputting a linearized transfer function model of the engine; constructing an engine disturbance observer; calculating a power deviation value between the current engine output power and the target engine output power; based on the power deviation value, constructing an engine fractional-order PID controller in combination with the disturbance observation value of the disturbance observer as an active compensation item; obtaining a current disturbance estimation value of the engine by using the disturbance observer; inputting the current disturbance estimation value into the fractional-order PID controller, and outputting an actual throttle valve opening; and controlling the engine according to the actual throttle valve opening. The engine control accuracy is improved, and the overshoot phenomenon is reduced.

This invention discloses an SCR ammonia injection control method and system. First, a PLS regression is constructed by collecting signals such as inlet / outlet NOx, flue gas volume, temperature, oxygen content, and ammonia flow rate. The regression coefficients are then used as state variables and updated online adaptively by Kalman filtering. Next, the ammonia injection quantity is calculated using SCR stoichiometry as feedforward, and model-based feedback correction and inlet NOx slope disturbance feedforward are introduced. Combined with operating condition fluctuation detection, valve smoothing, and amplitude limiting, ammonia injection valve commands are generated, achieving stable control of outlet NOx near a narrow-band setpoint, reducing ammonia consumption and valve adjustment frequency.