31results about How to "Reduce phase lag" patented technology

The embodiment of the present invention discloses a method for controlling the master end of a vascular interventional robot system based on adaptive force feedback, wherein the method includes: constructing a motor model; constructing a slide rail model; acquiring a slave end sensor signal, and filtering the slave end sensor signal; Constructing the reference model of the motor, based on the reference model, setting the controller to correct the parameters of the motor model in real time; based on the corrected motor model and the slide rail model, estimating the friction force, and compensating the friction force; based on the processed sensor signal, the torque force received by the restored slave device and the horizontal resistance received by the restored slave device act on the operating rod, and act on the restored operating rod The force is the force feedback. The method can realize precise force feedback, make the vascular interventional robot system have strong anti-interference and robustness, and can largely avoid output fluctuations.

The invention relates to a disturbance suppression system and method based on the combination of a model inverse structure and a multi-ring frequency division disturbance observer. The control system based on model inversion and disturbance observer enables the distributed power generation to actively participate in the active power frequency modulation and reactive power voltage regulation process of the power system, and at the same time obtain the reference value of voltage and current; the voltage and current controller finely adjusts the injected voltage and current. The invention can effectively enhance the reliability of the inverter control system, improve the stability, and enable the microgrid to avoid current changes and load power fluctuations caused by loop switching when the microgrid switches the operating mode through the static switch, and realizes the smooth operation mode of the microgrid switch.

The invention belongs to the field of the digital speed measuring technology and particularly relates to a median-value average filtering principle-based digital speed measuring method, wherein a speed feedback value is resolved based on the displacement. According to the median-value average filtering principle-based digital speed measuring method provided in the invention, firstly, the number N0of sampling points is selected, and a median-value average filtering-based digital speed measuring scheme is determined. The speed measuring scheme is subjected to mathematical simulation test. In this way, whether the signal characteristic and the phase margin characteristic of the speed measuring scheme meet the requirements at the same time or not can be verified. After that, the entity test is carried out on a motor connected with an absolute displacement sensor, wherein whether the characteristic of the speed feedback signal of the motor and the characteristic of the phase margin of thecontrol loop meet the requirements at the same time or not are verified. According to the invention, the method overcomes the defects of a traditional method in an initial operation stage and reducesthe resolution error. Meanwhile, the introduced phase lag is reduced. The control characteristic in the initial acceleration stage is improved. The method is suitable in all application scenes whereincorresponding speeds need to be resolved by using linear displacement values or angular displacement measurement values. The method has great practical engineering application value.

The invention provides a fin rotating mechanism capable of dynamically measuring fin lift force, which comprises a fin shaft, wherein an end fin sleeve of the fin shaft is provided with an anti-rolling fin; an end circle center position at the other end of the fin shaft is provided with a potentiometer type fin angle measuring transducer to form a fin angle feedback box to serve as a fin angle feedback mechanism; the fin shaft realizes double-support fixation through two bearings; a box body realizes dynamic seal with the fin shaft and is welded on a boat hull; the fin shaft is a hollow fin shaft, and a solid shaft core is arranged in the hollow fin shaft, is firmly connected with a jacket of the fin shaft close to a fin mounting position and can rotate along with the fin shaft; and a lift force measuring transducer is fixedly arranged at the tail end of the solid shaft core. The fin rotating mechanism designed by the invention can directly acquire the dynamic lift force of a fin, avoid the non-linear relationship between an angle of attack and the lift force, and reduce the phase lag caused by the angle of attack in an angle servo.

The present invention discloses a permanent magnet synchronous motor fuzzy neural network control system for an electric car, relates to an electrical transmission and control technology field, and provides a speed controller based on the fuzzy mathematics and neural network theory and a novel sliding-mode observer based on a tracking differentiator. The system comprises a fuzzy neural network control unit, a sensorless unit, a flux linkage and current calculation unit, a dual- current-loop vector control unit and a control object unit, can realize parameter autotuning of the permanent magnet synchronous motor and high-precision speed regulation in the condition without a mechanical speed sensor, can be applied on an electric car taking the permanent magnet synchronous motor as a power device, and is simple in structure and reliable in operation. Compared to a traditional PID speed controller and a sliding-mode observer, the permanent magnet synchronous motor fuzzy neural network control system for an electric car is higher in tracking precision, stronger in robustness and smaller in counter electromotive force buffeting; and when parameter perturbation of the controller or load disturbance, the permanent magnet synchronous motor fuzzy neural network control system for the electric car also can perform online regulation of parameters of the controller and accurately estimate the position and the speed of a motor rotor.

Integrated circuits, for example, gyrator circuits include transistors that are preferably MOS devices and that are provided with series feedback networks, which compensate for the effects of channel delay in the MOS devices.

The invention discloses a digital converter of a magnetic encoder, comprising a magnetic encoder, a signal processor, a phase-sensitive detector, a feedforward signal generator and a state observer. The signal processor caries out amplitude conditioning and analog-to-digital conversion to the output signal of the magnetic encoder; the phase-sensitive detector can generate an error signal containing phase information according to the output signal of the magnetic encoder and an angle estimation value output by the state observer; the feedforward signal generator calculates a feedforward angular velocity value needed by the state observer according to the output signal of the signal processor; and the state observer demodulates the angle and the angular velocity of a tested rotating device according to the error signal and the feedforward angular velocity value. The invention can greatly reduce the phase lag of the demodulated signal when the rotating device continuously rotates and hashigh demodulation accuracy and strong anti-interference capability.

The invention discloses a composite control method for improving the anti-disturbance capability of a brushless DC motor. State space model of brushed DC motor servo system; Step S2: take the total disturbance as an extended state variable, and reconstruct the equivalent state space model of the system by separating the measurable state and the unmeasurable state of the system; Step S3: construct a reduced-order extended state observation to estimate the total disturbance and the unmeasurable state of the system online; step S4: use the estimated value of the reduced-order extended state observer and the measurable state of the system to design a backstepping controller based on disturbance dynamic compensation to suppress the influence of disturbance on the system output , improve the dynamic performance and robustness of the system, and ensure the accurate tracking of the system output to the reference input. The invention has the advantages of simple implementation, strong real-time control and high tracking accuracy.

The invention relates to a feed-forward compensation control system and method for improving the passive leveling system of a hydraulic machine. In the no-load leveling stage, the actual speed of the movable beam is calculated and output through the Kalman filter through the first valve compensation signal operation module. Through the change of the feedback signal of the spool of the leveling control valve in the previous pressing cycle, the parameter optimization of the compensation calculation of the current cycle valve is realized, and then the optimal flow rate at the outlet of the lower chamber of the leveling cylinder and the variable speed movement of the movable beam are realized. Optimal matching, while reducing the pressure in the lower chamber of the leveling cylinder, further reducing the energy consumption of the master cylinder. In the pre-load leveling stage, the valve compensation value calculated by the second valve compensation calculation module for the former decays to a smaller value through the optimal transition curve with a variable slope with slow attenuation in the front stage and fast attenuation in the rear stage, so as to realize the control of the master cylinder pressure and The smooth transition of the pressure of the leveling cylinder increases, which makes the position tracking of the master cylinder and the steady state accuracy of the leveling in the subsequent load leveling stage better.

The invention discloses an immune algorithm based method for estimating the square wave injection rotate speed of PMSM high-frequency voltage. The immune algorithm based method is specifically implemented according to the following steps: step one, injecting a high-frequency voltage square-wave signal in an estimated rotating coordinate system, using a high-pass filter based on immune algorithm on-line optimization to extract high-voltage current response corresponding to the high-frequency square-wave voltage signal; step two, obtaining a rotor position error signal through signal processing by the high-frequency current response obtained in the step one; and step three, estimating the rotate speed and rotor speed of a PMSM by a Romberg observer through the rotor position error signal obtained in the step two. According to the immune algorithm based method for estimating the square wave injection rotate speed of PMSM high-frequency voltage disclosed by the invention, the time constant of the filter is adjusted on line through the online learning immune algorithm, and the purpose of autonomously optimizing the time constant of the filter is reached, so that the actual rotor position is tracked preferably through the rotor position estimated by the high-frequency injection method, and the phase lag caused by the filter is reduced.

The invention relates to the technical field of AC permanent magnet servo systems, in particular to a computer readable storage medium and an AC permanent magnet servo system of using the same. A computer program is stored in the medium and can be executed by a processor of the AC permanent magnet servo system. Torque current iq* is obtained through a given angular speed omega* and is fed forwardto an output end of a speed controller, so that an output angular speed omega can be directly obtained without through a PI adjuster, the angular speed response in the servo system is greatly accelerated, the bandwidth of a speed loop of the servo system is increased and the phase lag of a feedback speed on a given rotating speed is reduced.

The invention relates to a position interpolation-based axial angular speed estimation method. According to the method, on the basis of encoding disk T method speed measurement, a time point when theminimum resolution bit of an encoding disk changes is accurately obtained; an axial angular speed is obtained through an enhanced speed estimation formula; and therefore, phase lag can be reduced, speed loop gain is improved, and the disturbance suppression capability and following accuracy of a stabilization platform can be improved. The method has a broad application prospect.

The invention discloses a method for detecting motor kinematics parameters based on pulse feedback. The method comprises the following steps: by continuously collecting the pulse count of N times before the signal reading time, linearly fitting the collected N pulse count and the corresponding time thereof to an N-1 order function, so as to obtain a relational function of a motor position and the time; solving a first-order derivative of the relational function of the motor position and the time to obtain a relational function of motor speed and the time; solving the first-order derivative of the relational function of the motor speed and the time to obtain a relational function of accelerated speed of a motor and the time; judging whether the signal reading time and the pulse count time are synchronous, and putting corresponding constraint conditions to obtain the detection results of the position, the speed and the accelerated speed of the motor. According to the method, the position, the speed and the accelerated speed of the motor as well as the speed range of expanded speed measurement at the signal reading time are calculated at the same time, so that the calculation accuracy and instantaneity of the position, the speed and the accelerated speed of the motor are improved.