34results about How to "Short control period" patented technology

The invention belongs to the technical field of multi-axis motion control, and discloses a method for designing an SoC (System on Chip) core system and realizing inter-core task communication, which comprises the following steps of: constructing a dual-core system and completing transplantation of an equipment driver; performing communication based on a shared memory; aiming at different communication tasks, utilizing the shared information to carry out multi-task communication. The system for realizing the design of the SoC core system and the inter-core task communication under the MP architecture comprises: an SoC minimum system used for completing the management and distribution of system shared resources, analyzing a control time sequence, completing the communication between units, and communicating with a platform interface at the same time; and A platform interface which is used for completing servo driving, system monitoring and IO control functions. The multi-axis motion control platform has a complete use function, the real-time performance and synchronous control of the system meet the use requirements of motion control, and the multi-axis motion control platform can beused for robot real-time communication and multi-axis synchronous control.

The present invention provides a motor control device capable of stably and efficiently driving a synchronous motor without a position sensor with simple control. Command value, obtain the error voltage, and compensate the V / f characteristic of the motor.

The invention discloses an overvoltage protection configuration system of a unified power flow controller. The system comprises a direct-current overvoltage protection device, a valve overvoltage protection device and a sub-module overvoltage protection device. The relation of protection action constant values can be expressed by a relational expression that (N*Vov2)>(N*Vov1)>Uov1>...>Uovm>Unom. The cooperative relation of protection action delay can be expressed by a relational expression that Tvo2<Tvo1<Tuo1...<Tuom. Lightning arresters and by-pass switches which are in bridge joint are configured at two ends of the circuit-side winding of a series transformer; grounding lightning arresters are respectively configured at the near bus-bar end and near circuit end of the circuit-side winding of the series transformer; grounding lightning arresters are configured at the alternating-current power grid side and converter side of a parallel transformer; and grounding lightning arresters areconfigured at the alternating current-direct current side and valve bottom of a converter. With the overvoltage protection configuration system of the invention adopted, the converter can act reliably when the system is disturbed or the sub-modules of the converter fail, and therefore, the reliability of the unified power flow controller can be improved.

The invention discloses a judgment method and a control system for the content of water generated by a fuel cell. The judgment method comprises the steps of: detecting the pressure values of an air inlet and an air outlet of a fuel cell stack, and obtaining the characterization value of the water content of the stack through calculation; setting a water content range for normal work of a fuel cell according to parameters of the used fuel cell, and judging a characterization value of the water content according to the water content range; and adjusting the working states of a cooling fan and an air compressor to enter a drying mode, or adjusting the working states of the cooling fan and the air compressor to enter a humidifying mode. According to the method, the drying degree of a proton exchange membrane can be accurately judged in real time in the running process of the fuel cells, the condition that the membrane is dry or flooded can be treated, water balance of the proton exchange membrane is guaranteed, and therefore high-efficiency running of the fuel cell is guaranteed.

An intelligent health prediction method and system of an aircraft are used for real-time control health prediction of the aircraft and are real-time online health prediction algorithms. The intelligent health prediction method changes the health disposal scheme of the traditional aircraft after-event remedy, and outputs the health prediction value of the aircraft in real time. The intelligent health prediction system comprises five models: an aircraft data simulation model, a data set positive sample training prediction model based on RNN and LSTM, a prediction model based on a grey model, a combined prediction model and a health degree calculation model.

This invention relates to a double-pulse width modulation controller of a back to back structure voltage deflector characterizing in including two sets of same structured digital signal processor circuits and a site programmable gate array circuits, a synchronous unit circuit, an A / D conversion regulation circuit, an overvoltage-overcurrent regulation circuit, a serial communication circuit, a fault, state indication circuit and a control supply circuit, in which, the DSP of the digital signal processor circuit is used for A / D conversion, upper layer control algorithm, pulse width modulation, generation of pulses and serial communication control in the bottom layer control, the two I / O ports of the digital signal processor circuit and the site programmable gate array circuit are connected for the communication of the working state between them and application in different fields by programming not necessary to alter the hardware circuit.

The invention discloses a spacecraft three-super control multistage collaborative planning and agile maneuvering method, which is suitable for the field of spacecraft relative motion control. When therelative attitude of a tracking spacecraft and a target spacecraft is large, the initial relative attitude of the tracking spacecraft and the target spacecraft is obtained through orbit extrapolation, and a star first-level controller of the tracking spacecraft is designed to achieve agile maneuver so as to rapidly point to the target spacecraft. When the relative attitude of the tracking spacecraft and the target spacecraft is small, load target attitude planning is carried out through the optical camera. A load second-level attitude controller is designed, and taking the measurement information of the optical load as feedback, high-precision pointing control of the load optical axis to the target spacecraft is realized. Meanwhile, aiming at the problem of different periods of the star and load controllers of the tracking spacecraft, a multistage collaborative planning method of the tracking spacecraft is designed, track interpolation is carried out by utilizing an attitude sent by asatellite platform, and high-precision tracking of a target attitude by a load is realized.

The invention relates to a snake-like robot joint, in particular to a modular snake-like robot joint. The problems that due to combination of a servo driving mode and a gear transmission mode, an existing snake-like joint is large in reverse backlash, long in control period, low in precision and poor in positioning capacity are solved. The modular snake-like robot joint comprises a joint input part, a joint output part, an intermediate shaft section, a motor assembly and a harmonic reducer, wherein the joint input part and the joint output part are arranged at the two ends of the intermediate shaft section correspondingly; the motor assembly and the harmonic reducer are arranged inside the intermediate shaft section side by side; the output end of the motor assembly is connected with the harmonic reducer and drives the harmonic reducer to rotate; and the harmonic reducer drives the joint output part to make swinging motion with the intermediate shaft section as an axis. Through arrangement of a torque sensor and a joint output end position sensor for measuring force-position information of the snake-like robot joint, the perceptive function of a robot is improved, and the robot can be controlled conveniently. The modular snake-like robot joint is applicable to snake-like robots.

The invention relates to a direct-current power supply asynchronous parallel digital control system and a control method thereof. The direct-current power supply asynchronous parallel digital control system comprises a monitoring system and N direct-current power supply modules, wherein N is greater than or equal to 2. The monitoring system comprises a DSP control circuit, a serial communication circuit, man-machine interaction equipment, an asynchronous control circuit and a feedback circuit, wherein the DSP control circuit is respectively connected with the serial communication circuit, the man-machine interaction equipment, the asynchronous control circuit and the feedback circuit. The direct-current power supply asynchronous parallel digital control system of the invention can enable asynchronous and orderly work of the multiple power supply modules to be realized as required, actually control parallel output waveform and enable constant-voltage, constant-current or constant-power control of a power supply system to be quickly realized; the system has the advantages of simple process, less wiring, convenient maintenance and the like; and the system adopts a digital control method which is simple to operate and reliable in control, greatly improves the dynamic performance of the system in a constant-voltage mode and can be directly applied to a digital direct-current power supply parallel system.

The invention discloses gantry double-drive dynamic double-head high-speed high-precision dispensing equipment and a gantry double-drive dynamic double-head high-speed high-precision dispensing control system. The gantry double-drive dynamic double-head high-speed high-precision dispensing equipment comprises a cabinet, a conveying track is arranged in the middle of the top surface of the cabinet, the conveying track is sequentially provided with a feeding station, a dispensing station and a discharging station from left to right, and a Y1 axis and a Y2 axis are arranged on the top surface of a rack; an X-axis stator is arranged on a cross beam between the Y1 axis and the Y2 axis, an X1-axis rotor and an X2-axis rotor are arranged on the X-axis stator, a first dispensing valve, visual equipment and a laser displacement sensor are arranged on a Z1 axis, a macro motor is arranged on a Z2 axis, and a second dispensing valve is arranged at the working end of the macro motor; and according to the equipment, a motion control unit, a transmission control unit, a machine vision system and a signal data acquisition and dispensing control unit are gathered in a bus manner, communicate with each other and transmit data, so that the high-speed and high-precision dispensing process of products is completed, the operation stability of the dispensing process is ensured, and the automation integration level of the control system is improved.

The invention relates to a traffic elasticity regulation and control method and system based on reinforcement learning. The method comprises the following steps: dividing a traffic network into a plurality of areas, and collecting traffic flow information of each area; determining a macroscopic basic diagram of each area according to the traffic flow information; based on the macroscopic fundamental diagram, determining the flow level of each region during supply and demand balance; determining the imbalance rate of the traffic network according to the flow level; determining a critical imbalance threshold value of the traffic network through seepage analysis according to the imbalance rate; establishing a multi-agent reinforcement learning model, and performing learning training on the multi-agent reinforcement learning model according to the traffic flow information, the flow level and the critical imbalance threshold to generate a trained multi-agent reinforcement learning model; and regulating and controlling the actual traffic network by using the trained multi-agent reinforcement learning model to make the current unbalance rate of the actual traffic network smaller than the critical unbalance threshold. The optimal regulation and control effect can be achieved in the shortest regulation and control period.

Provided is a variable-period control method of a satellite emergency system. On the basis of reasonably designing a satellite emergency state attitude determination algorithm, the system control method with the control period changing with environmental changing in the operation process of emergency software is designed according to the current interrupt counting control period realizing mode and the state of a selected sensor (top). When selection of the sensor (top) is not changed, top mounting matrix selection, pseudo-inverse (matrix) solving and other complex calculation processes are not carried out during each control period, and attitude determination is carried out through saved values; otherwise, top mounting matrix selection and pseudo-inverse solving calculation are carried out again. Interrupt counting is not updated again in the attitude determination process through top mounting matrix reselection and pseudo-inverse solving, the control period is prolonged objectively, and the problem of overtime of calculation of the control period is avoided. The problem that the requirement for an unnecessary long control period is caused by complex repeated calculation is avoided, the control effect of the spacecraft emergency system is improved, and control duration under attitude offset is shortened.

The invention discloses a self-suction type range hood. The self-suction type range hood comprises a tapered cover with an opening in a lower end, wherein a ring-shaped slot is formed in the side wallof the tapered cover in the peripheral direction; a heat insulating plate is arranged in the ring-shaped slot; a plurality of cylindrical cavities are arranged in peripheral side walls of the taperedcover; inner walls of upper and low openings of each cylindrical cavity are fixedly connected with dustproof nets; cavities of the cylindrical cavities penetrate through the heat insulating plate andextend towards two side walls of the ring-shaped slot; and one side, close to the inner part of a circular table shaped cover, of each cylindrical cavity is fixedly equipped with a heat conducting plate. The self-suction type range hood is novel in idea, and reflects heat generated during dish frying and cooking onto the inner wall of the tapered cover through an infrared reflecting film, so thatcircular-arc-shaped heat dissipation sheets of the heat conduction plates are heated quickly, the control period of a temperature-control sheet is relatively short, an intermittent rotation period ofa rotary barrel is short, and speed is high, and therefore, fan blades are driven to rotate for sucking oil smoke; besides, a rotary mechanism does not need to be driven by a motor, so that obvious noises appear in a working process. The self-suction type range hood does not need external power to drive, so that energy is saved.

The present application relates to an accelerator control method and device, a power system and an unmanned aerial vehicle (UAV). The method includes: receiving, by an electronic speed control (ESC), an accelerator signal through a serial communication interface; extracting accelerator control data from the accelerator signal; generating, according to the accelerator control data, a motor control signal for controlling operation of a motor; and transmitting the motor control signal to the motor. The accelerator signal received through the serial communication interface is a digital signal subjected to small interference during transmission, unlike an analog signal that is susceptible to interference such as impedance and capacitive reactance, which causes data inaccuracy. In addition, in the manner of serial communication, a higher baud rate may be adopted to shorten an accelerator control cycle, thereby achieving high-speed control of an accelerator and increasing the control frequency.

The invention relates to a snake-like robot joint, in particular to a modular snake-like robot joint. The problems that due to combination of a servo driving mode and a gear transmission mode, an existing snake-like joint is large in reverse backlash, long in control period, low in precision and poor in positioning capacity are solved. The modular snake-like robot joint comprises a joint input part, a joint output part, an intermediate shaft section, a motor assembly and a harmonic reducer, wherein the joint input part and the joint output part are arranged at the two ends of the intermediate shaft section correspondingly; the motor assembly and the harmonic reducer are arranged inside the intermediate shaft section side by side; the output end of the motor assembly is connected with the harmonic reducer and drives the harmonic reducer to rotate; and the harmonic reducer drives the joint output part to make swinging motion with the intermediate shaft section as an axis. Through arrangement of a torque sensor and a joint output end position sensor for measuring force-position information of the snake-like robot joint, the perceptive function of a robot is improved, and the robot can be controlled conveniently. The modular snake-like robot joint is applicable to snake-like robots.

The invention provides an on-chip dual-redundancy dual-channel power-driven servo mechanism control circuit. A redundant field programmable gate array (FPGA) chip is used as a core part, a power supply, a three-phase bridge chip, a solid relay, an A / D sampler, a host / backup switch circuit and a necessary interface circuit are laminated at the periphery of the FPGA chip, all dual-channel power-driven servo mechanism control algorithms are achieved in a printed circuit board (PCB), and dual redundancy backup is achieved. The on-chip dual-redundancy dual-channel power-driven servo mechanism control circuit is used for controlling the attitude of an engine in an upper-stage item for emitting many satellites in the aerospace field; and by the on-chip dual-redundancy dual-channel power-driven servo mechanism control circuit, dual-backup dual-channel power-driven servo mechanism control circuit can be achieved in a single board, and the on-chip dual-redundancy dual-channel power-driven servo mechanism control circuit has the advantages of high reliability, long working time on an orbit and fast fault recovery and switching speed.

The invention discloses a five-freedom-of-degree magnetic levitation bearing dual contrary complementary electric excitation controller. Left and right magnetic levitation bearings, a microprocessor,a first displacement differential amplifier, a second displacement differential amplifier, a third displacement differential amplifier, a fourth displacement differential amplifier, a fifth displacement differential amplifier, an isolation driving circuit, an excitation power circuit and excitation windings are included; the left magnetic levitation bearing is provided with a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor and a left axial displacement sensor; the right magnetic levitation bearing is provided with a fifth displacement sensor, a sixth displacement sensor, a seventh displacement sensor, an eighth displacement sensor and a right axial displacement sensor; the output ends of the first displacement differentialamplifier, the second displacement differential amplifier, the third displacement differential amplifier, the fourth displacement differential amplifier and the fifth displacement differential amplifier are both connected with the microprocessor; the left and right magnetic levitation bearings are both provided with the excitation windings; and the microprocessor, the isolation driving circuit, the excitation power circuit and the excitation windings are sequentially connected. According to the five-freedom-of-degree magnetic levitation bearing dual-contrary complementary electric excitation controller, two-freedom-degree displacement information of a symmetrical interval serves as two input signals of one displacement differential amplifier, the way number of the analog quantity needing A / D converting is reduced by half, the A / D converting time needed within one control period is reduced by half, the control period is short, and the real-time control effect is improved easily.

The invention relates to an electrochemical direct-current power source same-frequency out-phase parallel control system and a control method of the system. The direct-current power source same-frequency out-phase parallel control system comprises a monitoring system and N direct-current power modules, wherein N>=2. The monitoring system comprises a DSP control circuit, a serial communication circuit, a human-computer interactive device, N same-frequency out-phase control and fault transmission circuits and an output feedback circuit, wherein the DSP control circuit is respectively connected with the serial communication circuit, the human-computer interactive device, the N same-frequency out-phase control and fault transmission circuits and the output feedback circuit. According to the electrochemical direct-current power source same-frequency out-phase parallel control system, the constant voltage function, the constant current function and the constant power function of a power source can be achieved as required, and the system has the advantages of being simple in technology, very small in number of wires,, favorable for maintenance and the like. The control method is digitally controlled and is easy to operate, reliable in control, good in dynamic performance and capable of being directly applied in a digitalized direct-current power source parallel system.

The invention relates to a traffic elastic control method and system based on reinforcement learning. The method includes: dividing the transportation network into several regions, and collecting traffic flow information in each region; determining the macro basic map of each region according to the traffic flow information; Determine the imbalance rate of the traffic network horizontally; according to the imbalance rate, determine the critical imbalance threshold of the traffic network through seepage analysis; establish a multi-agent reinforcement learning model, and perform multi-agent reinforcement learning model according to the traffic flow information, flow level and critical imbalance threshold. Learning and training, generating a trained multi-agent reinforcement learning model; using the trained multi-agent reinforcement learning model to regulate the actual traffic network, so that the current imbalance rate of the actual traffic network is less than the critical imbalance threshold. The invention can achieve the best regulation effect under the shortest regulation cycle.

The present invention proposes an overcurrent protection configuration method and system for a modularized multilevel converter, in which the AC overcurrent protection of the converter and the overcurrent protection of the bridge arm are configured at the DC control and protection PCP layer, and the valve base of the converter is configured Control the VBC layer to configure the inverter bridge arm overcurrent protection, and configure the IGBT component overcurrent protection at the inverter sub-module layer; the protection setting and protection delay of the overcurrent protection of each protection layer are coordinated with each other through the inverse time limit protection method, Coordinate protection for the overcurrent of the converter valve group and converter sub-modules. The protection configuration method and system can quickly and correctly perform protection actions in the case of different faults such as AC system short circuit, DC pole short circuit, and converter valve short circuit, so as to prevent the overcurrent stress from continuing to develop, effectively protect the valve group body, and improve system reliability.

The invention discloses a control method of an adaptive environment control system. The control method comprises: one or more indoor and / or outdoor environment parameters are collected and environment parameter collection values are obtained, control decision processing is carried out on the environment parameter collection values and an environment adjusting device adjusts the environment parameters; and an upper limit maximum value, upper limit minimum value, lower limit maximum value, and lower limit minimum value of an environment parameter are set. For the control decision processing on the environment parameters, the magnitude relations between the collection values of environment parameters and the upper limit maximum values, upper limit minimum values, lower limit maximum values, and lower limit minimum values are determined and then the environment adjusting device is controlled to adjust the environment parameters with corresponding adjusting intensities. According to the invention, with the closed-loop negative feedback system, the precision is improved; and the system complexity is reduced based on discretization. The control method has advantages of short control cycle, low delay, and high efficiency; and the parameters can be adjusted adaptively based on dynamic parameter learning and adjustment.

The invention discloses a control method for an adaptive environment control system, which includes collecting one or more indoor and / or outdoor environmental parameters, obtaining the value of the environmental parameter, performing control decision processing on the collected value of the environmental parameter, and instructing the environment adjustment equipment Adjusting environmental parameters, which also includes setting the upper limit maximum value, upper limit minimum value, lower limit maximum value and lower limit minimum value of the environmental parameters; the control decision processing of the environmental parameters is by judging the collected value of the environmental parameter relative to its upper limit maximum value , the upper limit minimum value, the lower limit maximum value and the lower limit minimum value, and control the environmental adjustment equipment to adjust the environmental parameters with the corresponding adjustment intensity. The present invention adopts a closed-loop negative feedback system with higher accuracy; and through discretization processing, the system complexity is reduced; the present invention is real-time adjustment, which has the advantages of short control period, small delay and high efficiency, and can learn dynamically through parameters Tuning, adjust parameters adaptively.

The invention discloses a self-suction type range hood. The self-suction type range hood comprises a tapered cover with an opening in a lower end, wherein a ring-shaped slot is formed in the side wallof the tapered cover in the peripheral direction; a heat insulating plate is arranged in the ring-shaped slot; a plurality of cylindrical cavities are arranged in peripheral side walls of the taperedcover; inner walls of upper and low openings of each cylindrical cavity are fixedly connected with dustproof nets; cavities of the cylindrical cavities penetrate through the heat insulating plate andextend towards two side walls of the ring-shaped slot; and one side, close to the inner part of a circular table shaped cover, of each cylindrical cavity is fixedly equipped with a heat conducting plate. The self-suction type range hood is novel in idea, and reflects heat generated during dish frying and cooking onto the inner wall of the tapered cover through an infrared reflecting film, so thatcircular-arc-shaped heat dissipation sheets of the heat conduction plates are heated quickly, the control period of a temperature-control sheet is relatively short, an intermittent rotation period ofa rotary barrel is short, and speed is high, and therefore, fan blades are driven to rotate for sucking oil smoke; besides, a rotary mechanism does not need to be driven by a motor, so that obvious noises appear in a working process. The self-suction type range hood does not need external power to drive, so that energy is saved.

The invention discloses a modular reconfigurable snakelike robot, and relates to a snakelike robot. The problems that an existing snakelike robot has reverse tooth spaces and is small in driving force, long in control period, poor in control precision and not compact in structure are solved. The reconfigurable snakelike robot is formed by connecting a series of modular joints end to end. Every two adjacent modular joints are spaced by 90 degrees and are electrically connected in a spring-contact pin mode. The modular joints can achieve single-joint rotating motion in the way that a brushless DC motor drives a harmonic reducer, and the advantages of structural modularization, configuration compactness, high carrying capacity and the like are achieved. The snakelike robot can achieve separation at the adjacent joints in different working environments, and thus can be configured into two or more snakelike robots. In a similar way, two or more snakelike robots can be configured into one snakelike robot. The modular reconfigurable snakelike robot is suitable for the fields of pipeline detection, disaster relief, aerospace planet surface detection and the like.

The invention provides an upper computer data write-out method and device, and the method comprises the steps: building a data table corresponding to each data source in advance, updating the data table corresponding to the data source when a platform is started or data points of the data source are modified, and determining a corresponding offset step length according to the total data number of the data table; and when a preset condition is met, an offset is set, performing data read-write polling on the data table queue according to the offset, so that the data in the data table can obtain an equal read-write probability, and the preset condition is that a platform allows to operate data read-write logic. By dynamically constructing the write-out sequence and optimizing the write-out strategy of the upper computer, the data write-out efficiency can be improved, so that a short control period can be set to ensure that all the data can be written out in one control period, and high-speed real-time control is realized.

The invention discloses steam turbine valve control method, device and system supporting control logic reconfiguration, and relates to the field of steam turbine valve control. The steam turbine valvecontrol method comprises the steps: in response to the situation that recompiled control logic data are input externally, acquiring corresponding recompiled control logic data; decoding the obtainedrecompiled control logic data to obtain corresponding executable control logic data; storing the executable control logic data obtained by decoding each time; selecting corresponding executable control logic data according to external instruction setting, and updating the executable control logic data into current control logic; and conducting steam turbine valve control according to the current control logic. By means of the method, online control logic reconfiguration of the module side can be achieved, and therefore the response speed of steam turbine valve control is increased.