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 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 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.

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 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 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 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.