7results about How to "Simplify Control Design" patented technology

The invention discloses a vehicle steering control method, a vehicle steering system and a vehicle, the vehicle comprises a distributed driving system, and the vehicle steering control method comprises the steps that according to a steering wheel target steering angle and a steering wheel actual steering angle, a steering wheel steering angle error is determined; determining a target differential torque of a steering wheel according to the steering wheel angle error; and according to the target differential torque of the steering wheel, a driving motor corresponding to the steering wheel in the distributed driving system is controlled, so that the target differential torque of the steering wheel is distributed to the steering wheel. According to the method and the system, the problem of inaccurate steering possibly caused by a fault of a vehicle steering system can be solved, additional hardware does not need to be added, the manufacturing cost is low, the vehicle structure and the control design are simple, and the occupied space is saved.

The present invention belongs to the field of antenna micro-vibration control technology, and specifically discloses a ring-column deployable antenna beam pointing micro-vibration control method, comprising the following steps: installing a voice coil actuator, a force sensor and a vibration response sensor on the antenna structure to obtain the axial force of the actuator cable and the vibration response information of the antenna structure; using the cable unit and beam unit of the antenna structure to establish a finite element model, performing dynamic analysis to obtain the frequency response data, modal vibration shape and damping ratio of the antenna, and selecting a control modal target; designing a beam pointing vibration controller to calculate the modal control force; converting the modal control force into a control signal, inputting the control force into an actuator to generate the control force, and realizing effective control of the vibration of the antenna beam pointing. The present invention solves the problem that the low-frequency micro-vibration problem encountered by the ring-column deployable antenna in space applications will significantly reduce the pointing stability of the antenna beam, and improves the pointing stability of the antenna beam.

The present application relates to a kind of nuclear power plant airborne radioactive containment ventilation device and group control method, process function piece includes fresh air treatment function piece, air supply and exhaust and negative pressure regulation function piece and purification function piece, fresh air treatment function piece, air supply and exhaust and negative pressure regulation function piece and purification function piece are sequentially connected by pipeline, control piece includes global group control module, fresh air treatment group control module, air supply and exhaust and negative pressure regulation group control module, purification group control module.The nuclear power plant airborne radioactive containment ventilation device and group control method of the present application can make operator only need to send a small amount of simple control instruction by global group control module, realize the function control of each component, realize the automatic operation regulation of ventilation system under different conditions, system one-key start-stop function, can greatly improve the automation level of ventilation system, reduce operator operation load, reduce human error risk, simplify ventilation system control design.

The present invention discloses a three-branch two-rotation ankle joint rehabilitation parallel robot mechanism, comprising a moving platform, a fixed platform, two active branches and a just-constrained branch. The two active branches have the same kinematic chain structure, and are respectively composed of a parallelogram structure, a revolute pair and a universal joint. The parallelogram structure comprises two revolute pairs with parallel axes and two universal joints. The just-constrained branch is composed of two revolute pairs with perpendicular axes connected in series. One end of the third universal joint of the first active branch is connected to the just-constrained branch, and one end of the sixth universal joint of the second active branch is connected to the moving platform. The velocity Jacobian matrix of the parallel robot mechanism of the present invention is a diagonal matrix, which realizes a one-to-one control relationship between the input motion and the output motion of the mechanism.

This invention discloses a command filtering control method, system, and controller for nonlinear systems based on a dominant function, belonging to the field of intelligent control technology. The command filtering control method includes the following steps: S1: establishing an uncertain strict feedback nonlinear dynamic system model; S2: designing a general command filter based on a dominant function; S3: determining the desired output trajectory of the nonlinear system and calculating the tracking error; S4: designing a control input signal u to make the tracking error approach zero. This invention, by designing a novel general command filter based on a dominant function, allows the command filter parameters to be arbitrarily positive numbers and enables the control system to maintain global stability. Furthermore, this control method can significantly reduce the complexity of control design, making the design of intelligent controllers simpler and easier.

The invention belongs to the technical field of aircraft control, and discloses a self-adaptive reverse cooperative control method and system for a coaxial dual-rotor aircraft, and the method comprises the steps: obtaining a target attitude instruction; according to whether pitching and rolling instructions exceed a set threshold value or not, a reverse cooperative control strategy or a conventional same-direction control strategy is intelligently selected, and upper and lower rotor wing control instructions are obtained through calculation; according to the yawing and vertical speed instructions, the target rotating speed of the double motors is calculated; and converting the control instruction into a steering engine PWM signal and synchronously outputting the steering engine PWM signal to an execution mechanism. The system correspondingly comprises an attitude instruction acquisition module, a control instruction calculation module, a motor rotating speed calculation module, a steering engine signal conversion module and a synchronous output module. According to the method, the response capacity under large maneuverability is improved through reverse cooperative control, safe takeover and degraded operation under the steering engine set fault are achieved through a fault detection and redundancy control mechanism, and the control precision, maneuverability and reliability of the aircraft under the complex working condition are remarkably improved.

The utility model provides a track switching mechanism which comprises a guiding piece and a material blocking piece, the guiding piece is connected with a first displacement assembly, and the material blocking piece is connected with a second displacement assembly. The first displacement assembly controls the guiding part to enter the first track or exit, and the second displacement assembly controls the material blocking part to enter the first track or exit. The material blocking part is used for blocking the objects conveyed by the first rail when the objects are about to approach the guiding part so as to block scanning, and the guiding part is used for guiding the objects conveyed by the first rail to the second rail. According to the utility model, the conveying and switching orderliness of objects such as sample containers and the like can be ensured, the objects are blocked by the material blocking rod, so that the objects are static on the first track to scan and confirm information, whether the tracks need to be switched or not is judged, and the objects are guided from the first track to the second track by the guide plate when the tracks need to be switched. And associated control of the material blocking rod and the guide plate can be completed through a set of driving piece. The utility model further provides a conveying track.