2results about How to "Simplify implementation complexity" patented technology

The application discloses a robot trajectory control method and system based on PSO linear active disturbance rejection control, converts the dynamic equation of a mobile robot into multiple independent second-order integral series channels through coordinate transformation and input reconstruction, and obtains multiple decoupling channels; each decoupling channel is controlled by using the same LADRC controller; an independent three-order LESO is designed for each decoupling channel to estimate states and disturbances; a linear PD control law is used to generate a basic control amount, and the estimated total disturbance value is used to compensate in real time in the control amount; the bandwidths of the observer and the controller are taken as the positions of particles, the tracking error index and the control cost index are taken as the fitness function, and the optimal parameter group of the minimum value of the fitness function is searched through a particle swarm optimization algorithm. The application decouples the mobile robot, greatly simplifies the design and implementation complexity of the control system, and introduces the particle swarm optimization algorithm to accurately set key parameters.

The application discloses a kind of on-load tap-changer internal fault diagnosis method, system, equipment and medium, it is related to power system operation monitoring and state diagnosis technical field, comprising: obtaining the insulating oil sample of on-load tap-changer;Detect the volume concentration of acetylene, ethylene and methane in insulating oil sample and obtain the volume percentage value of each characteristic gas;Establish rectangular coordinate system;Determine fault diagnosis space;In fault diagnosis space, multiple mutually non-overlapping fault sub-regions are divided out, to determine the volume percentage value of characteristic gas horizontal, longitudinal coordinate, determine target coordinate point in fault diagnosis space;According to the fault sub-region where target coordinate point is located, output the internal fault type of on-load tap-changer.The application retains the fault criterion of international standard, and the diagnosis result is consistent with traditional method, solves the problems of low interpretation accuracy, variable redundancy, machine implementation complexity and other problems existing in prior art, improves the intuitiveness, accuracy and real-time performance of on-load tap-changer fault diagnosis.