3results about How to "Small control deviation" patented technology

This invention discloses an EtherCAT-DDS communication bridging method between a host computer and a main control board of a quadruped robot, relating to the field of robot control technology. The method includes loading a parameterized configuration file on the host computer, parsing EtherCAT communication parameters and joint transmission parameters, and generating a communication configuration structure. Based on this structure, the EtherCAT master station is initialized, master-slave PDO mapping and DC distributed clock synchronization are completed, a high real-time communication link is established, the host computer subscribes to DDS joint control commands and performs direction and zero-position positive compensation, generates control data adapted to EtherCAT and sends it to the main control board, collects the first joint state data of the motor-adapted coordinate system, performs inverse compensation to generate the second joint state data adapted to DDS and sends it back, thus realizing bidirectional communication bridging. This invention can improve communication real-time performance and determinism, support parameterized adaptation for multiple robot models, and eliminate coordinate transformation errors.

The invention relates to the technical field of energy storage, and discloses a high-frequency circulating current suppression method and device, and the method comprises the steps: taking a current of an energy storage module as a feedback current; according to the capacitor voltage and the feedback current, the current of the DC-DC module is imaginary; and obtaining a control signal of the DC-DC module by using a current loop control mode based on the current of the imaginary DC-DC module and the current reference instruction. Through closed loop logic of feedback current collection-module current imaginary structure-current loop control, high-frequency circulation interference is eliminated from a control source, system resonance, efficiency reduction and hardware damage caused by circulation are avoided, stable operation of a parallel system is guaranteed, the method is adaptive to a multi-module parallel scene, and the reliability of system power expansion is improved.

This invention relates to the field of air conditioning technology, providing an air conditioning control method, device, and system. The method includes: acquiring historical temperature data, which includes predicted indoor temperature values ​​and corresponding measured indoor temperature values ​​at multiple sampling times; determining a temperature prediction error parameter based on the difference between the predicted indoor temperature value and the corresponding measured indoor temperature value; predicting the predicted indoor temperature value at the next time moment; and adjusting the compressor's operating frequency based on the predicted indoor temperature value at the next time moment, the temperature prediction error parameter, and the target indoor temperature. This invention, by acquiring predicted and measured indoor temperature values ​​at multiple sampling times from historical data and determining a temperature prediction error parameter based on the difference between the two, corrects the predicted temperature value at the next time moment. This reduces deviations caused by inherent biases in the temperature prediction model or environmental interference, avoids excessive compressor adjustment or adjustment lag, improves user comfort, and reduces overall energy consumption.