19results about How to "Small steady state error" patented technology

This invention discloses an adaptive inertial navigation solution method and system based on motion feature recognition, comprising: extracting multidimensional features reflecting the motion state of the carrier based on angular velocity and specific force data collected by the inertial measurement unit, and constructing a feature matrix; performing dimensionality reduction processing on the feature matrix to obtain low-dimensional feature vectors; performing cluster analysis based on a clustering algorithm that initializes cluster centers using prior samples to identify the motion state of the carrier; and adaptively selecting an appropriate combined navigation filtering strategy for navigation solution. This invention effectively suppresses the accumulation of inertial navigation errors, improving the autonomous navigation accuracy and long-term stability of the system in scenarios of satellite signal rejection or visual failure; it can finely distinguish different motion modes such as hovering, uniform motion, and transitional states, avoiding the shortcomings of traditional threshold methods that are susceptible to noise interference and have poor adaptability; by introducing continuous frame mode voting and physical anti-jump mechanisms, it further eliminates single-frame misjudgments, ensuring the continuity and robustness of state recognition.

The application discloses a kind of oil tank liquid level monitoring method and device based on extended Kalman filter, first, the original data of ultrasonic liquid level sensor, temperature sensor and IMU module are acquired, the original liquid level is calculated after using the output temperature of temperature sensor real-time compensation sound velocity, and the inclination estimation is obtained by executing inclination solution;Observation vector and state vector are constructed to execute EKF liquid level-volume fusion algorithm to execute output optimal liquid level estimation value, calibrate liquid level-volume discrete table and select the corresponding optimal residual volume value, and output in the form of CAN signal;Dynamic SLA strategy is executed to optimal liquid level estimation value and residual volume, and low liquid level state is alarmed, to cycle real-time monitoring optimal liquid level estimation value and optimal residual volume value. Shaking, inclination, temperature drift are simultaneously estimated and compensated online, which can make steady-state error less than 2mm, and using dynamic SLA strategy can reduce false alarm rate from 5% to less than 0.3%.

The invention relates to the technical field of power electronics, in particular to a control method and system for a self-adaptive fixed-time sliding mode control Buck converter, and the method comprises the following steps: building a Buck converter system model which adopts a double-closed-loop control structure to enhance the dynamic response and stability of the system; establishing a Buck converter state-space equation, and considering the influence of uncertain factors and external interference of the system; designing a sliding mode surface, and performing effective approximation on comprehensive uncertainty in the system by adopting a variable-index adaptive fixed-time sliding mode control method to form an improved control law; using an improved control law, taking the output of the voltage loop as the reference inductive current of the current loop, comparing the reference inductive current with the actual feedback current, and obtaining the error of the current loop; according to the error, accurate control of the Buck converter is realized by adjusting a control signal. According to the invention, the control structure is simplified, the convergence speed is improved, and the robustness and rapidity of the system are enhanced.

This invention discloses a time-delay-resistant and energy-saving motion control method and system for a flat-type all-wheel-drive AUV. The invention includes: constructing a six-degree-of-freedom hydrodynamic model of the AUV based on submarine maneuverability theory; identifying the setpoint pure time delay and rotational acceleration characteristics of the propeller through multi-condition testing, and constructing a nonlinear propeller dynamic model including a pure time delay element and a nonlinear rotational speed dynamic response model; constructing a composite control architecture integrating a dual-loop PID controller, a Smith predictor, and a model reference adaptive controller (MRAC); using the Smith predictor to perform explicit time delay compensation for the vertical plane motion subsystem, and using MRAC to update the adaptive gain online to compensate for model mismatch. This invention effectively suppresses high-frequency pitch angle jitter, reduces ineffective commutation movements and energy consumption of the propeller, and significantly improves the high-speed operational stability and endurance of the flat-type AUV.

The invention belongs to the technical field of intelligent control, and particularly relates to a temperature control method for an agricultural production greenhouse. According to the method, the actual temperature of a greenhouse is collected, and a target temperature and a deviation threshold value are preset in the crop growth stage; an improved PID controller is constructed, and adaptive nonlinear proportional gain, a variable-speed integration strategy and a differential noise suppression and trend prediction mechanism are adopted to improve control suitability and anti-interference capability; through improving a cattle herd optimization algorithm, controller parameters are optimized through dynamic grouping, adaptive step length and a variation mechanism, and an optimal combination is quickly locked; and finally, real-time adaptive adjustment of the greenhouse temperature is realized, and a control result is ensured to be stabilized within a preset deviation threshold value. According to the method, the problems of fixed parameters, adjustment lag, large steady-state error and the like of an existing method are solved, and the precision, reliability and refinement level of temperature control in the agricultural production greenhouse are improved.

The application discloses a kind of based on EPS's line park integrated control method, it is related to automobile intelligent driving technical field, to solve the problem of response delay, moment mutation and poor smoothness caused by the need to rehandshake when switching the driving and parking function in prior art, the technical scheme is that EPS and upper control system establish the same handshake logic and define state machine;In active state, distinguish driving or parking control logic according to upper instruction, no need to rehandshake when switching function;During switching process, the smooth processing of the output torque is reduced and raised slowly, and the buffer time can be adjusted adaptively according to the vehicle speed;The application realizes the seamless switching of driving and parking function, the response time is short, the output torque is smooth, the overshoot is small, and the user experience of intelligent driving lateral control is significantly improved.

The application discloses a soft manipulator preset time sliding mode tracking control method and system based on PSO-BP, belongs to the soft robot control technical field, and relates to the following technical scheme: a nonlinear model of a soft manipulator is established, a controlled object model is obtained by rewriting the soft manipulator, and robust right coprime factorization processing is performed to obtain an equivalent control object; a tracking error is constructed, an error integral term is introduced into a sliding mode surface, and an integral sliding mode surface is established; a compound sliding mode control law is designed based on the integral sliding mode surface; a plurality of control gains corresponding to system total convergence time is obtained through simulation; a sample data set of the control gain and the total convergence time is constructed; the sample data set is trained to establish an inverse mapping model of the expected convergence time to the control gain; a target convergence time is inputted to obtain a corresponding control gain, which is substituted into the compound sliding mode control law to generate a driving air pressure control amount. The application has the beneficial effects that a soft manipulator preset time sliding mode tracking control method based on PSO-BP is provided.

This invention discloses a real-time control method for electron cyclotron resonance heating power based on model predictive control, belonging to the field of electron cyclotron resonance heating control technology. The method includes a piecewise modeling step, dividing the operating range of the electron cyclotron resonance heating system into multiple power intervals according to the output power, and establishing a linear system dynamic model describing the dynamic characteristics of the system within each interval; and a real-time control loop step, acquiring the real-time output power and state estimate in each control cycle, determining the target model to be used based on the real-time output power and a hysteresis switching strategy, constructing a quadratic programming problem based on the target model and a preset power reference trajectory, including an objective function and constraints that minimize the power tracking error, solving for the optimal control input and applying it to the system. This invention aims to solve the problem that existing control methods struggle to simultaneously consider adjustment speed and multivariable constraints, achieving rapid and accurate control of electron cyclotron resonance heating power, and improving the safety and stability of system operation.

This application relates to a motor control method, apparatus, computer equipment, computer-readable storage medium, and computer program product. The method includes: updating a mathematical model of the linear motor based on an excitation signal and the response position data of the mover in the linear motor; inputting a first control signal output from a proportional-integral-derivative (PID) controller to the mathematical model to obtain simulated position data; superimposing the output of the mathematical model onto the input of the PID controller in the form of negative feedback, wherein the control parameters of the PID controller are determined based on an intelligent optimization algorithm; and, if the simulated position data meets preset evaluation conditions, inputting the deviation data between the target position data and the actual position data of the mover to the PID controller, and controlling the linear motor based on a second control signal output from the PID controller. This method can improve the control effect of a stator-following linear motor in an air-bearing platform.

This invention discloses a sliding mode control method and system for tracking the trajectory of a robotic arm. Addressing external disturbances and model uncertainties in the robotic arm system, it proposes an improved non-singular fast terminal sliding mode surface, combined with an adaptive disturbance upper bound estimation strategy, to design a robust controller with finite-time convergence characteristics. Furthermore, it proposes an adaptive boundary layer thickness adjustment method based on the sliding mode surface norm to suppress chattering while ensuring tracking accuracy. Specifically, it includes: establishing a six-degree-of-freedom robotic arm dynamic model; designing a sliding mode surface integrating exponential and fractional power terms; constructing an equivalent control law; designing an adaptive law to estimate the upper bound of the lumped parameter uncertainty; replacing the traditional sign function with an adaptive boundary layer saturation function; and proving the finite-time stability of the closed-loop system using Lyapunov theory. This invention can significantly reduce control input chattering and energy consumption, and is suitable for high-precision motion control scenarios such as industrial manufacturing, medical surgery, and aerospace.

The application discloses a proportional-integral synchronization controller construction method and device for a complex dynamic network, and the method is as follows: a mathematical model of the complex dynamic network with a Markov switching topology, a dynamic event triggering mechanism and a proportional-integral control strategy is established; an exponential synchronization target in the complex dynamic network in the mean square sense is designed; a Lyapunov function is constructed, and a sufficient condition for the exponential synchronization of the system in the mean square sense is deduced; by solving a linear matrix inequality, a gain matrix of the proportional-integral controller required to ensure the synchronization performance of the system and parameters of an event triggering condition are designed; Zeno behavior is excluded, and the effectiveness of the dynamic event triggering mechanism is verified. The device comprises the following modules: a mathematical model establishment module, an exponential synchronization target design module, a condition deduction module, a proportional-integral controller design module and an effectiveness verification module. The application improves the stability performance of the complex dynamic network system, reduces the steady-state error of the system, and has the advantages of simplicity, easy realization and strong applicability.

The invention discloses a highland barley field carbon-ammonia source sink imbalance risk early warning system, and belongs to the field of gas intelligent early warning, an optical system module comprises a wide temperature range wavelength locking double DFB laser set, a first electric control gradient refractive index liquid crystal lens, a second electric control gradient refractive index liquid crystal lens, an off-axis integral cavity, a convergent lens and a detector, and is used for achieving optical detection of CO2, CH4 and NH3 in a highland barley field; the self-adaptive power supply module provides a stable power supply for the system by adopting a magnetic flux-temperature double feedback and time division multiplexing mechanism aiming at the low-voltage and low-temperature extreme environment of the Tibet Plateau. The temperature control module provides high-precision temperature stability control for the laser based on a bimodal dynamic gain-thermal disturbance prediction composite sliding mode control algorithm; and the main control module is used for generating a laser driving signal and performing early warning on the imbalance risk of the highland barley field by using the rough set-deep belief network hybrid early warning module. The problems of poor system stability, low detection precision and slow early warning response in a plateau extreme environment can be solved.

The application discloses a high-speed power supply control method with large-signal and small-signal internal mode control, wherein a power supply reference value and a power supply feedback value are acquired first, and then the power supply reference value and the power supply feedback value are input into a large-signal internal mode and a small-signal internal mode which are set independently; the large-signal internal mode further receives an output signal of the small-signal internal mode, combines the power supply reference value and the power supply feedback value to process the signal, and outputs a control signal to adjust a power supply modulation signal. The small-signal internal mode and the large-signal internal mode are separated by a mathematical method, the large-signal internal mode ensures the response speed of the power supply with wide bandwidth, the small-signal internal mode controls the error in the mathematical model and the disturbance of the actual system, the main component of the output signal is not dragged by the small-signal closed-loop bandwidth, and a parameter dynamic adjustment strategy inhibits the adverse effects caused by the parameter drift of the power supply system. The application is suitable for various power supply application scenarios with strict requirements on dynamic response and steady-state accuracy.

The application relates to a kind of three-phase dual active bridge DC converter hybrid modulation robust control methods, comprising: obtaining target voltage, primary side DC voltage and secondary side DC voltage;The target voltage is input to robust controller, and control output variable is obtained;The voltage variable ratio of three-phase dual active bridge DC converter is calculated;Control output variable and the voltage variable ratio of three-phase dual active bridge DC converter are input to hybrid modulation strategy controller, and target primary side duty ratio, target secondary side duty ratio and target primary-secondary two sides phase shift angle are obtained;Target primary side duty ratio, target secondary side duty ratio and target primary-secondary two sides phase shift angle are input to respective slow loop controller for decoupling, and primary side duty ratio control amount, secondary side duty ratio control amount and primary-secondary two sides phase shift angle control amount are obtained, and three-phase dual active bridge DC converter is controlled.The application can improve system robustness, so that the system has faster response speed, smaller steady-state error and smaller overshoot.

The application provides a power line carrier channel adaptive equalization method and system for underground coal mines, relates to the field of power line carrier communication, and solves the technical problems of slow convergence speed, large steady-state error and insufficient tracking ability of the adaptive equalization method in the prior art under the time-varying channel and strong pulse interference environment of underground coal mines. The method comprises the following steps: receiving a carrier signal and converting it into a discrete time signal sequence, carrying out wavelet packet decomposition to obtain a subband signal, and calculating a kurtosis value; discriminating the channel state according to the variance of the kurtosis value, and calculating an equalizer step factor by using a state-driven nonlinear compound variable step control law; inputting the signal into a structured decision feedback equalizer embedded in a physical transmission characteristic model constraint; and outputting an equalized signal based on the step factor and the model constraint to adjust the tap coefficient. The application significantly improves the reliability of power line carrier communication in underground coal mines.

This application provides a control method, apparatus, system, device, and medium. The method includes: detecting the operating speed value of a target device; if the operating speed value is less than a preset value, determining first target frequency information based on a mapping relationship between duration information, error information, and frequency information; wherein the duration information represents the startup duration corresponding to the frequency information, and the error information represents the speed error corresponding to the frequency information; and sending the first target frequency information to a driving device, so that the driving device drives the target device according to the first target frequency information. This application can shorten the startup time of the target device and reduce the steady-state error of the target device's operating speed.

This invention provides a method and edge gateway for preventing backflow in renewable energy power plants. The method includes: collecting real-time power data from the point of common coupling (PCC), inverters, and PCS devices, as well as the remote signaling status of the bus tie switch; calculating load power based on the real-time power of the PCC and the inverters / PCS devices, identifying the power flow direction, calculating the power generation deviation based on preset power generation target parameters, dynamically adjusting the power generation plan, and distributing it to the inverters and PCS devices; real-time monitoring of the inverter and PCS device execution status, and achieving the required adjustment error after multiple iterations; if telemetry and remote signaling signals are not refreshed for an extended period, a communication anomaly is identified; in the event of a communication anomaly, the inverters and PCS devices are controlled to operate at a reduced capacity percentage or to stop operation. This invention reduces the investment cost of secondary equipment in renewable energy power plants and achieves active power regulation of distributed photovoltaic systems through group control of inverters and energy storage PCS.

The method for liquid crystal optical phased array beam control based on Smith prediction two-degree-of-freedom fractional order internal model PID relates to the technical field of laser beam control, and solves the problem that the existing LCOPA beam deflection system has low control precision and stability due to environmental temperature interference and response delay. The method introduces a Smith predictor to compensate for system time delay, so as to eliminate oscillation and overshoot caused by data transmission and processing lag. Then, a two-degree-of-freedom fractional order internal model PID controller is constructed by combining fractional calculus theory and internal model control principle. Finally, the whale optimization algorithm is used to globally optimize and set the key parameters of the controller to determine the optimal control parameters. Compared with traditional control methods, the method has better robustness and dynamic performance, can effectively improve the beam pointing precision and system stability, and is suitable for precise control of laser beams in complex environments.

This application discloses an active feedback polarization-maintaining fiber polarization stabilization device and method, comprising: a polarization compensation module disposed before the input end of the polarization-maintaining fiber to adjust the linear polarization direction of the incident laser; a polarization detection module disposed after the output end of the polarization-maintaining fiber to convert the output laser into multiple light intensity signals related to the polarization state; and a signal processing and control module connected to the polarization detection module and the polarization compensation module respectively, generating a normalized differential error signal based on the multiple light intensity signals, and generating a control signal based on the difference between the error signal and the target error signal value to drive the polarization compensation module to adjust the linear polarization direction of the incident laser in a closed loop, thereby continuously aligning it with the preset intrinsic axis of the polarization-maintaining fiber. This application suppresses optical power fluctuation interference through the normalized differential error signal, and combined with initialization calibration and closed-loop feedback control, can compensate for polarization deviations caused by environmental disturbances, mechanical drift, and long-term system operation in real time, thereby improving the polarization stability of the output laser from the polarization-maintaining fiber.