35results about How to "Strong anti-disturbance" patented technology

The invention discloses a distributed multi-mobile-robot formation control method based on ESO, comprising steps of 1) performing modeling on a multi-mobile-robot to obtain a distributed discrete state space deviation model of a multi-mobile-robot, 2) designing a performance index according to the distributed discrete state space deviation model of the multi-mobile-robot and calculating a prediction control quantity of the subsystem, 3) designing an extension state observer of the mobile robot to obtain a disturbance estimation value of the mobile robot, and 4) utilizing the obtained disturbance estimation value to design a combination controller based on the extension state observer. The invention provides a distributed multi-mobile-robot formation control method which is simple and easy to implement, and has a good anti-interference capability.

A double-ring dead-beat prediction control method for a permanent magnet synchronous motor based on disturbance estimation compensation comprises the following steps: establishing a discrete current prediction model of the permanent magnet synchronous motor, and designing a dead-beat current prediction controller; designing a sliding mode disturbance observer to estimate stator current and parameter disturbance; designing a dead-beat speed prediction controller; and designing a sliding mode disturbance observer to observe and compensate the load torque. According to the invention, under the condition that motor model parameters are not matched, the method achieve the accurate current control; under the condition that the dead-beat speed prediction controller is sensitive to load change, the method achieves the improvement of the dynamic and static performance and the anti-disturbance performance of the speed outer ring through load torque observation and compensation.

The invention relates to an auto-disturbance rejection controller-based iterative learning contour error control method for a networked multi-axis motion control system. According to the method, firstly, the uncertainty of the system caused by time-varying delay is dynamically processed as one part of the total disturbance of the system, and the total disturbance of the system is expanded into a new variable. In this way, an augmented model of a networked single-axis servo control system is established. Secondly, an expanded state observer is designed to estimate the state of the augmented system, and then a linear self-disturbance rejection controller based on the expanded state observer is adopted to realize the tracking control of a single-axis trajectory. Thirdly, the contour error model of the system at the current moment is calculated. According to an obtained contour error, a contour error compensation controller based on an iterative learning control algorithm is designed. In this way, the high-precision tracking control on the contour of the system is achieved. The method realizes the good tracking control performance for the single-axis trajectory, and the good anti-disturbance capability for the model uncertainty of the system. The high-precision tracking control performance for the contour of the system is also achieved.

The invention relates to a communication-jamming-observer-based cross coupling control method of a networked multi-axis motion control system. According to the method, for single-axis track tracking control, a linear auto disturbance rejection controller is used for realizing the good tracking system of the single-axis track tracking control and the good anti-disturbance capability for uncertainty of the system model. In order to prevent uncertainty being equal to the system disturbance and being caused by network delay, the method employs a communication jamming observer having the delay estimation and compensation functions, thereby realizing real-time estimation and compensation for uncertainty caused by the single-axis network induced delay. And for a multi-axis coordination motion control track contour model in the networked multi-axis motion control system, a contour error model of the system at the current time is calculated; and according to the obtained contour error, a PID-based contour error compensation controller is designed to realize compensation controlling on the system contour track.

The invention discloses a chattering-free sliding mode control method for a buck converter, and belongs to the field of power electronic converters. The invention designs the chattering-free sliding mode control method for the buck converter by a second-order sliding mode control theory on the basis of an average state model of the buck converter. By a constant-frequency PWM mode, on or off is controlled by changing the duty ratio of a switching device, so that target voltage output of the buck converter is achieved. Meanwhile, the whole scheme of a buck converter system under the action of the control method is achieved on the basis of a LabVIEW platform. The widely existed chattering problem in traditional sliding mode control and the problems that a buck converter controlled by a linear PID method is low in response speed, low in voltage output quality, poor in anti-disturbance capability and the like are solved; and the control method overcomes disturbance influences of a load resistance, a DC input voltage and the like and improves the performance of an output voltage by the advantages of strong robustness, high steady accuracy and the like.

The invention discloses a Nash iteration-based distributed multi-mobile robot formation control method. The method comprises the following steps: 1) modeling is carried out on the multiple mobile robots, and a distributed discrete state space deviation model for the multiple mobile robots is obtained; 2) according to the discrete state space deviation model for the multiple mobile robots, performance indexes for a subsystem are designed; and 3) a Nash iteration-based distributed model predictive control algorithm is designed to carry out formation control on the multiple mobile robots. The distributed multi-mobile robot formation control method provided by the invention has the advantages of conciseness, easy realization and good control effects.

The invention discloses high belite sulphoaluminate cement based disturbance-resistance concrete for rush repair and a preparation method of the high belite sulphoaluminate cement based disturbance-resistance concrete and belongs to the field of building materials. The high belite sulphoaluminate cement based disturbance-resistance concrete for rush repair is prepared from the following raw materials in parts by weight: 100 parts of high belite sulphoaluminate cement, 1-100 parts of mineral admixture, 120-200 parts of fine aggregate, 200-300 parts of coarse aggregate, 0.1-1.0 part of polymer,1.0-2.0 parts of fiber. The water cement ratio is 0.28 to0.45. The polymer is a water reducer and a thickener; and the fibers are PP, PVA or steel fibers. For the high belite sulphoaluminate cement based disturbance-resistance concrete for rush repair, by adopting the high belite sulphoaluminate cement as a main cementitious material of disturbance-resistance concrete, the characteristics of quicksetting, early strength and high later strength of the high belite sulphoaluminate cement are exerted; and by optimizing a proportion of the water reducer and crack-resistance fibers, the disadvantages of low early strength, long disturbed period, easiness in cracking under disturbance and the like of ordinary concrete are solved, the disturbance resistance performance and the crack resistance performance of the concrete are improved, the influence of vehicle disturbance on the performance of the concrete is remarkably reduced, the requirement for demi traffic and demi closing of engineeringnowadays is met, the construction efficiency is improved, and the quality of the engineering is ensured.

The invention belongs to the fuel cell field, and discloses a solid oxide fuel cell (SOFC) pile internal temperature distribution prediction method. The solid oxide fuel cell pile internal temperature distribution prediction method comprises steps (a) a finite element dynamic model is established for the SOFO pile; (b) the linear processing of the steady state operation point of the dynamic model is carried out; (c) after rationality verification, the linearized pile model is combined with a Kalman filtering temperature observer, and the pile internal temperature distribution is predicted. The actual total current, the inlet hydrogen flow, and the inlet air flow are used as input, the prediction of the actual system pile internal temperature distribution is realized, and therefore the pile temperature is effectively analyzed and controlled, and then the safe, stable, long-service time operation of the pile is guaranteed.

The invention provides a ship dynamic positioning control method based on an inverse system and internal model control. The ship dynamic positioning control method comprises the following steps of 1 establishing a ship dynamic system mathematic model; 2 constructing a pseudo-linear system about a ship; 3 designing an internal model controller of an inner ring; 4 calculating a reference model of a speed ring control system; 5 designing an internal model controller of an outer ring; 6 adding coordinate system transformation; 7 designing parameters of the inner ring controller; 8 designing parameters of the outer ring controller. By means of the ship dynamic positioning control method based on the inverse system and an internal model control algorithm, the problem of ship motion control can be reasonably and efficiently solved, the robustness is good, the positioning accuracy is high, and green control can be achieved.

The invention provides an intelligent stepless proportioning implementation method. High and low capacitance pressure sensors are installed in a pulping barrel in a grouting circuit, slurry and watersupply valves are installed on raw slurry and clear water inlet pipes, a micro controller is used to obtain a measured proportioning density and volume. A main control program for the real-time monitoring of a proportioning density is used, and with a program (time-based interval volumetric injection method), the obtainment of any volume of raw slurry or clear water with an allowable error range is achieved. The shortening of a water injection time process is also used to overcome the problem of the increase of a proportioning in a time slice method. The problems of unstable quality, a long time of technician training, high cost, easy falsification and the damage to project quality of traditional artificial proportioning are solved, tests prove that a measured slurry density is in a rangeof + / -0.03 g / cm3 of a set slurry density with the proportioning of the invention, setting parameters can be followed well, the method has strong anti-disturbance performance and can be well adapted toon-site proportioning requirements. Under the constraints of many factors of a proportioning and grouting system, the precise program control of the stepless proportioning is realized. The method canbe used in intelligent grouting engineering of hydropower stations.

The invention discloses a bottom sludge coagulating reduction as well as a preparation method and application thereof. The bottom sludge coagulating reduction comprises the following ingredients in parts by weight: 25-35 parts of polyaluminium chloride, 25-35 parts of polyferric sulfate, 1-5 parts of sodium polyacrylate, 15-25 parts of calcium bentonite, 5-15 parts of dolomite, 5-10 parts of a bottom sludge conditioner and 1-5 parts of sodium ferrate. According to the coagulating reduction, in-situ, fast, efficient and stable coagulation, passivation and settling separation are performed on bottom sludge, suspended matters and the like in a governance process of urban black and odorous water bodies, so that the volume of dirty muddy water and pollutants such as COD (chemical oxygen demand), NH3-N, TP (total phosphorus), heavy metals and the like in the water bodies are quickly reduced, the transparency of the water bodies is purified, the self-purification capacity of the water bodies is enhanced, and the ecological restoration of the water bodies is promoted. Therefore, the purposes of landscape restoration and sludge and water co-governance are achieved; compared with the traditional black and odorous water body bottom sludge dredging technology, a technology adopting the bottom sludge coagulating reduction has outstanding advantages.

The invention relates to a less conservative permanent magnetic spherical motor locus tracking control method. The method is characterized in that a fuzzy sliding mode controller based on a non-linearinterference observer is employed, composite interference including uncertainty, friction, external interference and load disturbance is estimated through utilizing the non-linear interference observer, compensation at a control input end is carried out to realize interference inhibition, the sliding mode controller is utilized to inhibit an interference error of the non-linear interference observer and an unobservable part, fuzziness is utilized to approach the observation error of the non-linear interference observer and the unobservable part, and output gain of the fuzzy controller is utilized to replace switching gain of a sliding mode to reduce buffeting of the sliding mode.

The invention discloses a reinforcement learning-based H-infinity current control method and system for a permanent magnet synchronous motor. The method comprises the steps: converting an H-infinity optimal control problem into a double-player zero-sum game problem based on a saddle point theory in combination with a linear discretization mathematical model of the permanent magnet synchronous motor, constructing a GARE equation, and solving the GARE equation; and updating a Q function and a strategy by adopting a reinforcement learning algorithm based on an Actor-Critic framework, and training to obtain an optimal H-infinity controller meeting Nash equilibrium. According to the method, reinforcement learning and H-infinity control are combined, a GARE solution is learned on line in a data driving mode, a motor mathematical model is completely not needed, H-infinity optimal control of a time-varying system is successfully achieved, the method is applied to current control of an IPMSM, the robustness is high, and the performance is far better than that of PI control.

A double-ring dead-beat prediction control method for a permanent magnet synchronous motor based on disturbance estimation compensation comprises the following steps: establishing a discrete current prediction model of the permanent magnet synchronous motor, and designing a dead-beat current prediction controller; designing a sliding mode disturbance observer to estimate stator current and parameter disturbance; designing a dead-beat speed prediction controller; and designing a sliding mode disturbance observer to observe and compensate the load torque. According to the invention, under the condition that motor model parameters are not matched, the method achieve the accurate current control; under the condition that the dead-beat speed prediction controller is sensitive to load change, the method achieves the improvement of the dynamic and static performance and the anti-disturbance performance of the speed outer ring through load torque observation and compensation.

The invention discloses an RO PUF key generation method based on a tetrad comparison strategy, and the method comprises the steps: obtaining the oscillation frequency of a ring oscillator sequence through constructing the ring oscillator sequence, and storing the oscillation frequency; dividing the ring oscillator sequence into a plurality of ring oscillator quaternions, performing pairwise non-repetitive pairing to obtain ring oscillator comparison pairs in the pairing mode, calculating the sum of absolute values between oscillation frequency differences of the comparison pairs, selecting the comparison pair corresponding to the maximum value as the optimal pairing mode, storing the position information and the oscillation frequency information of the comparison pair in a ring oscillator comparison library; judging ring oscillator comparison pairs in the ring oscillator comparison library through input excitation, generating key bit numbers, and combining the key bit numbers into keys with different bit lengths. According to the key generation method, the problem of poor response stability in generation of the physical unclonable function based on the annular oscillator is solved, and the key generation method which is higher in anti-interference power, higher in stability, safer, more effective and low in complexity is provided.

The invention relates to a DC microgrid distributed autonomous coordination control method capable of remarkably improving bus voltage deviation, in particular to an improved distributed autonomous coordination control method based on a DBS (DC Bus Signaling) coordination control method. The method mainly comprises the steps: sampling a DC bus voltage signal and transmitting the sampled DC signalto a local controller; amplifying the sampled voltage signal according to a proposed equivalent amplification rule, and carrying out the coordination control by taking the amplified voltage signal asa judgment basis. The purpose of equivalently amplifying the voltage signal is to reduce the voltage bias of the DC bus and prevent the problem that the normal work of the system is influenced by therepeated action of the mode switching signal due to the small actual voltage threshold interval. The method solves the problem that the traditional DBS coordination control requires a large bias of the DC bus voltage, improves the bus voltage deviation, improves the power supply reliability and the power quality of a DC microgrid, and can be applied to a DC load scene with high requirements on thepower quality.

The invention discloses a starting control method based on improved fractional order active disturbance rejection. The method comprises the following steps: constructing a description equation of a motor rotating speed ring in a starting stage; for a rotating speed ring of the starting motor, obtaining an error feedback control law of an active disturbance rejection model according to a third-order extended state observer and a compensation law; introducing fractional orders, enhancing robustness and stability of a controller while adjustable parameters are increased, performing compensation optimization on the error feedback law of the active disturbance rejection model, obtaining a final control law, and then achieving the fractional order active disturbance rejection control over the rotating speed ring of the starting motor; based on the randomness of evolution, designing an improved GWO algorithm to carry out parameter online optimization on fractional order control. Compared withthe prior art, the influence of multiple uncertainties on the system can be effectively restrained, the online self-tuning of adjustable parameters can be achieved, the control precision and the dynamic performance are improved, and the starting performance of an aero-engine is improved.

The invention relates to a direct-current micro-grid distributed autonomous coordination control method and a control system. The invention aims at increasing an anti-interference ability and work reliability of the direct-current micro-grid distributed autonomous coordination control system. The invention especially relates to a control method and a control system of an operating state and load switching when a plurality of bus micro-source units are connected in parallel. Through constructing multivariable hysteresis of a voltage and a current, a problem that a single-variable DBS coordinates and controls a voltage disturbance at a voltage segment point so as to cause mode mis-switching is solved.

The invention discloses a sliding mode control method for a three-level NPC converter, belongs to the technical field of power electronic control, and aims to solve the problems of large buffeting and high sensitivity to measurement noise due to the fact that a three-level NPC converter adopts an existing sliding mode control based on an observer. The sliding mode control method comprises the following steps of: acquiring an active power reference value p * of a load at a current sampling point moment by adopting a direct-current voltage adjusting loop; acquiring the average duty ratio number delta alpha beta of the three-level NPC converter by adopting an instantaneous power tracking loop; adopting a voltage balance loop to obtain a balance duty ratio delta ba; and after adding the balance duty ratio delta ba and the average duty ratio delta'abc of the level NPC converter, obtaining a three-level NPC converter switch tube control signal through a pulse width modulator, thereby achieving control over the three-level NPC converter. The method is suitable for controlling the three-level NPC converter.

The invention relates to a less conservative permanent magnetic spherical motor locus tracking control method. The method is characterized in that a fuzzy sliding mode controller based on a non-linearinterference observer is employed, composite interference including uncertainty, friction, external interference and load disturbance is estimated through utilizing the non-linear interference observer, compensation at a control input end is carried out to realize interference inhibition, the sliding mode controller is utilized to inhibit an interference error of the non-linear interference observer and an unobservable part, fuzziness is utilized to approach the observation error of the non-linear interference observer and the unobservable part, and output gain of the fuzzy controller is utilized to replace switching gain of a sliding mode to reduce buffeting of the sliding mode.

A method and device for pre-compensating the trajectory of a rotary servo motor based on a prediction model belong to the technical field of motion control of a rotary motor. The method uses the prediction model and disturbance observation to predict the closed-loop trajectory tracking control effect of the rotating electrical machine, and designs the trajectory pre-compensation link accordingly to correct the position error to achieve good trajectory tracking control performance. The trajectory pre-compensation method includes a linear prediction model including generalized disturbance observation and a trajectory pre-compensation link based on the prediction model. The invention effectively predicts the trajectory tracking control state of the closed-loop control system of the rotating electrical machine in the future according to the known model information, and uses the prediction information to determine the optimal trajectory pre-compensation amount, which can realize the trajectory tracking performance without changing the structure of the closed-loop controller. improvement.

The invention discloses a smart PID control method. The theoretical system for setting the three gain parameters of the PID controller is established through the speed factor zc. Not only the problemof setting the three gain parameters of traditional PID is solved effectively, global stability and strong anti-disturbance capability specialty are provided. The control method has wide application value in the fields of power, machinery, chemical industry, light industry and so on.

The invention discloses a Nash iteration-based distributed multi-mobile robot formation control method. The method comprises the following steps: 1) modeling is carried out on the multiple mobile robots, and a distributed discrete state space deviation model for the multiple mobile robots is obtained; 2) according to the discrete state space deviation model for the multiple mobile robots, performance indexes for a subsystem are designed; and 3) a Nash iteration-based distributed model predictive control algorithm is designed to carry out formation control on the multiple mobile robots. The distributed multi-mobile robot formation control method provided by the invention has the advantages of conciseness, easy realization and good control effects.

The invention discloses a vibration-free sliding mode control method of a step-down converter, which belongs to the field of power electronic converters. Based on the average state model of the step-down converter, the present invention utilizes the second-order sliding mode control theory to design a chattering-free sliding mode controller for the step-down converter, adopting the fixed-frequency PWM mode, and changing the duty cycle of the switching device To control its turn-on or turn-off, and then realize the target voltage output of the step-down converter. At the same time, the overall scheme of the buck converter system under the action of the control method is realized based on the LabVIEW platform. The invention solves the chattering problem widely existing in traditional sliding mode control and the problems of slow response speed, low voltage output quality and poor anti-disturbance ability of the step-down converter controlled by the linear PID method. The control method utilizes its strong robustness, high steady-state precision and other advantages to overcome the disturbance influence of load resistance, DC input voltage, etc., and improve the performance of the output voltage.

The invention provides an intelligent stepless proportioning implementation method. High and low capacitance pressure sensors are installed in a pulping barrel in a grouting circuit, slurry and watersupply valves are installed on raw slurry and clear water inlet pipes, a micro controller is used to obtain a measured proportioning density and volume. A main control program for the real-time monitoring of a proportioning density is used, and with a program (time-based interval volumetric injection method), the obtainment of any volume of raw slurry or clear water with an allowable error range is achieved. The shortening of a water injection time process is also used to overcome the problem of the increase of a proportioning in a time slice method. The problems of unstable quality, a long time of technician training, high cost, easy falsification and the damage to project quality of traditional artificial proportioning are solved, tests prove that a measured slurry density is in a rangeof + / -0.03 g / cm3 of a set slurry density with the proportioning of the invention, setting parameters can be followed well, the method has strong anti-disturbance performance and can be well adapted toon-site proportioning requirements. Under the constraints of many factors of a proportioning and grouting system, the precise program control of the stepless proportioning is realized. The method canbe used in intelligent grouting engineering of hydropower stations.