10results about How to "Strong anti-interference ability" patented technology

The invention provides a dynamic double-closed-loop control method for a magnetic suspension energy storage flywheel rotor based on LADRC. The dynamic double-closed-loop control method is used for realizing stable suspension and dynamic control of the magnetic suspension energy storage flywheel rotor. Firstly, a mathematical model of each degree of freedom of a flywheel rotor and a linearization model of a power amplifier-electromagnet coil under a magnetic bearing coordinate system are established; then, defining an electromagnetic coupling term, a gyroscope coupling term and an unbalance term in the flywheel rotor mathematical model as external disturbance, deducing a flywheel rotor and power amplifier-electromagnet coil mathematical model for controller design, and designing a position loop second-order LADRC controller and a current loop first-order LADRC controller; and finally, setting controller parameters of a position loop and a current loop by adopting a pole assignment method. Simulation results show that the double-closed-loop control strategy can realize effective decoupling among degrees of freedom under static and high-speed suspension working conditions of the flywheel rotor, and compared with PID control, the double-closed-loop control strategy is good in dynamic characteristic and strong in anti-interference capability. The method is of great significance in guaranteeing stable and reliable operation of the magnetic suspension energy storage flywheel rotor.

The application is suitable for the field of energy storage power supply technology improvement, and provides a control circuit and method for high-speed switching of bidirectional DCDC power supply charging and discharging, which acquires the output current of the bidirectional DCDC power supply in real time through an output positive and negative current sampling detection circuit and converts the output current into a differential voltage signal; an output current detection comparison circuit compares the signal and outputs a high / low level signal corresponding to the current direction; a master control unit digital control processor DSC1 controls the power supply to switch between the discharging and charging states immediately according to the jump of the level signal. The application uses simple differential amplification and high-speed comparison circuit to realize microsecond-level fast charging and discharging state following, solves the switching delay problem caused by the dependence of the prior art on communication or voltage loop, and has the advantages of fast response speed, high reliability, low cost, and wide application scenarios.

The invention provides an autonomous attitude adjustment system and method for a suspended underwater docking platform. The autonomous attitude adjustment system comprises a buoyancy adjustment module, a power control module, a sensing module and an attitude control module, the buoyancy adjusting module is arranged on the butt joint platform, and the buoyancy adjusting module adjusts the buoyancy borne by the butt joint platform through water filling and drainage; the power control module is connected with the buoyancy adjusting module and used for controlling water filling and draining of the buoyancy adjusting module. The sensing module is used for collecting attitude data of the docking platform and adjusting data of the buoyancy adjusting module, and the attitude control module and the sensing module perform data interaction; the attitude control module controls the buoyancy adjusting module through the power control module according to data collected by the sensing module. The closed-loop feedback control system is utilized, the drainage volume of each buoyancy adjusting device arranged on the platform is changed according to the platform attitude deviation, the platform buoyancy is balanced, the optimal docking attitude is kept, and the docking task requirement of one or more aircrafts is met.

This invention provides a high-precision anti-disturbance control method for UAV gimbals under transient impact loads, belonging to the field of precision servo control technology. It employs a cascade control architecture: the outer loop uses model predictive control (MPC) and introduces control increment constraints to plan an overshoot-free velocity trajectory; the inner loop uses linear active disturbance rejection control (LADRC) and establishes an extended state observer to estimate and compensate for the total disturbance of multi-stage transient impacts in real time. This invention, using the aforementioned high-precision anti-disturbance control method for UAV gimbals under transient impact loads, reduces the settling time to 0.18 s and lowers the maximum dynamic position error during firing to 0.0005 rad, achieving precise steady-state maintenance under high-impact environments.

This invention belongs to the field of subsynchronous oscillation monitoring and control technology in power systems. It discloses a high-precision online identification method and device for subsynchronous oscillation current, comprising: generating three linearly independent observation signals through a two-stage cascaded active RC circuit with an additional FSC circuit; constructing a combined signal, midpoint parity decomposition, and second-order central difference preprocessing; constructing a residual sum of squares objective function based on frequency-sensitive circuit state information; subsequently solving for the optimal frequency parameters using an improved Nelder-Mead simplex method combining multi-initial-point grid search and sinusoidal square boundary constraint mapping; and finally calculating the amplitude coefficients of each component based on the identified frequency parameters. This invention achieves a unity of high-frequency disturbance rejection, global convergence, and strict physical boundary constraints, possessing high precision, strong robustness, and real-time performance, and is suitable for online high-precision monitoring and early warning of subsynchronous oscillations in new energy grid-connected power systems.

The utility model discloses a hardware circuit of a servo control system of an unmanned aerial vehicle, which belongs to the field of steering engine control and comprises a control module and a driving module which are stacked in a double-layer manner, and the control module comprises a main control chip, a wide-voltage power conversion circuit, a communication circuit and an interface circuit; the main control chip is respectively connected with the wide-voltage power conversion circuit, the communication circuit and the interface circuit; the driving module comprises a pre-driving chip, a three-phase inverter bridge and a current sampling circuit; the pre-drive chip is respectively connected with the three-phase inverter bridge and the current sampling circuit; the control module and the driving module are interconnected through a board-to-board connector; and the current sampling circuit is connected with the main control chip. The circuit is compact in overall size, high in integration level, high in interference immunity and wide in voltage adaptability, and suitable for precise control over the steering engine of the unmanned aerial vehicle.

The embodiment of the invention discloses a Bluetooth key distance measuring method, a positioning method, a device, equipment and a storage medium, the Bluetooth key distance measuring method is used for a Bluetooth anchor point module, and comprises the following steps: establishing a Bluetooth connection with a Bluetooth key under the condition of confirming that the Bluetooth anchor point module is in a first connection state, bluetooth signal detection is carried out on the Bluetooth connection through Bluetooth channel detection; performing calculation processing according to the detected Bluetooth signal to obtain a distance value and a multipath effect index between the Bluetooth anchor point module and the Bluetooth key; the distance value and the multipath effect index are sent to a data processing module, so that the data processing module carries out Bluetooth key positioning according to the distance value and the multipath effect index; and exiting the first connection state and sending a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction, the problem of inaccurate distance measurement and positioning of the Bluetooth key can be solved, and the accuracy of distance measurement and positioning of the Bluetooth key is improved.

The application discloses a quad-rotor unmanned aerial vehicle affine formation control method and system, electronic equipment and medium, and relates to the technical field of unmanned aerial vehicle flight control. The method comprises the following steps: determining a leader, a follower and a communication topology structure diagram in a target unmanned aerial vehicle formation according to affine transformation theory; determining a symbolic Laplace matrix and an entry neighbor node set of each unmanned aerial vehicle according to the diagram; if the leader is a constant acceleration, obtaining a control force according to the matrix, the follower and the physical parameters transmitted by each unmanned aerial vehicle in the set and a first position controller; if the leader is a time-varying acceleration, obtaining the control force according to the matrix, the estimated parameter of each unmanned aerial vehicle in the set, a state observer, the physical parameters and a second position controller; obtaining a control torque according to the control force and an adaptive sliding film attitude controller; and controlling the follower by using the control force and the control torque. The application enables the unmanned aerial vehicle cluster to have stronger anti-interference ability in formation and realize more flexible formation maneuvering.

The present invention provides an automobile power signal switch circuit, comprising: a constant power input terminal, a functional power input terminal, a first diode, an RC energy storage circuit, a first resistor, a second resistor, a first switch tube, a third resistor, a second switch tube, a protection circuit, an anti-reverse connection circuit and a functional power output. The automobile power signal switch circuit of the present invention can obtain a control circuit of a stable output voltage from other constant power sources by collecting PWM signals, and has outstanding advantages in response speed and anti-interference ability, and is low in cost and convenient and reliable to implement.

The invention discloses an electronic mechanical brake caliper for braking a hub motor and a working method thereof, and belongs to the field of brake calipers, the electronic mechanical brake caliper comprises an EMB motor, a speed reducer connected with a rotor shaft of the EMB motor, and a caliper body connected with the output end of the speed reducer, the system further comprises a PCB integrated with a brake controller and a double-closed-loop control system and a full-life-cycle state sensing module, the full-life-cycle state sensing module is electrically connected with the input end of the brake controller, the output end of the brake controller is electrically connected with the double-closed-loop control system, and the double-closed-loop control system is electrically connected with the hub motor and the EMB motor. By the adoption of the electronic mechanical brake caliper for hub motor braking and the working method of the electronic mechanical brake caliper, the braking safety, the energy recovery efficiency, the response precision and the service life of parts are cooperatively improved, and the comprehensive requirement for hub motor braking is perfectly met.