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Control system stability analysis method, device and computer-readable storage medium

An analysis method and control system technology, applied in the field of stability analysis of control systems, can solve the problem of low adaptability, and achieve the effects of simplifying complexity, reducing computational intensity, and improving production efficiency

Active Publication Date: 2022-03-04
PURPLE MOUNTAIN LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In the past practice, it often takes hundreds of experiments to get the empirical range of the effective distance between the welding torch and the welding spot, and this range is suitable for different welding plans and equipment changes over time. Compatibility is often not high

Method used

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  • Control system stability analysis method, device and computer-readable storage medium
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  • Control system stability analysis method, device and computer-readable storage medium

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Embodiment 1

[0113] It is precisely because of the technical difficulties existing in the background art that we propose a corresponding method. Firstly, the automation structure of the welding torch system should be analyzed, and the preliminary matrix of the control system should be obtained according to the automation structure. Then, the distance between the welding torch and the welding point is set as an uncertain element in the control matrix to obtain a control matrix with one position parameter. Next, the corresponding Kronercker-Lyapunov matrix of the original matrix is ​​constructed, and by judging the range of Kronercker-Lyapunov eigenvalues, the judgment that the eigenvalues ​​of the original matrix are located on the imaginary axis can be solved, so that the stability of the control matrix can be analyzed; the following is produced by welding process Taking the system as an example, the implementation process of the technical solution of the present application is described i...

Embodiment 2

[0125] In addition to welding production systems, other problems such as industrial production systems are also similar. In a system that uses current and voltage to control the operation of the engine, including resistance, inductance and capacitance devices, the inductance equipment of the system is aging due to aging. Due to uncertain factors, it will vary randomly within a range of magnitudes. Now it is hoped that the change of the inductance factor within those ranges will not affect the stability of the engine operation; and under the action of those factors, it will affect the stability of the obtained engine system; thus, it can be determined whether the inductance should be replaced. The solution is as follows:

[0126] Step 1, according to the circuit relationship of the engine current and voltage, list the corresponding differential equations;

[0127] Step 2: According to the modern control theory, rewrite the differential equation system of higher order derivatio...

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Abstract

The invention discloses a control system stability analysis method, device and computer-readable storage medium. The core idea is to construct a Kronercker-Lyapunov matrix and use it to calculate the uncertainty parameters when the control matrix is ​​located at the critical position of stability and instability. Finally, the stable interval of the control system is calculated by the boundary value; the key to effectively controlling the automation system with feedback function is to ensure that the control system operates within the stable interval, and the stable interval can effectively ensure that the control system can be always controlled. Effective control to achieve high-quality production and improve production efficiency. The calculation method in this paper is simple and clear, and has low calculation complexity, which is very helpful for the determination of the stability interval of the uncertain control system.

Description

technical field [0001] The present invention relates to the stability analysis of the control system, especially when the control system contains uncertain factors, it can delineate the effective range of the uncertain factors, and according to the steady-state range of the uncertain factors, it can be considered whether the production equipment needs to be reset. debugging. Background technique [0002] In the robot welding process, due to the aging of automation equipment, the effective distance between the welding torch and the welding spot will deviate from the normal value range. By assuming a smart camera, the distance between the welding torch and the solder joint can be accurately tested. In the analysis of the production system, the distance is regarded as an uncertain quantity exogenous to the system. To effectively control the automation system with feedback function, the key is to ensure that the control matrix operates within a stable range. According to the k...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065
Inventor 夏飞鹏祁学豪陈刚
Owner PURPLE MOUNTAIN LAB