7 results about "Active compensation" patented technology

This invention discloses a harmonic suppression control method for a resonant-cascaded active disturbance rejection permanent magnet linear motor (PMLM) based on a positioning force model, belonging to the field of PMLM control technology. Addressing the problems of incomplete periodic harmonic suppression, poor robustness to unknown disturbances, and insufficient synergy between resonance and active disturbance rejection, this invention embeds the positioning force model into the state-space equation of the active disturbance rejection controller and embeds the resonant controller into the second-stage observation channel of a two-stage extended state observer, constructing a three-layer collaborative architecture of model feedforward compensation, resonant frequency selection suppression, and extended state observer broadband estimation. The positioning force model actively compensates for known harmonic disturbances, the embedded resonant controller accurately suppresses residual periodic components, and the extended state observer compensates for nonlinear and aperiodic disturbances in real time. This invention achieves full-link collaborative suppression of positioning force harmonics, inductor asymmetry harmonics, and unknown disturbances in PMLMs under low-speed, high-speed, and variable-speed conditions, significantly reducing current harmonics and improving system stability and control accuracy. Simulation results show that this control method can achieve high-precision servo control of PMLMs.

The application relates to the intelligent field of grinding processing, in particular to a grinding speed control method and system based on PID. The method comprises the following steps: collecting current and rotating speed signals of a servo motor, obtaining a pure load torque observation value through online parameter calibration, inertia-torque decoupling and selective bias compensation; determining a heterogeneous boundary event through a relative change rate sudden change variable index and a multi-cycle continuous confirmation logic, and latching an observation residual vector before and after the event; matching the residual vector with a pre-calibrated multi-hardness grade standardized residual template, identifying a disturbance amplitude grade, generating an exponential decay window-shaped nonlinear feedforward torque sequence, and converting the sequence into an equivalent speed disturbance amount to be superimposed on a PID original error to realize active compensation; monitoring a speed error peak value after the feedforward is completed, and directionally correcting a corresponding grade feedforward strength reference value. The application can solve the problem of speed fluctuation caused by heterogeneous grinding load step disturbance, and improve processing quality and system stability.

The application discloses a kind of extreme working condition under large mould profile size precision initiative compensation predecision-making method, the extreme working condition is: temperature range is 700 ℃-1200 ℃, forming load is 500MN-800MN;Specifically includes the following steps: step 1, constructs the large mould factor trace mechanism of forging geometric size target deviation;Step 2, degradation prediction input stage;Step 3, compensation amount calculation generation stage;Step 4, construct neural network proxy model.The application realizes the prospective prediction of mould cavity degradation and forging size deviation before forging production and profile compensation predecision-making, can effectively guide the design optimization, service maintenance and profile compensation planning of large mould, significantly improve forging production precision and stability, reduce mould failure and forging scrap risk, applicable to aerospace, high-end equipment manufacturing and other fields under extreme service working condition Large mould application, with important engineering application value and theoretical research significance.

The application provides a robot parallel joint synchronous control method, device, equipment and medium, relates to the field of robot control technology, is applied to the robot waist parallel joint, and the robot waist parallel joint comprises a main drive unit and a slave drive unit; the robot parallel joint synchronous control method comprises the following steps: acquiring a main drive load characteristic of the main drive unit and a slave drive load characteristic of the slave drive unit respectively; determining a deviation load characteristic according to the main drive load characteristic and the slave drive load characteristic; actively compensating the deviation load characteristic to generate a position correction amount, and controlling the slave drive unit according to the position correction amount. The application neutralizes the internal stress formed by the accumulation of slight inconsistent movements under the parallel high-rigidity structure from the root, not only avoids the reduction of the effective load capacity, but also reduces the wear of the mechanical mechanism, and practically solves the problems of excessive internal stress and easy damage of the mechanical mechanism in the double-drive parallel mode in the related art.

The invention relates to the technical field of multi-agent system control, solves the technical problem of lack of an effective active compensation mechanism for unknown nonlinear dynamics and actuator fault problems in an underlying physical system in the traditional technology, and particularly relates to an adaptive fault-tolerant control method for heterogeneous multi-agent distributed Nash equilibrium optimization. By constructing a hierarchical game control framework, hierarchical decoupling is carried out on high-level game strategy optimization of a decision-making layer and bottom-layer trajectory tracking of a control layer; and establishing an adaptive fault-tolerant control law, and configuring adaptive update law parameters based on a Lyapunov stability theory, so that a control layer can track a Nash equilibrium reference strategy. According to the method, distributed game control of the heterogeneous multi-agent system can be realized under the condition that nonlinear uncertainty and actuator faults exist, so that tracking errors are converged to a small tight set, accurate tracking of an optimal strategy is realized, and the fault-tolerant capability and robustness of the system are improved.