29 results about "Active compensation" patented technology

The invention discloses a robot polishing process regulation and control method based on deep learning, and relates to the technical field of workpiece machining. The regulation and control method comprises the steps that S01, the to-be-polished surface of a workpiece is divided into a plurality of areas, attribute division is conducted on the areas, the areas with the same attribute are divided into the same group, and a plurality of area groups are obtained; s02, establishing a corresponding surface parameter standard range for the same group of areas; by introducing the deep learning-based look-ahead prediction method, the change trend of multi-dimensional information data in the polishing process can be analyzed in real time, physical roots (such as polishing tool abrasion and temperature accumulation) are diagnosed in advance based on the associated network diagram, a prediction adjustment instruction is generated, active compensation optimization of a subsequent polishing program is achieved, and the polishing efficiency is improved. The lagging of post adjustment is effectively overcome, the efficiency and quality consistency of grinding operation are remarkably guaranteed, and meanwhile time waste caused by re-grinding is reduced.

The invention discloses a VSG coordinated control method and device based on improved self-adaption and feed-forward compensation, and the method comprises the steps: building a model of a VSG optical storage grid-connected system, and analyzing a power angle characteristic and a frequency oscillation curve; introducing an arc tangent function to optimize a traditional adaptive control strategy, and smoothly adjusting rotational inertia and a damping coefficient; a feed-forward compensation control strategy is added, an active compensation expression and a rotor motion equation are established, a compensation coefficient and a filtering time constant are set in a coordinated mode, and configuration of a small-signal model change zero-pole pair of an active power reference value under disturbance is reconstructed; adjusting virtual rotational inertia and a damping coefficient based on the optimized adaptive control strategy, and correcting a power reference value in advance by predicting frequency fluctuation based on a feed-forward compensation control strategy; according to the method, power overshoot and frequency change deviation are effectively suppressed, smooth adjustment of rotational inertia and VSG dynamic performance optimization are realized, and the system response speed and stability are enhanced.

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 invention provides a modular reconfigurable active compensation system and a planar coil segmentation design method based on stream function superposition and optimization, relates to the field of electromagnetic compensation, and solves the problems of low space utilization rate, large weight, weak installation adaptability, low cost and the like caused by the fact that a traditional overall stream function compensation coil is inseparable and poor in flexibility and depends on a whole board substrate. And the problems of complex manual winding process, poor consistency, small effective compensation area and insufficient magnetic field uniformity caused by insufficient consideration of the boundary mirror image effect of the magnetic shielding chamber are solved. Through an algorithm design process, a bulk flow function coil pattern which is difficult to divide traditionally is decomposed into a plurality of discretized sub-coil modules which can be independently manufactured, flexibly arranged and electrically connected, so that high-performance magnetic field compensation is realized, and meanwhile, the aims of system light weight, high space utilization rate and reconfigurability are fulfilled.

The application provides a centrifugal force active compensation control algorithm and a vibration isolation system for a car seat, comprising the following steps: a compensation angle calculation step: based on vehicle chassis speed information, acceleration information and angular velocity information, the expected real-time centrifugal force compensation angle during vehicle sharp cornering is calculated through a sensor fusion algorithm; a trajectory planning step: according to the maximum centrifugal force compensation angle, the trajectory during the rebound of the seat body after the vehicle passes the corner is planned; a PI control step: according to the real-time centrifugal force compensation angle and the trajectory planning result, the angle of the damping motor is adjusted, so that the damping motor can follow the expected centrifugal force compensation angle in real time. The application can calculate the centrifugal force compensation angle, and then realize better centrifugal force compensation function for the seat body through the damping motor.

The invention provides an active compensation sound transmission method and device based on an actual installation environment of a sound transmission screen, and the method comprises the steps: obtaining a to-be-played audio corresponding to a target sound transmission screen in the actual installation environment; selecting a corresponding target audio compensation value from a target compensation parameter table; performing pre-compensation processing on the to-be-played audio to obtain a pre-compensated audio; playing the pre-compensated audio through a loudspeaker; wherein the actual audio obtained after the pre-compensation audio passes through the target sound transmission screen has the same audio characteristic as the audio to be played. According to the mode, the target audio compensation value corresponding to the to-be-played audio is selected from the target compensation parameter table and is compensated, and the target compensation parameter table integrates the reference attenuation table measured in the standard acoustic test environment and the environment compensation increment table measured in the actual installation environment, so that the accuracy of the target audio compensation value is improved. The influence of the actual installation environment is comprehensively considered, and the pre-compensation audio is played through the target sound transmission screen, so that the auditory effect of the audience side after the sound penetrates through the screen can be improved.

The invention relates to the technical field of cable supports, in particular to a cable support with an active compensation mechanism, which comprises a compensation mechanism, the compensation mechanism comprises a supporting seat, an oil storage tank is arranged at the upper end of the supporting seat, a compensation frame is arranged at the upper end of the supporting seat, a cable main body is erected in the compensation frame, and the cable main body is in an omega shape. According to the cable bending compensation device, flexible pressing force is applied to the bending section of the cable through the first pushing frame, the adjusting rod and the positioning sleeve, the cable is pushed to deform moderately, and the bending compensation of the cable is achieved. The compensation mode overcomes the defects that a traditional mechanical structure is small in expansion amount, poor in response and lagged in compensation, can synchronously adapt to the working condition that the expansion joint is expanded or shrunk, and effectively prevents the cable from being pulled or extruded and damaged due to the change of the expansion joint.

The invention relates to the technical field of automatic control, in particular to a real-time control method for the rotating speed of a friction stir welding stirring tool, and the method comprises the following steps executed in each control period: collecting the actual temperature of a welding area and carrying out filtering processing; and estimating a current temperature state estimation value and a current total disturbance estimation value through an extended state observer by using the filtered actual temperature and a final control instruction of a previous control period. According to the method, the extended state observer (ESO) is combined with the PID controller, so that the total disturbance formed by unmodeled dynamics, nonlinearity and external disturbance in the welding process can be estimated and actively compensated in real time. Compared with passive response of traditional PID control to disturbance, the method achieves feedforward active suppression of disturbance, and the robustness and precision of a control system are remarkably enhanced.

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.

To provide an active compensation device that actively compensates for noise generated in a common mode in each of at least two or more high current paths.SOLUTION: An active compensation device 100 includes a sensing unit 120 that generates an output signal corresponding to a common mode noise signal on a high current path, an IC unit 500 including an amplifier unit that amplifies the output signal and outputs an amplified signal, and a digital circuit unit that outputs noise data that is digitally converted from the output signal, and a compensation unit 140 that draws a compensation current from the high current path or generates a compensation voltage on the high current path based on the amplified signal. The noise data is provided to an external device.SELECTED DRAWING: Figure 1

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 invention discloses a damping enhanced phase-locked loop control method based on asymptotic stability and a converter, and the method comprises the steps: introducing a negative feedback branch to adjust system damping in a phase-locked loop control link, so as to build a control model of a damping enhanced phase-locked loop; and on the basis of the control model, the grid-following type grid-connected converter adopting the damping enhanced phase-locked loop is enabled to operate stably. According to the method, a nonlinear damping adjustment mechanism is introduced into a phase-locked loop control link, so that active compensation for a negative damping effect is realized, and the synchronous stability of the grid-following type grid-connected converter can still be kept under the condition of a weak power grid or even an extremely weak power grid.

The application relates to the technical field of force compensation, and discloses a force feedback adjusting system and an active compensation method, which comprises the following steps: generating a target posture required by a first target according to pre-acquired data of the first target, obtaining target pressure by analyzing the mapping relationship between the target posture and the force condition of the first target, constructing a pressure thermal map according to the real-time measured force data of the first target, matching the target pressure in the pressure thermal map, identifying a first adjusting area, and adjusting, updating the pressure thermal map according to the real-time force data of the first target, calculating the pressure gradient between adjacent grids in the updated pressure thermal map according to a preset grid size, identifying a second adjusting area, and adjusting the second adjusting area by controlling the array movement in each grid. The application can adjust the spine posture, keep a reasonable angle, compensate for local pressure, reduce the occurrence of pressure sores, and improve the safety and effectiveness of the operation process.

According to the clearance active compensation and self-adaptive adjustment rotary joint and the control method, by means of a double active compensation structure formed by the circumferential spring and the sealing ring body and a double active compensation structure formed by the axial spring and the integral sealing ring, the abrasion clearance can be filled in time, and the stable sealing specific pressure can be continuously maintained. Meanwhile, cooperative linkage with a multi-parameter leakage detection self-adaptive system is achieved, an intelligent sealing guarantee system is constructed, and the capacity of dealing with abrasion and leakage problems is remarkably improved; by means of the multi-sealing layout and the continuous compensation function, the system can actively recover the sealing performance in the non-stop state, and therefore the service life of a sealing assembly and the equipment maintenance period are greatly prolonged. By adopting a multi-signal fusion monitoring strategy of differential pressure, flow, liquid level, torque, pre-tightening force and the like, the limitation of single sensing is effectively overcome, the accuracy of leakage diagnosis and the early warning capability are greatly improved, and the system is particularly suitable for high-temperature and high-pressure harsh operation working conditions.

The application discloses an active compensation method for wavefront system error of an interferometer, and provides active compensation for wavefront error introduced by a second collimating lens in a large-aperture interferometer. Firstly, an interferometric reference light path system model is established in optical design software Zemax; a polynomial is used to represent wavefront introduced by the second collimating lens; a self-defined surface type in Zemax is used to realize modeling of surface shape error, material uniformity error, residual stress, clamping deformation, gravity deformation and other system errors of the second collimating lens, and to simulate and analyze the influence of the system errors on the reference wavefront. On the basis of accurate modeling of the interferometric system, system errors caused by the above error sources in the reference wavefront of the large-aperture interferometer are compensated by controlling the surface shape parameters of a deformable mirror. The application accurately models the system errors introduced by the second collimating lens in the reference wavefront, and compensates the wavefront error by controlling the surface sag of the deformable mirror, so that the precision is high and the practicability is good.

The present invention provides an active compensation device that actively compensates for noise occurring in a common mode in at least two or more large current paths. The active compensation device includes a sensing unit that generates an output signal corresponding to a common mode noise signal on the large current paths, an IC unit that receives the output signal, converts it into a digital signal, generates noise data and an amplified signal based on at least the digital signal, and outputs the noise data and the amplified signal, and a compensation unit that draws a compensation current from the large current paths or generates a compensation voltage on the large current paths based on the amplified signal. The noise data is provided to an external device.

The application discloses a hydraulic multi-way valve intelligent shaft control method based on reinforcement learning, which is based on an execution-evaluation neural network reinforcement learning framework, fuses a dynamic surface control thought, and designs a position shaft control intelligent controller which considers unknown friction dynamic active compensation. For the position shaft control problem of the hydraulic multi-way valve, the application can not only guarantee active learning compensation of unknown friction dynamics of the system, improve the anti-interference ability and intelligent level of the system, but also can avoid the problem of differential explosion in traditional backstepping control of an electro-hydraulic system, reduce the influence of measurement noise on control precision, and realize asymptotic tracking performance.

The invention discloses a high-frequency transformer winding equivalent resistance self-adaptive compensation device and method, and belongs to the technical field of high-frequency transformers. The device is composed of a detection unit, a control unit and a compensation unit. The detection unit collects and preprocesses winding current, temperature, magnetic core temperature, working frequency and input voltage. The control unit takes a microcontroller as a core and executes multivariable fitting, magnetic core loss calculation and closed-loop compensation algorithms; the compensation unit adopts an adjustable resistor branch and an active compensation circuit to realize coarse adjustment and fine adjustment; according to the method, resistance fluctuation is dynamically counteracted through initialization, multi-parameter acquisition preprocessing, magnetic flux density and magnetic core loss calculation, equivalent resistance fitting correction and closed-loop compensation. The method solves the estimation deviation caused by the coupling effect under the high-frequency working condition, is fast in compensation response, high in precision and wide in working condition adaptability, can remarkably improve the stability and efficiency of the transformer, meets the requirements of miniaturized and high-power-density equipment, and has the overcurrent and overheating protection function.

The utility model discloses a semi-active drill column heave compensation device for an ocean floating platform. The semi-active drill column heave compensation device comprises a traveling block, an upper support, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a lower support and a large hook. The first hydraulic cylinder and the second hydraulic cylinder are responsible for achieving passive compensation of the heaving motion of the drill column, the third hydraulic cylinder is responsible for achieving active compensation of the heaving motion of the drill column, the passive compensation and the active compensation are combined to form semi-active compensation, the compensation precision is greatly improved, and the bit pressure of a drill bit at the well bottom can be kept basically unchanged. The third hydraulic cylinder adopts a hydraulic transmission form to realize active compensation of the heaving motion of the drill column, and compared with mechanical transmission, the power density is higher, and the size and the weight are smaller under the condition of outputting the same power.

The present application relates to offshore photovoltaic technology field, specifically relates to a kind of photovoltaic pile driver and pile driver control system and method based on double compensation system.The present application includes double compensation system, photovoltaic pile driver and pile driver, double compensation system drives pile hammer on photovoltaic pile driver and pile foundation embraced by pile driver to collide, double compensation system includes three-dimensional compensation system I located at the bottom of photovoltaic pile driver, and three-dimensional compensation system II located at the bottom of pile driver, double compensation system is through adjusting the relative position of three-dimensional compensation system I and three-dimensional compensation system II, ensure the precision controllable of pile hammer and pile foundation collision;The present application can adjust the distance between pile driving vessel and pile foundation by improved pile driver;Through the new double compensation system and hydraulic pump station, the linkage control base of double compensation system is realized, and manual compensation mode, active compensation mode and passive compensation mode can also be realized, and the effect is more prominent, timely and efficient by establishing prediction model mode combined with double compensation system comprehensive adjustment.

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 application discloses a numerical control machine tool spindle stall protection control method and system, and relates to the field of numerical control machine tool control. Three-phase current signals of a numerical control machine tool spindle driving motor, vibration acceleration signals of a spindle shell, and high-frequency acoustic emission signals collected within a spindle setting range are collected in real time. Based on tool spindle interface state judgment, cutting force disturbance judgment, acoustic emission characteristic frequency band energy, current harmonic peak value, and vibration amplitude, multi-feature linkage judgment is realized through a combination of preset threshold values. Based on the multi-feature linkage judgment result, hierarchical protection actions are executed to realize layered management and control of spindle stall risks. Through synchronous collection of multi-physical field signals and multi-feature linkage judgment, the application improves the accuracy of spindle stall early warning, effectively avoids false positives and false negatives, actively compensates for cutting force disturbance, realizes early intervention of stall hazards, and reduces the probability of stall occurrence.

The invention discloses a self-adaptive precision force control method, system and device based on force feedback and a medium, and belongs to the technical field of precision servo control, and the control method comprises the following steps: S1, collecting measurement data of a force sensor in real time, and obtaining an actual force signal; s2, generating a force control position correction amount through a force controller based on a deviation between a preset target force and an actual force value represented by the actual force signal; s3, applying the force control position correction amount to a position control loop of the servo motor by adopting a control strategy of combining a position inner loop and a force outer loop so as to dynamically generate a final target position instruction; and S4, issuing a final target position instruction to the servo motor, and driving the servo motor to adjust the displacement of the execution mechanism so as to adjust the actual force value in a closed-loop manner. According to the invention, self-adaptive force control can be realized, the influence caused by external load change can be actively compensated, the response speed is extremely high, and the engineering level, reliability and usability of the system are improved.

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.

The application discloses a kind of assembly methods of proportional valve, it is related to proportional valve assembly technical field, by abandoning the mode of traditional proportional valve assembly passive tolerance accumulation, assembly after grinding compensation or temporary correction error in assembly, using the pre-position active compensation process of measurement, calculation, assembly again, the position parameter Δd of armature and core is detected, the depth of nozzle press-fitting is accurately matched in combination with size chain geometric relation, effectively offset the tolerance accumulation caused by core assembly hole depth, armature height, nozzle installation position, work air gap Δh It is stably controlled in the optimal preset interval.This method greatly improves the consistency of batch product work air gap, guarantees proportional valve electromagnetic response, pressure and flow regulation accuracy and operating stability.

The invention relates to the technical field of refrigerator control, in particular to a helium turbo expander control method and system. According to the method, operation parameters in the operation process of the helium turbo expander are collected in real time; a linear active-disturbance-rejection control mode, a slope control mode and a manual control mode are integrated, and the linear active-disturbance-rejection control mode estimates internal and external disturbances of the helium turbo expander system in real time according to operating parameters by using a discretization expansion state observer and performs active compensation; and selecting a corresponding control mode according to the operation stage of the helium turbo expander. According to the invention, real-time estimation and active compensation are carried out through a linear active disturbance rejection control mode, and the response speed and the adjustment precision of output signals of the controller are improved, so that excellent robustness, anti-disturbance capability and dynamic performance are provided under the conditions of model uncertainty and strong interference; slope control and the like are combined to improve the capability of a nonlinear system to stably operate under a time-varying working condition, and a system alarm signal and a chain protection signal are set to guarantee the safety of equipment.

The invention discloses an anti-play self-adaptive prediction and control system for a steel belt uncoiler, and relates to the technical field of steel belt uncoiler processing and automatic control. According to the system, in the uncoiling preparation stage, closed-loop initial deviation correction of automatic secondary centering or stress release is executed by quantifying three initial disturbance indexes of centering, stress and eccentricity. In the stable operation stage, an encoder and a decoder are adopted, multi-source time sequence data such as the spindle angular speed, the driving torque and the steel belt tension are fused in real time, and a high-fidelity future play track prediction sequence is generated. And the system further triggers a hierarchical active compensation instruction according to the risk level of the predicted trajectory, and drives a correction mechanism in a feedforward control mode to ensure that the whole future trajectory is converged within a preset safety threshold. According to the method, the whole-process closed-loop intelligent control from the initial state diagnosis to the dynamic process prediction is realized, and the traditional lag response is converted into active intervention, so that the play suppression accuracy is improved.