27 results about "Closed-loop transfer function" patented technology

The invention relates to the technical field of servo system control, in particular to a noise measurement suppression method and device based on axial angle tracking angular position estimation. The method comprises the following steps: determining a first measurement angle after sine transformation and a second measurement angle after cosine transformation based on the first measurement angle and the second measurement angle; simplifying the first measurement angle after sine transformation and the second measurement angle after cosine transformation to obtain a simplified first measurement angle and a simplified second measurement angle; based on the simplified first measurement angle and the simplified second measurement angle, determining a representation relation between a phase discriminator tracking error of the servo system and a phase-locked loop output angle; determining an input of the servo system based on the representation relationship; determining an estimated angle value based on the input of the servo system and a preset closed-loop transfer function; and controlling the servo system based on the estimated angle value. Therefore, the control precision of the servo system can be improved.

This application discloses a method and apparatus for tuning control parameters of a grid-type converter. The method includes: solving the closed-loop transfer function of the first current control loop; using the Routh criterion to obtain the inequality constraints that the active power-frequency outer loop control parameters should satisfy under preset stability requirements; solving the inequality constraints under preset dynamic performance requirements to tune the active power-frequency outer loop control parameters; solving the closed-loop transfer function of the second current control loop to tune the reactive power-voltage outer loop control parameters; determining the parameter selection range of virtual inductance and virtual resistance based on the converter inductance to tune the virtual impedance control parameters; and solving the closed-loop transfer function of the third current control loop to solve the equality constraints that the current inner loop control parameters should satisfy under preset dynamic performance requirements to tune the current inner loop control parameters. This solves the technical problems in related technologies where parameter tuning based on experience or trial and error is inefficient and makes it difficult to find optimal control parameters.

The application discloses a permanent magnet synchronous motor decoupling control method and device, equipment and storage medium, wherein a d-axis disturbance value, a q-axis disturbance value, a preset resistance value, a preset d-axis inductance and a preset q-axis inductance are input into a permanent magnet synchronous motor stator voltage equation to obtain a d-axis and q-axis current change rate equation; a d-axis controlled function and a q-axis controlled function are obtained according to the d-axis current change rate equation, the q-axis current change rate equation, a d-axis control function and a q-axis control function; a closed-loop transfer function is obtained according to a d-axis adjustment function, a q-axis adjustment function, the d-axis controlled function and the q-axis controlled function; and the permanent magnet synchronous motor is controlled according to the closed-loop transfer function. In the application, the closed-loop transfer function is represented by determined parameters, so that when the environment changes, the controller parameters do not need to be reset, and the decoupling efficiency is improved.

The application belongs to the field of intelligent traffic management and control, and particularly relates to a hybrid traffic flow cooperative control method based on H∞ direct strategy search, comprising the following steps: S1, establishing a linear state space model of a hybrid traffic system; S2, taking minimization of H∞ norm of a closed-loop transfer function from w(t) to z(t) as an optimization target, and constructing a controller optimization problem with K as an optimization variable; S3, solving the controller optimization problem of S2 by using a direct strategy search method to obtain an optimized gain matrix K*; S4, configuring the K* in each AV; in the process of system operation, each AV acquires or estimates x(t) in real time, and calculates and executes an acceleration control instruction according to a control law u(t)=‑K* x(t). The method can realize strong robust inhibition of non-smooth and time-varying disturbances in the hybrid traffic flow, and ensure that the control strategy has theoretically provable stability and performance boundary.

The invention discloses a method for calculating the active power boundary of a virtual synchronous type network construction wind turbine generator. The method comprises the following steps: 1, constructing a closed-loop transfer function; 2, calculating a phase angle increment; 3, calculating reactive power increment caused by phase angle change; 4, q-axis current is obtained through calculation, and a current limit contour line composed of the maximum d-axis current and the maximum q-axis current on the grid side is formed; 5, converting the current limit contour line into a grid-side active-reactive power boundary contour line; 6, adding the reactive power increment and the reactive power of the current unit, substituting the result into the active-reactive power boundary contour line of the network side, and obtaining the maximum active power boundary value of the network construction type wind turbine generator under the corresponding maximum network side terminal voltage limitation; according to the method, the mutual coupling influence of the active power and the reactive power of the grid-forming type wind turbine generator is considered, the active power boundary value of the grid-forming type wind turbine generator is obtained, and the situation that the unit operation exceeds the power limit due to the power coupling effect in the active and reactive power changing process of the unit is avoided.

The application provides a virtual synchronous generator control method and system, and belongs to the technical field of virtual synchronous generator control. The value of the grid frequency observed by a low-bandwidth frequency-locked loop, a phase-locked loop or a high-bandwidth frequency-locked loop or phase-locked loop after low-pass filtering is used as a feedforward value of the frequency of the virtual synchronous generator. When the grid frequency observed by the low-bandwidth frequency-locked loop or phase-locked loop is used as the feedforward value, the poles of the equivalent closed-loop transfer function of the frequency-locked loop or phase-locked loop and the zeros of the active-frequency transfer function of the virtual synchronous generator are cancelled. When the value of the grid frequency obtained by using the high-bandwidth frequency-locked loop or phase-locked loop and after low-pass filtering is used as the feedforward value, the poles of the low-pass filter transfer function and the zeros of the active-frequency transfer function of the virtual synchronous generator are cancelled. The application can eliminate the steady-state error of the active power regulation of the virtual synchronous generator, enhance the effect of suppressing the grid frequency change in the low-frequency band, and improve the effect of the virtual synchronous generator on the inertia support of the grid.

A low-latency sound reinforcement system acoustic feedback control method, comprising: constructing a sound reinforcement system model, establishing a closed-loop transfer function, and determining the system stability condition; constructing an acoustic feedback path and generating an open-loop training data set to simulate the acoustic feedback signal under a critical unstable state; extracting the time-frequency features of the input signal and designing the complex spectrum mapping target of the neural network; constructing a full-subband grouping long-short term memory network, including an encoder, a full-band and sub-band processing module, and a decoder, training the network using a hybrid amplitude spectrum and complex spectrum loss function, optimizing the signal reconstruction strategy to reduce the latency; fine-tuning the network in the simulated closed-loop system, adapting to the actual acoustic environment and nonlinear distortion, and limiting the output signal amplitude through hard clipping; deploying the fine-tuned model to the real sound reinforcement system and cooperating with the frequency shift method to suppress acoustic feedback. The method can effectively suppress acoustic feedback at a lower latency, improve the quality and intelligibility of speech, and increase the maximum stable gain of the sound reinforcement system.

The invention discloses a control method, device and equipment of a direct-current micro-grid and a storage medium. The control method comprises the following steps: acquiring a closed-loop output impedance-droop coefficient-voltage loop closed-loop transfer function relationship; in the first control period, obtaining a current droop coefficient value, a rated power proportion of each direct current converter and real-time power of each direct current converter; according to the current droop coefficient value, the rated power proportion of each DC converter, the real-time power of each DC converter and the closed-loop output impedance-droop coefficient-voltage loop closed-loop transfer function relation, the output impedance of each DC converter in the first control period is adjusted. According to the technical scheme, the droop coefficient is adjusted according to the current droop coefficient value, the rated power proportion of each direct-current converter and the real-time power of each direct-current converter, so that the output impedance is adjusted, and power sharing in the direct-current micro-grid is achieved.

The application discloses an automatic voltage regulator zero dynamic detection method based on neural network prediction. First, the open loop and closed loop transfer functions of an AVR system are established, and a five-order state space model is constructed based on the Byrnes-Isidori norm, and the internal and external states are estimated in real time through a Luenberger observer; a state-driven neural network predictor is constructed, the output of the next sampling period is predicted, and a residual error is formed with the output of the unattacked mirror model; finally, the zero dynamic attack is judged based on the residual error threshold, and the comprehensive detection of early warning, high sensitivity and low false alarm rate of the hidden attack is realized.

The present application relates to a kind of offshore wind generator harmonic suppression method, belong to offshore wind power harmonic suppression technical field, including the following steps: offshore wind generator sequence impedance model is constructed, and the positive sequence impedance of offshore wind generator is output;Offshore wind generator, rectifier station, inverter sequence impedance model is constructed, respectively offshore wind generator positive sequence impedance, offshore wind generator to rectifier station alternating current side positive sequence impedance, rectifier station DC side to inverter DC side positive sequence impedance are output, to obtain system positive sequence impedance and construct open loop and closed loop transfer function, using Nyquist reverse criterion carries out stability diagnosis.If the diagnosis result is unstable, based on system positive sequence impedance optimization PI controller parameter, by PI controller realizes to inverter and rectifier station current, voltage accurate control.Current loop and voltage loop are used for collaborative control, quickly respond to system harmonic variation, reduce harmonic generation and amplification, effectively suppress harmonic.

This invention discloses a simplified method and system for tuning active disturbance rejection control (ADRC) for nuclear power steam generators with time delay. The method includes: establishing a mathematical model of the steam generator; designing a time-delay ADRC controller and equivalently transforming it into a two-degree-of-freedom structure to obtain the equivalent transfer function expression of the steam generator mathematical model and the characteristic equation of the closed-loop system; obtaining the characteristic equation of the closed-loop transfer function through low-frequency approximation, further obtaining the desired tracking speed parameter, and equivalently converting the adjustment of the outer-loop controller gain into the quantitative adjustment of the desired tracking speed parameter; simplifying the analysis of the parameters of the time-delay ADRC controller; and determining the relative time delay margin as a stability index through robustness index analysis to obtain the range of values ​​for the regularized observer bandwidth. This invention improves the mathematical analysis capabilities for modeling and controlling nuclear power equipment, making the TD-ADRC controller more practical in actual nuclear power equipment operation and ensuring the safe operation of nuclear power plants.

This invention discloses a self-tuning method and system for three-parameter control parameters of a shaking table based on a genetic algorithm. The method includes: in displacement control mode, inputting a wideband, small-amplitude white noise displacement signal to a shaking table carrying a specimen, measuring the displacement response of the shaking table, identifying the closed-loop transfer function of the system displacement, and then calculating the open-loop transfer function of the system displacement; based on the open-loop transfer function of the displacement, adding a three-parameter controller and a signal generator to construct a closed-loop control system, and deriving the acceleration transfer function of the system; initializing the population based on a genetic algorithm, using the parameters of the three-parameter controller as the independent variables of the genetic algorithm, designing a self-tuning function, and using the genetic algorithm to iteratively optimize the self-tuning function until the termination condition is met, thereby obtaining the optimized three-parameter control parameters. This invention improves the system bandwidth and solves the problem of shaking table parameter tuning when considering the influence of the specimen.

A method includes causing a digital controlled oscillator to oscillate in a phase locked loop having a first closed loop transfer function, and changing the phase locked loop having the first closed loop transfer function to a phase locked loop having a second closed loop transfer function. The method also includes starting a charge-sharing locking process to correct phase errors in the digital controlled oscillator while the digital controlled oscillator oscillates in the phase locked loop having the second closed loop transfer function.

The invention provides a wind power plant subsynchronous oscillation suppression and fault ride-through performance optimization method, and belongs to the technical field of wind power plant subsynchronous oscillation suppression and fault ride-through performance optimization. In order to solve the technical problems of collaborative optimization of control parameters and dynamic response performance and optimization of fault ride-through performance, an operation scene set is constructed based on probability distribution of a wind speed scene and a power grid short-circuit ratio; establishing an open-loop / closed-loop transfer function model of a current controller and a phase-locked loop in the doubly-fed fan and the static var generator; determining the comprehensive weight of the subsynchronous oscillation suppression performance index and the dynamic response performance index in the target function fitness by adopting a comprehensive weight evaluation method combining an analytic hierarchy process and an objective weighting method; solving the first-stage wind power plant main controller parameter optimization model by adopting a genetic algorithm, verifying the phase margin of each scene, and judging whether a second-stage model is triggered or not; the method is applied to suppression of subsynchronous oscillation of the wind power plant.

The application discloses a harmonic current injection compensation cogging torque method based on a control system transmission characteristic, and comprises the following steps: S1, measuring the cogging torque of a permanent magnet synchronous motor; S2, acquiring parameters of the permanent magnet synchronous motor and a vector drive control system thereof; S3, deducing a closed-loop transfer function of q-axis injected harmonic current to motor output electromagnetic torque; and S4, according to the cogging torque required to be compensated obtained from S1 and the transfer function obtained from S3, calculating the amplitude and phase of the q-axis required injected harmonic current. The application does not increase the complexity of the control system, is easy to implement, can effectively compensate the cogging torque, reduces the rotational speed harmonic caused by the cogging torque, and solves the problems of poor effect, failure and even increased inhibition target under some working conditions of the existing harmonic current injection method.

The application discloses a kind of guided weapon autopilot control parameter automatic design method.The application can greatly improve the design efficiency of autopilot control parameter, and speed up the design and development progress of guided weapon control system.The application first selects feature points on uncontrolled trajectory, then builds particle model at each feature point, and independently designs the autopilot control parameter at each feature point;The application gives the typical structure of overload autopilot and attitude autopilot, and the designer can transform into appropriate autopilot structure by parameter setting according to specific needs;Then by obtaining the open-loop and closed-loop transfer function of the inner and outer loops of the autopilot, the static stability at the feature point is automatically determined, and a correction network is added to the static unstable state;Finally, the autopilot inner and outer loop control parameters are automatically designed based on frequency domain performance and time domain performance.The actual project flight verification has good engineering application effect.

The invention relates to the technical field of space laser communication, particularly provides a prediction method for closed-loop bandwidth of a fast steering mirror system and a storage medium, and aims to solve the problems that the dynamic performance evaluation of the system is deviated and the closed-loop bandwidth cannot be accurately predicted due to significant difference between modeling and actual measurement of a traditional fast steering mirror system. In order to achieve the purpose, the prediction method for the closed-loop bandwidth of the fast steering mirror system, provided by the invention, comprises the following steps: acquiring time delays of all parts in the fast steering mirror system; determining a transfer function of a delay link based on the time delay of each component; determining an open-loop transfer function based on the transfer function; obtaining an amplitude-frequency characteristic curve of a closed-loop transfer function based on the open-loop transfer function; based on the peak value of the amplitude-frequency characteristic curve of the closed-loop transfer function, calculating the closed-loop angular frequency after the preset gain is reduced; a closed-loop bandwidth is determined based on the closed-loop angular frequency. The multi-source time delay in the system is quantified and is fused into a transfer function model, so that a simulation value is more consistent with a measured value.

The application discloses a kind of aircraft transient performance optimization methods based on feedforward cooperative PID control structure, belong to flight control technical field.The method provided by the application includes: the aerodynamic dynamic coefficient of aircraft at feature point is calculated;The closed-loop transfer function of aircraft under control at the feature point is calculated;The control system bandwidth is preset;According to the preset control bandwidth, the pole and zero point of the closed-loop transfer function of aircraft stable control loop that needs is configured;According to the closed-loop transfer function and the configured zero pole, control parameter is calculated;According to the control parameter calculated, the control parameter that does not satisfy actual engineering constraint is adjusted.The application aims at the problem that aircraft flight control exists transient performance difficult to meet, by three-loop control plus feedforward control and the pole and zero point of control system configuration, guarantee the stable performance of aircraft flight, improve transient performance under the condition of stable performance, obtain the control parameter that finally satisfies design requirement by preset parameter adjustment and parameter limiting.

The application provides a control method and device of a vehicle, the method comprising: acquiring a structure parameter and a motion parameter of the vehicle and a digital signal output by a quantizer, and constructing a state space equation of an open loop system of the vehicle based on the structure parameter, the motion parameter and the digital signal; calculating a quantization error of the quantizer according to the digital signal, the quantization error being a bounded value; taking the quantization error as a bounded disturbance of a target robust controller model to be constructed, constructing a state space equation of a closed loop system of the vehicle based on a standard robust controller model and the state space equation of the open loop system, determining a closed loop transfer function corresponding to the state space equation of the closed loop system, and constructing the target robust controller model; and performing lateral and longitudinal control on the vehicle based on the target robust controller model.

This invention relates to the field of smart grid technology, and discloses a method, system, and medium for identifying the virtual inertia of a VSG based on the identification of equivalent damping of static power adjustment difference. The method includes: constructing a dynamic relationship model between the virtual inertia of the VSG and the equivalent damping coefficient, and the virtual mechanical power and virtual electromagnetic power; establishing a closed-loop transfer function of VSG command power to output power based on the deviation of VSG output active power; setting the VSG command frequency to deviate from the grid's rated angular frequency to obtain the VSG steady-state power deviation; identifying the VSG equivalent damping coefficient based on the steady-state power deviation; inputting the identified VSG equivalent damping coefficient into the closed-loop transfer function, and after discretization, using the improved recursive auxiliary variable algorithm AFFRIVM with an adaptive variable forgetting factor to iteratively identify the virtual inertial time constant of the VSG.

This invention belongs to the field of grid-connected inverter technology, specifically relating to a method for improving the stability of multi-infeed systems of grid-connected inverters based on high bandwidth. The method of this invention utilizes the proportional gain of the PI controller in the current loop of a single grid-connected inverter (GCI). k p and integral coefficient k i and the proportional gain of the PI controller in the voltage loop k vp and integral coefficient k vi Using the variable as a variable, Bode plots of the closed-loop transfer function of the current loop and the closed-loop transfer function of the voltage loop of a single GCI are drawn. The frequency corresponding to -3dB in the Bode plot is selected, and this frequency is required to meet the high bandwidth requirement. High bandwidth is used as the model parameter of the GCI multi-infeed system to obtain the first model. The stability of the GCI multi-infeed system is improved based on the first model, so that the method of the present invention can effectively improve the stability of the GCI multi-infeed system.

The application discloses a method, device and equipment for determining SVG control parameters and a readable storage medium. The method comprises the following steps: setting a key operation condition of a new energy grid-connected system; determining a closed-loop transfer function matrix of the new energy grid-connected system according to a control structure of the new energy grid-connected system and in combination with an H-infinity control matrix of an SVG in the new energy grid-connected system; and determining SVG control parameters under the key operation condition based on the closed-loop transfer function matrix. The application determines the key operation condition of the new energy grid-connected system, determines the closed-loop transfer function matrix based on the H-infinity control matrix, and determines the SVG control parameters under the key operation condition. The new energy grid-connected system is controlled by using the SVG control parameters, the stability of the new energy grid-connected system containing the SVG can be improved, and better small interference robustness is achieved.

The invention discloses a subsynchronous oscillation analysis method and system for a direct-driven wind power multi-station grid-connected system. The subsynchronous oscillation analysis method comprises the following steps: establishing a small signal model of each link of the direct-driven wind power multi-station grid-connected system; determining an expression of a generalized damping coefficient suitable for analyzing the subsynchronous oscillation mode; converting the small signal model of each link into transfer function description, constructing a first closed-loop transfer function model of the system based on the transfer function description, and performing aggregation blocking processing on the first closed-loop transfer function model to obtain a second closed-loop transfer function model; based on the second closed-loop transfer function model, separating interaction paths between subsystems into interaction paths between wind power plant stations and an alternating current system and between wind power plant stations, and performing quantitative analysis on damping characteristics of various dynamic interaction paths existing in the system based on an expression of a generalized damping coefficient; and determining a subsynchronous oscillation analysis result.

The application provides a system model construction method and device and a computer storage medium. The method is applied to a computer device in a control system, and the control system comprises a control device, an output sensor and a controller. Firstly, frequency response data of the control device measured by the output sensor is obtained according to a preset time interval. Then, a closed-loop transfer function for describing a relationship between an input signal and an output signal of the control device on the computer device is obtained. Next, the closed-loop transfer function and the frequency response data are iterated. Finally, iteration values generated by adjacent iterations are compared. When a change amplitude of the iteration values generated by the adjacent iterations is less than a preset threshold, a latest to-be-constructed system model is taken as a constructed system model. In this way, the measured frequency response data and the closed-loop transfer function are iterated for multiple times, so that an accurate system model is constructed, and the stability and reliability of the control device are improved.

This specification discloses a method and apparatus for vehicle control. Based on the acquired vehicle structural parameters, vehicle motion parameters, lateral and longitudinal control saturation functions, and a standard robust controller model, the state-space equations of the vehicle's closed-loop system are constructed. Then, based on the state-space equations of the closed-loop system, the corresponding closed-loop transfer function is determined. Next, based on the performance indices of the closed-loop system's state-space equations and the closed-loop transfer function, convex optimization inequalities are constructed and solved to obtain solutions. Finally, based on the solutions to the convex optimization inequalities, an optimal robust controller model is constructed, and the vehicle's lateral and longitudinal control is performed based on this model. Thus, by considering the vehicle's hardware performance during the calculation process, calculation results that meet the vehicle's performance limits are obtained, solving the saturation nonlinearity problem related to the vehicle's steering wheel angle and acceleration / deceleration.

The invention discloses a composite trans-impedance amplifier configuration method based on multi-objective optimization, and the method comprises the following steps: S1, constructing a composite TIA model, and determining a transfer function; the transfer function comprises an open-loop transfer function, a closed-loop transfer function and a noise transfer function; s2, constructing a phase margin constraint and a bandwidth constraint based on the open-loop transfer function and the closed-loop transfer function; calculating system output noise based on the noise transfer function; s3, by taking minimization of system output noise as a target, calculating an optimal solution under the phase margin constraint and the bandwidth constraint to obtain a TIA configuration parameter; on the premise of ensuring the stability and the closed-loop bandwidth, the balance of the phase margin constraint, the closed-loop bandwidth index and the output noise is realized by taking the noise as an optimization target.

This invention relates to the field of brushless DC motor technology, specifically to a method and system for optimizing control parameters of a brushless DC motor. The method includes establishing an equivalent mathematical model of the hydraulic pump and the motor, constructing an open-loop simulation model of the motor, identifying the back electromotive force coefficient, torque coefficient, and moment of inertia through simulation, introducing a first-order inertial low-pass filter to construct an improved PID controller, establishing a time-domain mathematical model based on the identified parameters, deriving the closed-loop transfer function, determining the desired system response order based on this function, configuring the closed-loop poles, back-calculating the unknown control parameters using the pole placement method, substituting the back-calculated parameters into the improved PID controller to construct a dual-PID control loop, and performing particle swarm optimization to obtain the optimal combination of control parameters. This invention provides theoretical initial values ​​through the pole placement method and achieves adaptive tuning of the dual-PID control loop parameters through particle swarm optimization, solving the problems of difficult manual adjustment, poor disturbance rejection, and lack of engineering calculation methods.