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

The invention provides a network following type and network constructing type energy storage combined planning method and device, and belongs to the field of power system planning. The method comprises the following steps: in a to-be-planned grid following type energy storage and grid construction type energy storage power system, carrying out joint modeling on a grid following type converter, a grid construction type converter and a fed alternating current power grid, so as to obtain a closed loop transfer function of the power system; based on the closed-loop transfer function, constructing a small-interference stability security domain oriented to energy storage joint planning; and converting the small-interference stability security domain into a small-interference stability security constraint, and further establishing a multi-type energy storage joint planning model to obtain a joint planning scheme of following network type energy storage and constructing network type energy storage. According to the method, the influence of the operation condition of the converter on small interference stability can be considered, power system optimization targets such as new energy consumption and the like are considered, and combined optimization configuration of network following type and network construction type energy storage is realized.

The present invention discloses a normalized evaluation method and system for a grid-connected inverter, belonging to the technical field of power quality control of power grids. The evaluation method not only evaluates the stability of the grid-connected inverter, but also evaluates the rapid control performance of the grid-connected inverter. The specific steps are: normalizing the filter parameters, calculating and simplifying the transfer function of the controlled object of the grid-connected inverter, calculating the control closed-loop transfer function of the grid-connected inverter, solving the normalized control parameters, controlling the grid-connected inverter, and calculating the normalized instability evaluation index S of the grid-connected inverter. inv and the normalized evaluation index N of the grid-connected inverter control rapidity inv The normalized evaluation index of the control rapidity of the grid-connected inverter obtained by the present invention provides a direction for the subsequent parameter design and performance optimization of the grid-connected inverter.

The invention discloses an interference type fiber-optic gyroscope error suppression method based on adaptive phase modulation, which comprises the following steps of: modeling a closed-loop working model of an interference type fiber-optic gyroscope to obtain an open-loop transfer function and a closed-loop transfer function of the fiber-optic gyroscope; analyzing steady-state errors under slope input and acceleration input signals according to the open-loop and closed-loop transfer functions; according to the transfer function, analyzing and establishing a relationship between the modulation phase and the signal-to-noise ratio and the random walk coefficient of the fiber-optic gyroscope; according to the rotation angular acceleration of the fiber-optic gyroscope, the modulation depth of phase modulation is adaptively adjusted through the relation between the steady-state error and the modulation phase and the signal-to-noise ratio and the random walk coefficient of the fiber-optic gyroscope, so that the angular rate tracking error is inhibited, and the measurement precision is improved. When the interference type fiber-optic gyroscope is in the high maneuvering mode, the phase can be adaptively adjusted and modulated according to the input rotation angular rate, the open-loop gain is improved, and the output error is reduced, so that the overall performance of the fiber-optic inertial navigation IMU in the high maneuvering mode is improved.

The invention discloses a network construction type converter control parameter setting method for improving the active supporting capability, and the method comprises the steps: firstly inputting the known output active power limit of a to-be-solved network construction type converter; inputting a step disturbance amplitude, a damping coefficient initial value 0.1, a damping coefficient maximum value, a damping coefficient search number and an inertia time constant set by the to-be-solved grid-constructing converter; secondly, according to a closed-loop transfer function formula of output active power and grid-connected point angular frequency of the network construction type converter, obtaining an active output response function of the network construction type converter; and finally, calculating the damping ratio, response time and adjustment time of the active power output by the grid-forming converter, and obtaining a damping coefficient parameter range by combining the requirement of the national standard GB / T 38983.1-2020 on the active frequency modulation capability of the virtual synchronous machine. The method can be used as a support basis for the control parameter design of the network-constructing converter, the active support capability of the network-constructing converter is improved, and the safe and stable operation of a power system is ensured.

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 invention discloses a method for designing an additional stabilizer to suppress low-frequency oscillations in a doubly-fed induction generator (DFIG) wind turbine. The method includes: constructing the input and output terminals of the additional stabilizer and designing the control loop; plotting the Bode plot of the closed-loop transfer function of the original system to determine the dominant oscillation frequency w. d and the phase lag value θ h Perform parameter tuning calculations for the phase compensation stage in the control loop; select the proportional coefficient K of the isolation stage of the additional stabilizer. e The quality coefficient ξ of the second-order bandstop filter with added stabilizer s and resonance coefficient K s Initialize the values; calculate the time δt required to suppress the disturbance and perform iterative calculations; and obtain the optimal parameter K. e ξ s and K s The values ​​are then substituted into the expressions for the isolation stage and the second-order band-stop filter. The additional stabilizer and design method for suppressing low-frequency oscillations in doubly-fed induction generator (DFIG) wind turbines provided by this invention can effectively suppress low-frequency oscillations in DFIG grid-connected systems and significantly enhance the system's stability under small disturbances.

The invention discloses a doubly-fed fan stability improving method and device, relates to the technical field of new energy power generation, and is applied to a doubly-fed fan grid-connected system, a doubly-fed fan in the doubly-fed fan grid-connected system adopts a phase-locked loop design, and in the doubly-fed fan stability improving method, the doubly-fed fan grid-connected system is modeled under an ideal power grid to improve the stability of the doubly-fed fan. Determining a closed-loop transfer function and a closed-loop error function of the phase-locked loop, and calculating error responses of a phase step and a frequency step of the doubly-fed fan grid-connected system under the under-damping and over-damping conditions based on the closed-loop transfer function and the closed-loop error function; the negative influence of the preset phase-locked loop parameter on the stability of the doubly-fed fan grid-connected system under the condition of the low-short-circuit-ratio weak power grid is obtained, a signal processing unit is additionally arranged on the doubly-fed fan grid-connected system under the ideal power grid based on the error response and the negative influence, and the filter parameter of the doubly-fed fan grid-connected system is set, so that the doubly-fed fan grid-connected system is stable, and the stability of the doubly-fed fan grid-connected system is improved. And small disturbance stability and large disturbance stability are considered.

This invention discloses a method for calculating the parameters of a constant AC voltage controller in a flexible DC converter station, including obtaining the short-circuit ratio S of the flexible DC converter station connected to a weak AC system. scr Obtain the equivalent capacitance C at the AC system connection point of the flexible DC converter station. pcc Obtain the simplified AC voltage closed-loop transfer function F. uu (s); Obtain the initial value K of the simplified AC voltage closed-loop transfer function unit step response. stepu and equivalent time constant τ u ; Calculate the constant AC voltage controller parameter k puac and k iuac Obtain the active power controller parameters and verify the calculated constant AC voltage controller parameters k. puac and k iuac Does the parameter constraint condition meet? This invention, through the proposed method for calculating the parameters of the constant AC voltage controller in flexible DC converter stations, reduces the time spent by engineering researchers in selecting outer loop controller parameters and improves research efficiency.

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 invention 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, measured by an output sensor, of the control equipment are obtained according to a preset time interval, and then a closed-loop transfer function used for describing the relation between an input signal and an output signal of the control equipment on computer equipment is obtained. The method comprises the steps that firstly, a closed-loop transfer function is obtained, then iteration is conducted on the closed-loop transfer function and frequency response data, finally, iteration values generated by two adjacent iterations are compared, and when the change amplitude of the iteration values generated by the two adjacent iterations is smaller than a preset threshold value, the newest system model to be constructed serves as a constructed system model. Therefore, the measured frequency response data and the closed-loop transfer function are utilized to carry out multiple iterations, so that an accurate system model is constructed, and the stability and the reliability of control equipment are improved.

An acoustic feedback control method for a low-time-delay acoustic reinforcement system comprises the following steps: constructing an acoustic reinforcement system model, establishing a closed-loop transfer function, and determining a system stability condition; constructing an acoustic feedback path, generating an open-loop training data set, and simulating an acoustic feedback signal in a critical unstable state; extracting time-frequency characteristics of the input signal, and designing a complex spectral mapping target of the neural network; constructing a full-sub-band packet long-short term memory network which comprises an encoder, a full-band and sub-band processing module and a decoder, training the network by adopting a mixed amplitude spectrum and complex spectrum loss function, and optimizing a signal reconstruction strategy to reduce time delay; finely adjusting the network in a simulated closed-loop system to adapt to an actual acoustic environment and nonlinear distortion, and limiting the amplitude of an output signal through hard tailoring; and deploying the fine-tuned model to a real sound reinforcement system, and cooperatively inhibiting sound feedback with a frequency shift method. According to the method, sound feedback can be effectively inhibited under the condition of relatively low time delay, the quality and intelligibility of voice are improved, and the maximum stable gain of a sound reinforcement system is improved.

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 provides a multi-machine parallel control method, device and equipment of an energy storage converter and a storage medium. The method comprises the following steps: firstly, a grid-connected system in parallel with the energy storage converter is disassembled into multiple equivalent circuits under separate excitation, and a transfer function between a response current of each equivalent circuit and an excitation source is established. Subsequently, a Bode diagram of the transfer function changing with the number of parallel connections is determined, and a frequency response closed-loop transfer function of each energy storage converter is obtained according to the transfer function and a power expression of the energy storage converter to a common bus voltage. Finally, control parameters are determined in combination with the Bode diagram and the closed-loop transfer function, and multi-machine parallel control is realized. The method discloses the interaction of the frequency responses among the energy storage converters, and provides a theoretical basis for system control parameter selection and frequency optimization control.

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 application discloses a network-constructing type converter control parameter setting method for improving active support capability, which comprises the following steps: firstly, inputting the known output active power limit of a network-constructing type converter to be solved, inputting the set step disturbance amplitude of the network-constructing type converter to be solved, inputting the initial value 0.1 of a damping coefficient, inputting the maximum value of the damping coefficient, inputting the search number of the damping coefficient, and inputting the inertia time constant; secondly, obtaining an active output response function of the network-constructing type converter according to a closed-loop transfer function formula of the active power output of the network-constructing type converter and the grid point angular frequency; and finally, calculating the damping ratio, the response time and the regulation time of the active power output of the network-constructing type converter, and obtaining a damping coefficient parameter range in combination with the requirement of the national standard GB / T 38983.1-2020 on the active frequency modulation capability of a virtual synchronous machine. The method can be used as a support basis for the design of the control parameters of the network-constructing type converter, improves the active support capability of the network-constructing type converter, and guarantees the safe and stable operation of a power system.

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 relates to the field of energy storage system control, in particular to a VSG control method and device for restraining output power oscillation of an energy storage system, and the method comprises the steps: building an active loop closed-loop transfer function small signal model of a VSG control equation, and obtaining a response equation of an active power given value and a power grid angular frequency value to output power; analyzing the relationship among the damping ratio, the oscillation frequency and the steady-state error through the second-order oscillation system characteristics and the response equation; designing a closed-loop transfer function of VSG control of feed-forward transient damping based on the analysis result, namely, a feed-forward transient damping transfer function, which can suppress power oscillation and reduce steady-state errors; step response and frequency domain characteristics are compared through simulation, and optimal parameters of a feed-forward transient damping transfer function are determined; and updating a feedforward transient damping VSG control algorithm structure by using the determined optimal parameter to control the VSG. The oscillation phenomenon of the output power of the energy storage system can be suppressed, and the power output stability is improved.

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.

The present invention relates to the field of welding control, and discloses a temperature control method for the welding process of laser soft soldering equipment. Under the premise of an accurate mathematical model, the model is discretized, the discretization formula is listed and Z-transformed to obtain the controlled object of each cycle; in each cycle, the PID controller and the controlled object are connected in series, the closed-loop transfer function is obtained, the pole configuration is performed, and the controller parameters are calculated; the error is calculated for the first heating cycle, and the error is input to the PID controller of the next cycle for operation, and the result value is the laser power; and so on, to ensure that the error each time is within a controllable range. After experiments, the results confirmed that the self-correcting PID control method proposed in this article has significantly improved the control accuracy and adjustment time. Compared with the fixed parameter PD control algorithm, the present invention improves the response speed and control accuracy of the system, and the power control amount is smoother and consumes less energy.

The invention relates to an offshore wind generating set harmonic suppression method, which belongs to the technical field of offshore wind power harmonic suppression, and comprises the following steps: constructing an offshore wind generating set sequence impedance model, and outputting the positive sequence impedance of an offshore wind generating set; the method comprises the following steps: constructing sequence impedance models of an offshore wind generating set, a rectifier station and an inverter, respectively outputting positive sequence impedance of the offshore wind generating set, positive sequence impedance from the offshore wind generating set to the alternating current side of the rectifier station and positive sequence impedance from the direct current side of the rectifier station to the direct current side of the inverter, and further obtaining positive sequence impedance of a system and constructing open-loop and closed-loop transfer functions; and carrying out stability diagnosis by adopting a Nyquist reverse criterion. And if the diagnosis result is unstable, PI controller parameters are optimized based on the system positive sequence impedance, and accurate control of current and voltage of the inverter and the rectifier station is realized through the PI controller. Cooperative control of a current loop and a voltage loop is adopted, system harmonic wave changes are quickly responded, generation and amplification of harmonic waves are reduced, and the harmonic waves are effectively suppressed.

The invention relates to a speed regulator dynamic characteristic identification method and system based on PMU data and a medium, and the method comprises the steps: installing PMU equipment in a power system, and collecting the electrical power and frequency data at a generator bus; preprocessing the collected data, including anti-aliasing filtering and down-sampling, so as to improve data quality and processing efficiency; establishing a model comprising a water turbine, a speed regulator and a power system; wherein the water turbine is a linearized model represented by a first-order transfer function; according to PMU measurement data, deducing the relation among the electrical power, the mechanical power and the rotating speed of the generator; based on electrical power and rotating speed data measured by a PMU, a system identification technology is adopted to identify a closed-loop transfer function containing a water turbine governor and electromechanical dynamics; and verifying the identification result by using the simulation data. Compared with a traditional field test method, the method does not need extra test equipment, and reduces the test cost.

The invention provides a dynamic reconstruction method for enabling an MIMO impedance matrix to be equivalent to an SISO complex impedance vector, and the method comprises the following steps: building a 2 * 2 linear impedance matrix of a converter subsystem and a power grid subsystem of a key dynamic state based on a control architecture and power grid parameters; a closed-loop transfer function matrix of the converter-power grid interconnection system is deduced, and an accurate characteristic value of the system is obtained and serves as a benchmark reference for stability analysis; a dynamic reconstruction method is applied, the 2 * 2 impedance model is converted into a complex vector expression, and finally an SISO impedance transfer function with the complete dynamic state reserved is obtained; and establishing an SISO open-loop transfer function of the interconnection system, carrying out cross validation on the SISO open-loop transfer function and a characteristic value analysis result, and realizing dynamic characteristic analysis through characteristic values. According to the method, the MIMO impedance matrix of the converter is accurately equivalent to the complex vector of SISO, and the dynamic characteristics of the system are completely reserved while dimension reduction mapping is realized, so that a more accurate dynamic analysis result is provided.

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.

The present invention provides an anti-disturbance control method and system with control input constraints. The system builds a prediction model of the system based on the ideal closed-loop transfer function of the ADRC system. Since the ADRC system regards unmodeled dynamics and external disturbances as total disturbances, and estimates and compensates for the total disturbances respectively through an extended state observer and a control law. Therefore, the prediction model of the DMC system established based on the ADRC system is more accurate and has better control performance. The ADRC-CIC control method proposed in the present invention can be designed by considering the control input constraints. Through the constraint conversion method, the control input constraints of ADRC can be successfully converted into constraints that can be directly processed by the optimization module. Therefore, ADRC-CIC can be used to solve control problems with control input constraints. It combines the strong robustness of ADRC and the ability of DMC to handle constraints.

This invention discloses an error suppression method for interferometric fiber optic gyroscopes based on adaptive phase modulation. The method includes: modeling the closed-loop working model of the interferometric fiber optic gyroscope to obtain its open-loop and closed-loop transfer functions; analyzing the steady-state error under ramp and acceleration input signals based on the open-loop and closed-loop transfer functions; analyzing and establishing the relationship between the modulation phase and the fiber optic gyroscope's signal-to-noise ratio (SNR) and random walk coefficient based on the transfer functions; and adaptively adjusting the modulation depth of the phase modulation based on the angular acceleration of the fiber optic gyroscope, using the relationship between the steady-state error and the modulation phase, the fiber optic gyroscope's SNR, and the random walk coefficient to suppress angular rate tracking error and improve measurement accuracy. When the interferometric fiber optic gyroscope is in high-maneuver mode, this invention can adaptively adjust the modulation phase according to the input angular rate, increasing the open-loop gain and reducing the output error, thereby improving the overall performance of the fiber optic inertial navigation IMU in high-maneuver mode.

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.