12 results about "Composite controller" patented technology

The present application relates to a kind of four-legged robot single leg sliding mode control method based on interference observer, belong to robot control technical field.First, the trajectory of four-legged robot single leg in swing phase is established;Then, the kinematic model of four-legged robot single leg is established, to realize the conversion of foot target position and corresponding joint angle;On this basis, non-singular terminal sliding mode controller is designed to deal with the dynamics control under the condition of no interference;Finally, combined with sliding mode controller and interference estimation, the final composite control strategy is designed, the stable tracking of robot joint angle is realized, so as to improve the anti-interference performance of single leg system.The present application utilizes the combination of finite time interference observer and non-singular terminal sliding mode controller, designs a kind of composite controller, to improve the foot trajectory tracking accuracy and system robustness of four-legged robot, eliminate the uncertainty caused by external disturbance and modeling error suffered by robot.

The application discloses an anti-unwinding flexible spacecraft attitude tracking composite control method, first, based on the quaternion method, a flexible spacecraft attitude tracking error kinematics and dynamics model is established; then, the flexible accessory vibration mode, external environmental disturbance and model uncertainty are regarded as a lumped disturbance, a generalized proportional integral observer is designed, and the lumped disturbance is observed and estimated; finally, a non-singular terminal sliding mode surface is constructed, the lumped disturbance observation and estimation compensation of the generalized proportional integral observer is taken as a feedforward signal, and a feedforward-feedback anti-unwinding attitude tracking composite controller is designed. Through determining appropriate control gain, the closed-loop attitude tracking error system is globally finite time stable, and the anti-unwinding effect can be realized. The application can realize finite time attitude tracking of the flexible spacecraft, has high attitude tracking precision and strong robustness.

This invention proposes a method for enhancing the stability of power hardware-in-the-loop systems based on DDPG-RP. First, an equivalent circuit model of the system containing grid fault disturbances is established, its dynamic interaction characteristics are analyzed, and the impedance matching conditions for stable operation are determined. Based on this, a phase-compensated and enhanced repetitive-voltage feedforward composite controller is designed. An upper-level intelligent controller is constructed by combining this with a deep deterministic policy gradient algorithm. These two controllers are deployed in the bottom and upper-level control units, respectively, forming a hierarchical collaborative control architecture for grid fault simulation. A test platform is built based on this architecture. After offline training and online deployment of the deep reinforcement learning controller, a three-phase short-circuit fault condition is simulated using a high-power grid-connected interface device to verify its dynamic response and stability. This invention, relying on hierarchical collaboration and intelligent optimization, effectively solves the problem of traditional control systems struggling to balance stability and performance under complex faults, significantly improving system adaptability and robustness.

A system and method for improved production line control system communication are disclosed. The production line control system includes a plurality of components, such as a master component and client components. At least one of the master component and client components is configured to implement or run a composite controller. The composite controller is configured to communicate effectively with each of the plurality of components, to receive information from each of the plurality of components, to determine composite information of the production line control system based on the information received from each of the plurality of components, to generate a user interface that displays information about each of the plurality of components and the composite production line control system, and to send commands to the controllers of each of the plurality of components.

This invention discloses a dynamic compensation method for multi-source errors in CNC machine tools under complex working conditions, belonging to the field of precision control technology for CNC machine tools. This method constructs a distributed sensor network to collect multi-physics field data such as temperature field, cutting force, vibration, and environmental parameters in real time, establishes a geometric-thermal-mechanical coupling error propagation model, and uses an improved variational mode decomposition algorithm to achieve high-precision decoupling of multi-source errors. Based on a bidirectional LSTM deep learning network, dynamic compensation amounts are predicted, and combined with a feedforward-feedback composite controller and adaptive coupling matrix adjustment, multi-axis collaborative compensation commands are generated. The compensation effect is evaluated online using a laser interferometer, triggering dynamic updates of model parameters and forming a closed-loop optimization mechanism. This invention overcomes the limitations of traditional single error compensation, solves the problem of real-time analysis and dynamic suppression of multi-physics field coupled errors under complex working conditions, significantly improves the machining accuracy and adaptive capability of CNC machine tools, and is suitable for high-precision machining scenarios such as aerospace precision parts and optical molds.

This invention discloses a fault-tolerant control method based on an event-triggered intermediate observer, belonging to the field of motor technology. In terms of system modeling, to study the stochasticity and robustness of the motor system, a Markov jump system model is used to describe its state-space model affected by actuator faults and disturbances. Regarding transmission strategy, to save network resources and alleviate bandwidth pressure, an adaptive event-triggered mechanism is adopted. Based on this mechanism, an event-triggered intermediate observer is designed. This alleviates the signal transmission and communication burden of the motor system while obtaining estimates of the motor system's state, disturbances, and actuator faults. Then, these estimates are used to construct a composite controller to stabilize the motor system's state, making the motor system robust to actuator faults and disturbances.

This invention relates to an underactuated bridge crane trajectory planning method based on a two-point boundary value problem, belonging to the field of automation control technology. The method first constructs a complete nonlinear dynamic model considering the trolley displacement, hook swing angle, and load swing angle, and sets engineering constraints such as the trolley's maximum displacement, velocity, and acceleration. Then, the trajectory planning problem is transformed into a two-point boundary value problem, solved using numerical analysis methods, generating a unified reference trajectory for trolley positioning, hook swing, and load swing cancellation. This is then combined with an extended-state linear quadratic regulator to form a feedforward-feedback composite controller, achieving precise tracking of the planned trajectory. This invention eliminates the need for linearization of the swing angle, fully considers the actual positional constraints of the trolley, and effectively solves the strong coupling problem between trolley positioning and double-swing swing cancellation through precise nonlinear trajectory planning, improving the positioning accuracy, operational stability, and work efficiency of the bridge crane system.

The application discloses a kind of floating wind turbine semi-physical model delay compensation closed-loop control method and system, belong to offshore floating wind power semi-physical simulation test technical field;System includes physical submodule, numerical submodule and control submodule;The present application is aimed at the problems of load loading lag, timing mismatch, low simulation accuracy caused by actuator physical delay, through timing prediction model, platform motion response is predicted in advance, target aerodynamic load is calculated in advance to offset hardware delay, high-precision tracking and closed-loop correction of load are realized through composite controller, while continuously optimizing the precision of prediction model;The present application not only avoids the inherent similarity criterion conflict problem of floating wind turbine pool test from the root, but also can improve the real-time performance of floating wind turbine semi-physical simulation and the fidelity of coupled dynamics simulation, and can provide high reliability technical support for floating wind turbine pool model test.

Embodiments of the present application relate to the technical field of testing, and particularly relate to a testing method, system, computer device, storage medium and program product. The method comprises: corresponding to different models of a device under test and corresponding general testing equipment, pre-configuring corresponding test track points and setting corresponding test parameters, and storing them in a composite controller; according to the model of the current device under test, sending a running instruction to the composite controller, so that the composite controller controls the current device under test and the testing equipment to test according to the corresponding test track points and test parameters. In this way, for different models of the device under test, the corresponding test track points and test control programs can be loaded by selecting the model, without the need to write a debugging test program before each test, thereby effectively improving the testing efficiency.

The application provides a linear module high-precision positioning control method and a control system. The method comprises the following steps: obtaining expected position information and actual position information of a linear module; generating a preliminary control instruction through a composite controller in parallel connection of a feedforward controller and a feedback controller based on the expected position information and the actual position information, wherein the feedforward controller generates a feedforward compensation amount based on the dynamic characteristics of an expected trajectory, and the feedback controller generates a feedback adjustment amount based on a position deviation; inputting the preliminary control instruction into an adaptive friction compensation model to generate a compensation control amount; correcting the preliminary control instruction based on the compensation control amount to generate a final control instruction; and outputting the final control instruction to a driving unit of the linear module to control the movement of the linear module. The linear module has high dynamic response, high steady-state precision, strong anti-disturbance capability and high environmental adaptability under complex working conditions, and the overall performance and robustness of the positioning control are significantly improved.

The application provides a micro-nano satellite multi-constraint fine control method based on actuator dynamics, and belongs to the field of spacecraft control, and comprises the following steps: considering the electromechanical characteristics of the reaction wheel, an attitude deep coupling model of the micro-nano satellite containing the dynamic characteristics of the reaction wheel is established; aiming at the wheel shaft friction and back electromotive force interference of the reaction wheel, a double interference observer is designed to accurately estimate the wheel shaft friction and back electromotive force interference; aiming at the physical constraints of the satellite rotation speed and the reaction wheel current, a nonlinear state-dependent barrier function is designed to convert the constraint state into a tracking control variable; a composite controller is constructed by combining the double interference observer and the nonlinear state-dependent barrier function, and the high-precision controller design of the micro-nano satellite is completed. The application can overcome the multi-class physical constraint problem in the control of the micro-nano satellite, compensate the interference of the reaction wheel, and has the characteristics of high reliability and high accuracy.