56 results about "Control oriented" patented technology

The invention belongs to the technical field of reusable aircraft control, and relates to an intelligent fault diagnosis and control method for a reusable aircraft. According to the method, a control-oriented aircraft dynamics model is established, a neural network adaptive fault observer and a particle swarm optimization algorithm are fused, and high-precision tracking control over the attitude and trajectory of the aircraft is achieved. When faults such as performance loss of an actuator and unmeasurable deviation occur, fault information can be estimated quickly and accurately, the reconstructed fault information is integrated into control law design, and it is guaranteed that the aircraft still keeps stable flight in a serious fault state. Meanwhile, the method can effectively deal with composite disturbances such as pneumatic uncertainty, elastic modal coupling and external environment interference, and improves the real-time performance and accuracy of fault diagnosis by means of high-precision joint online estimation. In addition, the particle swarm optimization algorithm further enhances the overall performance and adaptive ability of the control system, so that the aircraft operates more efficiently and stably in the flight process.

The invention belongs to the technical field of hypersonic flight vehicle control, and particularly relates to an INDI-based flight and thrust integrated control method for a hypersonic flight vehicle. The method comprises the following specific steps: designing a vertical-direction-controlled flight-thrust integrated longitudinal dynamic model of the hypersonic aircraft, designing a trajectory guiding outer ring to realize height and speed tracking control, designing an attitude stabilizing outer ring to realize attack angle tracking control, constructing an attitude control inner ring to realize flight-thrust control of an acceleration level, and designing a flight-thrust model of the hypersonic aircraft. And designing an engine compensation layer to process dynamic delay of an actuator. Through the MIMO-INDI mechanism, the pneumatic / propulsion coupling effect is actively utilized, collaborative distribution of the fuel equivalence ratio of the elevator and the engine is achieved, and the comprehensive control performance of the aircraft is improved. The method is a flight / propulsion integrated control method and has a wide application prospect.

An active pre-heat-dissipation control method for dynamic loading of a high-power fuel cell relates to the technical field of fuel cell thermal management control, and comprises the following steps: firstly, acquiring operating parameters such as pile voltage, coolant temperature and the like in real time, establishing a control-oriented pile and cooling system model, and fitting and identifying model parameters based on acquired operating data; and designing an electric pile temperature controller, and dynamically adjusting the operation amount of the cooling system according to the real-time and target temperature deviation. A mapping relation between temperature response characteristics and system net power under different loads and environment temperatures is established through a model operation result, and the future temperature rise rate is calculated in combination with a load current prediction model. An active heat dissipation mechanism is constructed based on a multi-objective cost function, the pre-heat dissipation amount is dynamically adjusted according to the current change rate or the environment temperature when the future temperature rise rate or the environment temperature exceeds the limit, the problem that heat dissipation is not in time due to high-power loading or too high environment temperature is effectively solved, and stable temperature control and system net power optimization are achieved.

The invention discloses a robust control method for the stability of a special vehicle on a soft and rugged road surface, and relates to the technical field of vehicle control. Comprising the steps that driver input is acquired, and reference input of a controller is generated based on a reference generation model in combination with vehicle kinematics and dynamics principles; a linear form model is constructed as a control-oriented basic model, model error estimation is performed by using real-time online data generated by operation of a real vehicle system, a model based on interference estimation is constructed, and real-time correction and compensation of a vehicle dynamics model are realized; and on the basis of the corrected and compensated off-road vehicle dynamics model, control quantities are generated and sent to the vehicle through yaw stability control based on MPC and torque distribution based on optimization, and stability control over the vehicle is achieved. The method can dynamically adapt to complex working conditions of soft and rugged road surfaces, so that a vehicle dynamics model is more accurate, and a reliable foundation is laid for subsequent control.

The application discloses a flight control oriented OTA upgrading method, system, device, computer readable storage medium and program product, belongs to the field of computer science and technology, and aims to solve the problems of insufficient safety of an existing upgrading process, unreliable data transmission and weak batch management capability for a heterogeneous architecture. The method establishes a first connection, sends a start request frame containing a specific identification code and an inverse code, sets an upgrading flag and resets the flight control, and disconnects the connection. After resetting, a second connection is established, firmware is transmitted and written, an end request frame with the same frame structure is sent, the flight control is finally reset and starts new firmware, and the connection is disconnected. The frame structure containing the identification code and the inverse code, the instruction code and the check code enhances the communication reliability and the anti-interference capability. The stage resetting and the flag mechanism ensure that the upgrading process is controllable and recoverable, avoids firmware damage or startup failure, and improves the safety and stability of the flight control system remote upgrading.

The invention belongs to the technical field of hypersonic flight vehicle control, and relates to an end cloud intelligence enhanced elastic hypersonic flight vehicle control method. The method comprises the following steps: constructing a longitudinal dynamic model of the elastic hypersonic aircraft, and converting the longitudinal dynamic model into a control-oriented mathematical model to facilitate the design of ESO and PID controllers; designing an ESO including generalized elastic displacement observation to observe key state parameters of the system; designing a cascade feedforward PID controller to control the attitude and speed of the hypersonic aircraft; and designing an end cloud intelligent parameter setting system to realize online setting of PID control parameters. The method is an intelligent control method for the hypersonic flight vehicle based on the elastic observer, and has a wide application prospect. Experimental results show that compared with traditional PID control, the method has the advantages that the tracking precision, the response speed and the anti-jamming capability are remarkably improved, and a new thought is provided for autonomous flight control of the hypersonic flight vehicle.

The invention particularly relates to a direct force carrier landing control method based on predefined time active disturbance rejection control, and belongs to the technical field of aviation. Aiming at the problems of high landing accident rate and large wake flow disturbance influence of a shipboard aircraft, uncertain convergence of a traditional control method and the like, the method comprises the following steps: firstly, establishing a six-degree-of-freedom nonlinear model, an aerodynamic force and an aerodynamic moment model of the shipboard aircraft, and fusing the wake flow disturbance influence; constructing a torque control channel and a direct force control channel, and converting the torque control channel and the direct force control channel into a control-oriented model; and then designing PTADRC-based attitude angle, angular rate and track angle control laws, and realizing total disturbance estimation and compensation through PTESO. Simulation verification shows that the method has no overshoot and no steady-state error tracking instruction in the predefined time, is high in anti-interference capability, can guarantee the stability and accurate control of the landing attitude of the shipboard aircraft, and remarkably reduces the landing risk.

The application discloses an additive decomposition dynamic surface control method for unmanned aerial vehicles, and comprises the following steps: constructing a standard unmanned aerial vehicle dynamics model for controller design; constructing an observer for related uncertain functions and state variables in the standard unmanned aerial vehicle dynamics model for controller design; using the output information of the observer to design a dynamic surface intermediate control signal required by each dynamic subsystem and to provide a reference signal for the terminal dynamic subsystem; and constructing an error dynamics subsystem based on the reference signal and using an additive decomposition technology to design a final additive decomposition dynamic surface control signal. By introducing the additive decomposition and observer technology into the traditional dynamic surface controller design framework, the non-affine problem of the actual control signal can be solved, and the calculation load of the controller can be reduced, so that a more simplified and efficient controller design scheme is provided for the path tracking task of the unmanned aerial vehicle.

The invention relates to an intelligent synthesis-oriented spacecraft component equipment description method, and belongs to the technical field of architecture design. Abstract modeling and unified description are carried out on management operation of common component equipment in a spacecraft control subsystem, an application example is given, and the development efficiency and quality of spaceflight embedded software intelligent composite codes can be improved. According to the method, firstly, component equipment composition of an existing spacecraft control subsystem is combed, then general and difference demand analysis is carried out on component equipment management functions of the spacecraft control subsystem, then a software unified equipment model oriented to control system components is established, and finally a specific example is given. The method can quickly adapt to software codes formed by different parts of the control system, the reuse capability of the control software is improved, and then intelligent synthesis of the software is supported.

A joystick device for a machine, in particular an off-highway vehicle, is provided. The joystick device comprises a control lever (110), a lever support mechanism (120) configured to support the control lever (110) and to provide a two axes movement of the control lever (110), and a changeover mechanism (10). The changeover mechanism (10) has a guide structure (20) having a guide pattern (25) and a translation mechanism (30) operable to translate the guide structure (20) from a first position at which the control lever (110) is spaced apart from the guide pattern (25) to a second position at which the control lever (110) engages the guide pattern (25) to thereby restrict movement of the control lever (110) to the guide pattern (25). The guide structure (20) has a surface (24) that faces the control lever (110) and the guide pattern (25) extends in the surface (24). The translation mechanism (30) is configured to translate the guide structure (20) in a direction (11) perpendicular to the surface (24) of the guide structure (20) to engage the guide pattern (25) with the control lever (110).

An HVAC controller includes an HVAC control module, a control housing covering or enclosing at least a portion of the HVAC control module, a near field communication (NFC) module, and a communication connection connected to the HVAC control module and the NFC module. The HVAC control module includes a controller board, a controller processor, and a controller memory disposed on the controller board. The control housing has an inner surface facing the HVAC control module and an outer surface opposite the inner surface. The NFC module includes an NFC board, NFC circuitry, and an NFC antenna connected to the NFC board. The NFC module is positioned remote from the HVAC control module and proximate the inner surface or the outer surface of the control housing.

The application discloses a kind of linear hydrodynamic parameter identification methods of underwater vehicle facing control law design, it is related to the cross field of ship integrated motion control technology and bionic intelligent algorithm, including the following steps: establishing linear motion state equation of underwater vehicle;Obtain underwater vehicle navigation test data;Determine objective function in combination with underwater vehicle hydrodynamic motion characteristics;The hydrodynamic parameters contained in linear motion state equation are taken as individuals to form a population, and the population is initialized;According to the objective function, the population is optimized using improved genetic algorithm, and the key hydrodynamic parameters are output.The application effectively reduces the error between the output of the linear motion equation of the underwater vehicle under typical steering input and the test data, thereby reducing the modeling error of the linear motion equation of the underwater vehicle used for controller design, and improving the control quality and robustness of the control algorithm of the underwater vehicle.

A motor assembly is provided. The motor assembly includes a control board, a fan motor, an impeller that is rotated by the fan motor, a first guide that covers the impeller and guides sucked-in air in an axial direction of the impeller along an air flow path to be directed to the control board, and a second guide disposed between the first guide and the control board to cover the fan motor and guide air along the air flow path, wherein the second guide is located apart from the control board, and wherein the second guide includes a nozzle portion having a gradient of a certain angle with respect to the axial direction at an end facing the control board.

The application discloses a material flow transfer collaborative control method based on multi-source information fusion, and particularly relates to the general control and regulation field, which comprises five steps of multi-source heterogeneous data acquisition and standardized representation, state space construction oriented to control characteristics, multi-element state analysis based on parallel constructor, multi-factor fusion decision generation, instruction execution and feedback adaptive closed loop; the global data acquisition mechanism is constructed to integrate carrier, facility and task data, the workshop layout is abstracted into a structured graph model to generate a state snapshot, the system state is evaluated in parallel from the efficiency, stability and economy dimensions, the multi-objective decision model is constructed by combining the task priority to dynamically adjust the weight, and the model self-evolution and self-correction are realized through the closed loop feedback; the application breaks the limitation of traditional static scheduling, improves the collaboration and precision of the material flow transfer, reduces the operation energy consumption, and provides an efficient solution for the intelligent upgrading of the industrial material flow transfer system.

The invention relates to an automatic driving control method based on elastic safety critical control. The method comprises the steps that the vehicle state, the reference path and the environment information of automatic driving are obtained in real time; establishing a control-oriented automatic driving vehicle dynamics controlled model, and establishing an optimization problem considering time-varying safety constraints; designing an elastic safety critical control model: estimating time-varying disturbance, converting safety and stability into constraints through an elastic control barrier function of a self-adaptive penalty parameter, establishing a unified constrained optimization framework, and integrating safety constraints, stability constraints and control input constraints into a quadratic optimization problem; and solving a secondary optimization problem of the elastic safety critical control model in real time to obtain safety control input of the automatic driving vehicle. Compared with the prior art, the method has the advantages that the vehicle can accurately track the reference path under the time-varying disturbance, and the system safety and stability are ensured.

This invention belongs to the field of reusable aircraft control technology, and relates to an intelligent fault diagnosis and control method for reusable aircraft. This method establishes a control-oriented aircraft dynamics model, integrates a neural network adaptive fault observer and a particle swarm optimization algorithm, to achieve high-precision tracking control of the aircraft's attitude and trajectory. When faced with faults such as actuator performance loss and unmeasurable deviations, it can quickly and accurately estimate fault information and integrate the reconstructed fault information into the control law design, ensuring stable flight even under severe fault conditions. Simultaneously, this method can effectively cope with complex disturbances such as aerodynamic uncertainties, elastic modal coupling, and external environmental interference. Through high-precision joint online estimation, it improves the real-time performance and accuracy of fault diagnosis. Furthermore, the particle swarm optimization algorithm further enhances the overall performance and adaptive capability of the control system, making the aircraft operate more efficiently and stably during flight.

The present invention relates to an adaptive justifier for a vehicle perception system oriented towards robust autonomous driving control. A system includes a computing device. The computing device includes a processor and a memory including instructions causing the processor to be configured to: convert vehicle dynamics data to corresponding road geometry data; calculate a justifier value based on a difference between the road geometry data and map-based road geometry data; and determine whether to modify a vehicle state based on the justifier value.

The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to an all-wheel-drive finite-time fault-tolerant control method for a time-varying load quadrotor unmanned aerial vehicle, and aims at the quadrotor unmanned aerial vehicle carrying the time-varying load in an actuator failure scene and considering partial failure of an actuator, the time-varying load and external interference. A precise dynamic model is established and converted into a control-oriented design model, an all-drive system, finite time, preset performance and a fault-tolerant control design algorithm are combined, and based on a Lyapunov stability theory, it is proved that signals of a closed-loop system are consistent and finally bounded, and tracking errors of all subsystems are converged to be within preset precision within the finite time. Finally, the effectiveness of the designed method is verified through a simulation experiment. According to the all-drive finite time fault-tolerant control method for the time-varying load quadrotor unmanned aerial vehicle, the unmanned aerial vehicle can output a stable tracking reference instruction, the tracking error finite time is converged to a preset steady-state error range, and finally the feasibility of the method is proved through a simulation experiment.

drive device (300) which has an engine (310), a control plate (360) configured to control the motor (310), a connecting element (370) located in a predetermined direction between the motor (310) and the control plate (360), wherein the connecting element (370) electrically connects the control plate (360) and an external device (210), and a solder metal (393) that connects the control plate (360) and a motor cable (315) that extends in the specified direction from the motor (310) through the connecting element (370) to the control plate (360), wherein the control plate (360) has a through-hole (361) through which the motor cable (315) passes, the through-hole (361) opening on a lower side (360b) of the control plate (360) facing the connecting element (370) and on an upper side (360a) of the control plate (360) opposite the lower side (360b), wherein the connecting element (370) contains: a base section (371) that is connected to the motor (310), a support section (377) which projects from the base section (371) in the predetermined direction towards the control plate (360) such that a tip surface (377a) of the support section (377) is in contact with the lower side (360b) of the control plate (360) so that the support section (377) supports the control plate (360), and a guide section (378) having a guide hole (378c) through which the motor cable (315) passes, the guide hole (378c) opening on a lower side (378b) of the connecting element (370) facing the motor (310) and on an upper side (378a) of the connecting element (370) facing the control plate (360), the upper side (378a) of the connecting element (370) projects from the base section (371) towards the control plate (360) and is further away from the lower side (360b) of the control plate (360) in the predetermined direction than the tip surface (377a) is from the lower side (360b) of the control plate (360), a rib of solder metal (393) is formed on both the upper side (360a) and the lower side (360b) of the control plate (360), and the rib formed on the lower side (360b) of the control plate (360) is positioned between the upper side (378a) of the connecting element (370) and the control plate (360).

The application belongs to the technical field of flight control. The application provides a specified time increment control method for aircraft flow angle under multiple fault interference. The method comprises the following steps: establishing the dynamics equation of the aircraft flow angle and angular rate and converting it into a strict feedback linearization form; performing first-order Taylor expansion on the dynamics equation at the current sampling time to establish a control-oriented incremental model; designing a specified time flow angle controller and a specified time angular rate controller for the aircraft based on the control-oriented incremental model and the specified time theory to achieve specified time control of the aircraft flow angle. The disclosed embodiments have the advantages of simple structure and strong robustness, only require the state differential measurement information and control surface manipulation derivative of the aircraft, effectively reduce the dependence on accurate nonlinear terms in the aircraft model, and can still achieve accurate flow angle control under specified time even under multiple faults.

This invention belongs to the field of hypersonic vehicle control technology, and relates to an edge-cloud intelligent enhancement control method for hypersonic vehicles. The method includes constructing a longitudinal dynamic model of the hypersonic vehicle and transforming it into a control-oriented mathematical model to facilitate the design of the ESO (Elastomer Optimizer) and PID controller; designing an ESO with generalized elastic displacement observation to observe key system state parameters; designing a cascaded feedforward PID controller to control the attitude and velocity of the hypersonic vehicle; and designing an edge-cloud intelligent parameter tuning system to achieve online tuning of the PID control parameters. This method is an intelligent control method for hypersonic vehicles based on an elastic observer and has broad application prospects. Experimental results show that compared with traditional PID control, this method significantly improves tracking accuracy, response speed, and anti-interference capability, providing a new approach for the autonomous flight control of hypersonic vehicles.

The invention discloses a time-varying self-adaptive asymptotic temperature control method for a fuel cell thermal management system, and the method comprises the following steps: S1, building a control-oriented multiple-input multiple-output thermal management system model based on the inlet and outlet temperatures of an electric pile, the double-circulation temperature dynamics and the internal heat exchange process of the system; s2, designing a novel time-varying command filter and introducing the novel time-varying command filter into a backstepping control framework in order to achieve a target of presetting temperature tracking error convergence time; s3, environment and system parameter perturbation are considered, a time-varying error compensator based on a smoothing sign function is combined, and a dual-channel time-varying self-adaptive asymptotic temperature tracking controller is provided to process unknown perturbation and compensate filtering errors; s4, selecting a proper Lyapunov function to prove that a closed-loop system is stable, and the temperatures at the inlet and the outlet of the galvanic pile can be gradually tracked to a reference value; according to the method, the problems of non-uniform temperature distribution and severe fluctuation of the electric pile caused by dynamic load change, parameter uncertainty and the like are solved, the operation efficiency of the battery is improved, and the service life of the battery is prolonged.

The invention discloses a controller redundancy configuration-oriented frequency converter system safety protection method, relates to the technical field of frequency converter safety protection, and aims to solve the technical problem of how to comprehensively consider system switching and application occasions of system redundancy aiming at the design of a frequency converter system with controller redundancy. The controllers adopt an optical fiber communication mode or other high-speed communication modes, each set of controller adopts an independent control power supply to supply power, is provided with independent voltage, current and other sampling sensors and circuits, and can realize frequency converter working state synchronization, data intercommunication, master and slave controller authority switching, cooperative protection and the like.

The application relates to a kind of front and rear power chain coordination control method and system for hybrid electric drive vehicle, which comprises: inputting historical vehicle speed, accelerator pedal and brake pedal signal into pre-constructed fuzzy reasoning system to obtain predicted vehicle speed; through power flow coupling relationship, the dynamic prediction model of front and rear power chain for control is pre-established, which is used to predict the future running state of vehicle, and a multi-objective optimization function considering vehicle speed tracking, SOC keeping, fuel consumption reduction and power fluctuation reduction is set, and the multi-objective optimization function is solved by numerical solution method under system constraint condition, to realize the coordinated optimization control of power distribution between different power sources of front power and longitudinal control of rear power chain.The application can weaken the severe fluctuation of power demand of hybrid electric vehicle power source under strong transient working condition, ensure the stability of engine operation under strong transient working condition, and improve fuel economy; it can be applied in vehicle control field.

The application discloses a method and system for interference joint control oriented to continuous batch processing reasoning. The method determines current running state data in a scheduling period; calculates interference degree and execution time consumption of the scheduling period according to the current running state data; based on the current running state data, the interference degree and the execution time consumption, effect evaluation and energy consumption estimation are performed on a preset frequency candidate set and a pre-filled shaping quota candidate set to screen out a feasible scheme list; a target control scheme is determined to generate a control instruction; and the frequency and the pre-filled limit are controlled according to the control instruction, and the safety margin is updated according to the actual running result, so that the updated safety margin is used for screening of the feasible scheme list next time, interference-driven closed-loop joint control is realized, the hardware energy consumption is reduced, and the service reliability and the running efficiency of the system under high-concurrency mixed load are improved while the large model reasoning response speed and the output stability are ensured.

The application relates to a kind of line control brake vehicle slip rate control method and system, comprising the following steps: based on the vehicle speed of the vehicle to be controlled, wheel rotation speed and current road adhesion coefficient collected, judge whether it needs to activate slip rate control: if it needs to activate, based on the control-oriented slip rate control system model and preset performance control strategy constructed in advance, the road adhesion coefficient is estimated, and the road adhesion coefficient estimated is used by the motor servo line control brake system of the vehicle itself to control the vehicle to be controlled;Otherwise, the current road adhesion coefficient is used by the motor servo line control brake system of the vehicle itself to control the vehicle to be controlled.Using the method of the application, the dynamic and steady-state response error of the key parameter slip rate in the vehicle braking slip process can be converged to the pre-set error boundary within a limited time.Therefore, the application can be widely applied to the slip rate control of vehicle.

A semiconductor device includes: a base plate; a semiconductor module including a control terminal and provided to an upper surface of the base plate; a control substrate which is provided on an upper side of the semiconductor module and the control terminal is connected to; and a terminal guide including a passing hole through which the control terminal passes, a guide upper surface provided to face a lower surface of the control substrate, at least a part of the guide upper surface having contact with the lower surface of the control substrate, a guide lower surface, at least a part of which is disposed in a position of the upper surface of the semiconductor module or below the position of the upper surface of the semiconductor module, and a body part connecting the guide upper surface and the guide lower surface.

The invention discloses a self-adaptive fault-tolerant control method for an aircraft under multiple uncertainties, and relates to the technical field of flight control, and the method comprises the steps: building an aircraft comprehensive model under multiple uncertainties; equivalently decomposing the aircraft comprehensive model into three subsystems based on additive state decomposition, and obtaining a control-oriented equivalent model of the three subsystems after model transformation; designing a first observer and a second observer; designing controllers: a proportional-integral controller, a self-adaptive controller and a state feedback controller; and adding the three controllers to obtain a composite controller, and combining the composite controller and the observer to obtain a final controller, thereby realizing adaptive fault-tolerant tracking control of the aircraft. According to the method, an aircraft system is decomposed into three subsystems according to an additive state decomposition theory, corresponding controllers are designed respectively, and finally the three designed controllers are added to obtain a composite controller, so that the robust tracking control requirement of the aircraft under multiple constraints such as input saturation is met.

The present application belongs to the technical field of hypersonic vehicle control, and particularly relates to a hypersonic vehicle flight-propulsion integrated control method based on INDI. The specific steps include: establishing a hypersonic vehicle flight-propulsion integrated longitudinal dynamics model in the form of a wall, designing a trajectory guide outer loop to realize height and speed tracking control, designing an attitude stabilization outer loop to realize angle of attack tracking control, constructing an attitude control inner loop to realize flight-propulsion control at the acceleration level, and designing an engine compensation layer to handle actuator dynamic delay. The present application actively utilizes the aerodynamic / propulsion coupling effect through the MIMO-INDI mechanism to realize collaborative distribution of elevators and engine fuel equivalence ratio, thereby improving the comprehensive control performance of the vehicle. The method is a flight / propulsion integrated control method, and has a wide application prospect.

The invention discloses a non-singular preset performance safety approximate optimal control method, and belongs to the technical field of aircraft control. The method comprises the following steps: constructing a control-oriented aircraft attitude tracking error model based on an aircraft attitude dynamic model, and giving out task-based performance constraints; based on performance constraint requirements, designing a safety boundary by using a control barrier function, and solving a safety control set meeting constraints; a performance index function containing control precision and control consumption is constructed, a baseline optimal controller is designed through self-adaptive dynamic programming, and an approximate optimal control instruction is solved; and constructing a quadratic programming problem in combination with the safety control set and the approximate optimal control quantity, and solving to obtain an approximate optimal control instruction meeting the safety constraint. The control singularity risk caused by the fact that the control value error approaches the preset performance boundary in a traditional preset performance control method is avoided, the adaptability of the system to deviation and uncertainty is improved, and the adaptability of the system to complex flight environments and diversified tasks is enhanced.