21 results about "Control period" patented technology

The invention relates to the technical field of bidirectional PCS, and discloses a bidirectional PCS converter multi-target power balance optimization method and system based on model predictive control. According to the method, real-time operation parameters are analyzed by using a first-order lag initial model, prediction of power disturbance in a plurality of control periods in the future is realized, power balance optimization is converted from passive response to active pre-judgment, and a linear time-varying prediction model is constructed, so that the real-time performance of power balance optimization is improved. According to the method, the evolution trajectory of the direct current bus voltage in a period of time in the future is predicted, the power balance optimization behavior is continuous and prospective through a rolling optimization mechanism of prediction, evaluation and preferential selection, and meanwhile, the three targets of ensuring voltage stability, reducing switching loss and suppressing current harmonic content are fused into power balance optimization, so that the power balance optimization efficiency is improved. The problems of control hysteresis and target singleness existing in a traditional control method are solved, and quick and accurate power balance control of the bidirectional PCS is realized.

The invention discloses a singularity-avoiding trajectory planning method for a free floating space mechanical arm, and belongs to the technical field of robot trajectory planning. The method comprises the steps that the expected whole-course tail end position track and posture track of the mechanical arm are obtained; setting a control period and circularly executing; at each control moment, a generalized Jacobian matrix and system singularity measurement are calculated, and whether the system is close to singularity or not is judged; traversing all the possible values of the base postures if the base postures are close to singularity, calculating joint angle states and corresponding singularity measurement which do not change the tail end postures, and searching a system configuration corresponding to the maximum singularity measurement; then, the state of the mechanical arm is reconstructed, and the mechanical arm is made to move to the maximum singularity measurement configuration to be separated from singularity; and calculating the inverse of the generalized Jacobian matrix to obtain velocity inverse kinematics, and further calculating the joint angular velocity and the joint angle at the next moment. According to the method, an accurate trajectory planning effect without introducing any theoretical error is realized while the singularity avoidance capability is ensured.

The application provides a control method based on a three-level cascade Buck-Boost converter and an energy storage system. Through a mode switching point threshold calculation method based on flying capacitor voltage and inductance current dynamic characteristics, when switching between different working modes of the Buck-Boost converter, real-time data such as input and output voltages, inductance equivalent parameters and control periods are combined to dynamically determine the inductance current switching point, smooth transition between different modes is realized, the inductance current mutation caused by mode switching is effectively inhibited, the impact on the direct current bus voltage is reduced, and the stability and dynamic response speed of the voltage stabilizing control are improved.

The invention provides an automatic voltage prevention and control method based on voltage fluctuation ratio prediction, and the method comprises the steps: obtaining and correcting the voltage sequence data of a bus in a target region in a past time period at the arrival moment of a current control cycle; fitting an ARIMA model used for predicting a voltage base value and a GARCH model used for analyzing voltage fluctuation characteristics based on the corrected voltage sequence, respectively generating a voltage base value prediction sequence and a voltage fluctuation rate prediction sequence of a future time period, and finally generating a voltage prediction sequence of the future time period. Further obtaining a dynamic voltage safety domain of the current control period; and the security domain is used as a constraint condition to be embedded into an automatic voltage control system so as to realize automatic voltage prevention and control. According to the invention, through fusion of time sequence analysis and volatility modeling technologies, voltage trend and volatility prediction can be fused, a dynamic control threshold value is generated accordingly, and accurate prediction and dynamic regulation and control of the power grid voltage are realized.

The application provides a power distribution substation three-phase load unbalance treatment method based on FCM period division and improved NSGA-II algorithm, first, according to historical load data, short-term day-ahead load prediction is carried out by using a wavelet denoising regression model, then the obtained load curve prediction result is subjected to control period division based on a fuzzy C-means clustering algorithm (fuzzy C-means, FCM), and then the improved genetic algorithm NSGA-II is used for optimization of commutation switch phase distinction for each control period, so that day-ahead optimization of commutation switch action is realized under the condition of considering the limitation of device action times, the three-phase load balance degree of the substation is maximized. Finally, it is verified by examples that the method of the application can quickly and accurately obtain an optimization scheme, the three-phase unbalance degree of the substation is obviously reduced, and the action times of the commutation switch are effectively limited, the effectiveness and practicability are considered, and the application has practical engineering value.

The application provides a balance car disturbance identification method and related equipment, and relates to the balance car control technical field. In the case of obtaining the driving generalized force data output by the motion controller of the target balance car in the current control period and the actual dynamic system parameters of the target balance car in the current control period, the historical dynamic system estimation parameter set corresponding to the current control period, the actual dynamic system parameters and the driving generalized force data are used to obtain the target dynamic system estimation parameter set of the target balance car in the target control period through dynamic system open-loop estimation. Then, the actual state parameter of the dynamic system of the target balance car in the target control period is compared with the target dynamic system estimation parameter set, and the pre-stored disturbance type identification model is called to identify the disturbance type of the obtained parameter comparison result, so that the actual disturbance type of the target balance car in the target control period is identified in time and accurately.

The application relates to the technical field of charging pile planning, and discloses a charging pile quantity configuration method and system, which comprises the following steps: collecting real-time data of a charging station, using a queuing theory model to calculate a queuing index under current configuration based on the real-time data, encapsulating the queuing index as a self-defined operator, and outputting a queuing state vector; constructing a charging pile configuration model based on a value function, dynamically determining the number of parallel service modules required to be adjusted in each control period based on the queuing state vector; establishing a double safety threshold constraint mechanism to correct the adjustment action output by the charging pile configuration model, and realizing the quantity configuration of the charging pile. The method has the advantages of low sample learning ability, edge deployability and strong robustness, and is suitable for intelligent operation and scheduling scenes of large-scale charging networks.

The application discloses a path tracking method, a path tracking device, a self-moving device and a computer storage medium. The path tracking method comprises the following steps: in each control period, acquiring pose information, current speed information and a local path when the self-moving device moves along a pre-planned path; determining sampling speed information according to the current speed information and preset sampling parameters; sampling based on the local path to obtain a sampling space, wherein each position point in the sampling space carries a corresponding score; the score represents the deviation degree of the position point from the local path; generating a plurality of first trajectories based on the pose information and the sampling speed information; mapping the first trajectories into the sampling space to obtain the scores corresponding to the first trajectories; determining a second trajectory from the plurality of first trajectories according to the scores corresponding to the first trajectories; and controlling the self-moving device to move according to the sampling speed information corresponding to the second trajectory. The path tracking method can improve the path tracking accuracy of the self-moving device.

The application discloses a free floating space mechanical arm singular trajectory planning method and belongs to the technical field of robot trajectory planning. The method comprises the following steps: acquiring a desired whole-range end position trajectory and an attitude trajectory of a mechanical arm; setting a control period and cyclically executing; at each control time, calculating a generalized Jacobian matrix and a system singularity measure, judging whether the system is close to singularity; if the system is close to singularity, traversing all base attitude possible values, calculating joint angle states without changing the end position and corresponding singularity measures, searching for a system configuration corresponding to the maximum singularity measure; subsequently, reconstructing the mechanical arm state to make it move to the maximum singularity measure configuration to get rid of singularity; calculating the inverse of the generalized Jacobian matrix to obtain velocity inverse kinematics, and then calculating joint angular velocity and joint angle at the next time. The application realizes the accurate trajectory planning effect of guaranteeing the singularity avoidance capability while not introducing any theoretical error.

The invention discloses an automatic driving control method for a rail transit train, and relates to the technical field of train operation control. The method comprises the steps of firstly obtaining multi-source environment data of a rail in front of a train in real time; then based on the data, through reverse recursive calculation from the identified risk point to the train position, a continuous speed constraint boundary curve defining the allowable speed upper limit of the train at each track position is dynamically generated; then, the current running state of the train is used as an initial condition, the curve is used as an insurmountable hard constraint, and an optimal traction or braking instruction giving consideration to tracking performance and control smoothness in the current control period is solved through model prediction optimization calculation; and finally outputting and executing the instruction. According to the method, the dynamic environment risk is quantified into the speed space boundary in real time, optimization control is carried out in the speed space boundary, the train can actively adapt to the dynamic state, temporary speed limiting and environment changes of the front train, running safety and absolute priority are guaranteed, and meanwhile the running efficiency and the riding comfort are improved.

The application provides a proportional valve board card control method based on sercos III and power optimization, and relates to the technical field of industrial automation control. The method sets a control period consistent with a sercos III cycle communication beat on the master station side, and issues a master station message containing a target control amount, a cycle number and a predetermined effective time; after the proportional valve board card accesses a ring network, a local timing reference is established and synchronous correction is performed, the arrival offset of the master station message is calculated and jitter determination is performed, and buffer scheduling is performed accordingly; the board card divides the control period into a sampling window and an update window, switches to a low ripple power supply state in the sampling window to ensure feedback accuracy, switches to a high drive power supply state in the update window to meet the drive demand, and sets a switching protection interval between the windows. Through communication timing alignment, message jitter buffering and power time-sharing optimization, the application effectively solves the influence of network jitter and power noise on the control accuracy of the proportional valve.

The application provides an intelligent collaborative control method, device and product of a hydraulic residual pressure power generation system, comprising the following steps: acquiring system data of a pipe network system, a time-of-use electricity price signal and a demand response instruction; based on historical water consumption data, weather information and calendar information, a time series prediction model is used to rollingly predict a water consumption load curve of a future set period; based on the water consumption load curve, the electricity price signal, the demand response instruction and the system data, a candidate strategy set containing multiple operation modes is pre-generated in a rolling time window; in each control period, the candidate strategy set is real-time optimized and adjusted according to the latest system data, and a target control instruction set of the current control period is output. The problems of single traditional control strategy and slow response are effectively overcome, the maximization of power generation income, water supply reliability and safe operation of equipment can be considered under a complex dynamic environment, so that the collaborative optimization of multiple targets is realized.

The invention discloses a multi-agent collaborative highway variable speed limit control method in a complex environment, and belongs to the technical field of highway traffic speed limit control. The method comprises the following steps: dividing an expressway into a plurality of control road sections, and obtaining traffic state data of the plurality of control road sections in the expressway in each control period and weather information and event information corresponding to the control road sections; calculating a context awareness feature vector for each control road section; constructing a multi-agent cooperative variable speed limit control model; training the Actor network and the Critic network based on the collaborative reward to obtain a trained Actor network; and during online control, calling the trained Actor network in each control period, outputting a speed limiting action according to the traffic state data and the context awareness feature vector of each control road section, converting the speed limiting action into a speed limiting control instruction, and issuing the speed limiting control instruction to a variable speed limiting sign, a road side unit or a traffic control platform for execution.

The application discloses a direct torque control method and system considering DC bus voltage imbalance, and relates to the field of motor control. The method comprises the following steps: determining the distribution law of voltage vectors in the fundamental wave alpha-beta subplane and the harmonic x-y subplane when the DC bus voltage is unbalanced; determining three groups of virtual vector groups according to the distribution law and a set condition; the set condition is that the distribution of three basic voltage vectors in the harmonic x-y subplane is greater than 180 degrees, and the three basic voltage vectors are composed of two large vectors and one medium vector in the fundamental wave alpha-beta subplane; obtaining the optimal virtual vector based on the three groups of virtual vector groups according to the DC bus voltage ratio, the sector K value, the system torque and the flux demand; sorting the switches in two two-level three-phase voltage source inverters according to the action time of the three basic vectors in a control period, obtaining the optimized switch sorting, and then controlling the voltage source inverters. The application can efficiently operate under the DC bus voltage imbalance.

The invention discloses a full-speed-domain adaptive speed estimation method and system for a sweeper structure, and the method comprises the steps: calculating a pulse variable quantity based on an accumulated count value of an encoder in each control period, carrying out the accumulation of a time reference when the pulse variable quantity is detected to be zero, and carrying out the calculation of the time reference when the pulse variable quantity is detected to be not zero. Calculating a first speed estimation value based on the accumulated time reference and the pulse variation; meanwhile, a second speed estimation value is calculated based on the pulse variation in the fixed control period. And determining fusion weights corresponding to the two speed estimated values according to the current running state of the vehicle, performing weighted fusion on the fusion weights, and outputting the current running speed of the vehicle. Through the above mode, continuous and stable speed estimation of the unmanned sanitation vehicle in a full speed range from a low speed to a high speed is realized without an additional timer or input of capture hardware resources, the sudden change of the speed is effectively avoided, and the control stability and the operation reliability of the whole vehicle are improved.

The invention relates to the technical field of rail transit brake control, and discloses a rail transit vehicle air brake pressure closed-loop control method which comprises the following steps: S1, acquiring system state parameters of instruction brake pressure and actual brake pressure in real time; s2, calculating theoretical prediction pressure; s3, a control mode adopted in the current control period is decided online; s4, solving a finite time domain optimization problem; and S5, calculating final control output for driving the electro-pneumatic conversion valve. By constructing a digital twin module synchronized with a physical system in real time, high-precision real-time sensing and prediction of the running state of the braking system are realized, and by quantifying the twin deviation degree, a reliable evaluation basis for the mismatch degree between a current model and reality is provided for a controller, so that the reliability of the system is improved. Therefore, the whole control system has the online self-diagnosis capability for system uncertainty and external disturbance, and it is ensured that a control strategy can make decisions based on the most real understanding of a physical system all the time.

The invention discloses an I / F conversion circuit, an output pulse value correction method thereof and an inertial navigation system. The method for correcting the output pulse value of the I / F conversion circuit comprises the following steps of: A, switching on a switching circuit in a control period T within a first set time T1 after electrification, and obtaining the value of a constant current source discharge capacity parameter and the output pulse value of the I / F conversion circuit in the ith control period; b, obtaining the I / F conversion circuit temperature in the ith control period according to the value of the constant current source discharge capacity parameter in the ith control period and the relational expression of the temperature and the constant current source discharge capacity parameter; obtaining a corresponding temperature compensation coefficient according to the I / F conversion circuit temperature in the ith control period and the relational expression between the I / F conversion circuit temperature and the temperature compensation coefficient; and multiplying the I / F conversion circuit output pulse value obtained in the ith control period by a corresponding temperature compensation coefficient to obtain a correction value of the I / F conversion circuit output pulse value in the ith control period.

The present disclosure relates to the technical field of control of rail transit vehicles, and particularly relates to a method, device, storage medium and computer program for evaluating adhesion control effect, the method comprising: obtaining torque adjustment, maximum creep speed, maximum acceleration and maximum deceleration in a target control period; detecting whether the four indexes are within corresponding preset ranges; if the four indexes are within corresponding preset ranges, determining that instantaneous adhesion control effect reaches expectation; obtaining average creep speed and adhesion utilization coefficient in multiple target control periods; when the average creep speed and the adhesion utilization coefficient are within corresponding preset ranges, determining that overall adhesion control effect reaches expectation; when the instantaneous adhesion control effect and the overall adhesion control effect both reach expectation, determining that adhesion control effect reaches expectation. The method improves the comprehensiveness and reliability of adhesion control effect evaluation, and solves the problem that calculation of rail transit vehicles without absolute vehicle speed is easy to be distorted.

The application provides a DAB soft start and fault ride-through control method for bidirectional OBC, which comprises the following steps: initializing the controller after the system is powered on; starting PWM and collecting the primary side current i-p(t) and output voltage V-out(t) during the PWM starting process; in two adjacent control periods, the intelligent core predicts the current value of the next period or the current value of several periods in the previous period; the executor adjusts the working state of the PWM according to the predicted current value; a fault ride-through state machine and a fault ride-through management method are created in the intelligent core; the fault flag of the PWM is monitored in the closed-loop control mode, and preset actions are performed according to the fault ride-through management method. The application realizes soft start based on predictive state observation, and realizes multi-mode modulation and smooth switching mechanism through the creation of the fault ride-through state machine, so that stronger dynamic performance and real-time response performance are obtained.

The invention provides a charging facility charging process early warning protection method based on time sequence mapping, and the method comprises the steps: determining a climbing rate generation parameter based on the multi-mode parameter and equipment capability of charging equipment in each control period, inputting a preset short-time multi-scheme temperature prediction model through combining with the multi-mode parameter, and carrying out the early warning protection of the charging process of the charging facility. Generating a short-time temperature curve of each climbing rate; all the short-time temperature curves are evaluated and screened through preset conditions, the maximum safe climbing rate is determined, the current or power amplification of the next micro-step is calculated in combination with a control period, micro-step amplification data are obtained, and the step residence duration is further determined according to a preset function; and finally, according to a preset rule, judging a relationship among the maximum safe climbing rate, the micro-step amplification data, the residence time length data and a preset threshold value, and generating a control instruction. According to the method, the micro-step amplification and the residence duration are calculated, and the control instruction is generated, so that the charging safety and continuity are improved, and the real-time safety constraint of charging climbing is realized.