285 results about "Control system design" patented technology

The invention discloses a networked motion control system position tracking control method based on high-order all-drive, and the method employs a high-order all-drive theory to convert a system state space model into a second-order all-drive model with dead zone nonlinearity, thereby providing great convenience for the design of a controller. A dead zone pre-compensation method is adopted to compensate a deterministic parameter part of a dead zone in the system identification process, the system is helped to reduce response delay, and the dynamic performance is improved; an equivalent input interference method is adopted to integrate internal disturbance and external disturbance into input channel interference, so that the design complexity of the control system is reduced; an intermediate observer is introduced to estimate the interference of an input channel, and the accuracy and convergence speed of disturbance estimation are improved by adjusting parameters of the observer; and designing an MPC controller to solve a control law, and inversely transforming the control law into an all-drive control law through a corresponding relational expression to realize high-precision control of the system.

The invention relates to the technical field of bearing testing, and discloses a radial magnetic suspension bearing supporting characteristic testing device which comprises a base, loading measuring mechanisms are arranged on the two sides of the top of the base, a height adjusting mechanism is arranged on the top of the base, a tested bearing is arranged in the height adjusting mechanism, and a rotor limiting mechanism is arranged on the top of the base. The loading measuring mechanism comprises a connecting frame, iron core supports are arranged on the inner walls of the periphery of the connecting frame, tension sensors are fixedly installed between the iron core supports and the connecting frame in a threaded mode, loading coils are wound on the outer walls of the two sides of the four iron core supports, and displacement sensors are fixedly installed on the inner walls of the four iron core supports in a threaded mode. The radial magnetic suspension bearing supporting characteristic testing device can meet various testing requirements and loading scenes, can accurately measure the static supporting characteristic of the magnetic suspension bearing at any radial position, and lays an experimental foundation for characteristic analysis of a rotor dynamic system, design of a control system and the like.

This patent discloses a computer system for humanoid robot control system design and implementation, featuring a digital humanoid robot with dynamical models and a set of single-input-single-output (SISO) and multi-input-multi-output (MIMO) controllers. The system comprises a main software program, a generative Al humanoid robot intelligence engine, a robot motion path planner module, and a control system simulation engine. It enables efficient design, testing, validation, and implementation of robot control systems, significantly reducing time to market. The system supports seamless upgrades to accommodate new designs and components, enhancing applications in industrial automation, healthcare, public safety, and more, aligning with the goals of the 4th Industrial Revolution.

The invention discloses a motor control method and device and a household appliance, and the method comprises the steps: detecting the load current of a motor, and adjusting a modulation mode for controlling the motor through employing a first modulation strategy or a second modulation strategy according to whether the load current of the motor is greater than a preset threshold value or not. According to the motor control system adopting the scheme, the motor can be controlled by adopting different modulation modes according to different conditions, the harmonic content of direct current bus current can be effectively reduced, a bus capacitor with a smaller capacitance value can be selected in the design of the control system, the cost of the control system is further reduced, and the control efficiency is improved. Therefore, the efficiency and the cost of the control system can be considered.

The invention provides an evaluation method and device for set membership fault detection and application, and belongs to the technical field of fault diagnosability. The performance of the fault detection system is evaluated according to a minimum detectable fault index of the fault detection system, and the minimum detectable fault index is a fault amplitude when a feasible set with a fault residual error and a feasible set without a fault residual error of the system to be detected are just separated. Combining the used observer equation to obtain a residual system equation of a fault-free state and a fault state of the system to be detected; measuring a noise range by using geometry characterization, and obtaining residual feasible set characterization of a fault-free state and a fault state of the to-be-detected system in combination with set membership operation; and determining the minimum detectable fault index of the to-be-detected system. According to the method, observer design optimization, control system design and correction system model parameters can be guided, so that the control system is more stable.

The invention discloses an attitude-elasticity-pneumatic coupling flutter control method of a flying wing layout aircraft, and relates to the technical fields of mechanics, aeroelasticity, control and the like. The control method comprises the steps that a Lagrangian equation under a general body shafting is synthesized, a full-quantity coupling dynamic model is established, and a disturbance motion dynamic equation used for flight control system design is established through small disturbance linearization; correcting the disturbance motion kinetic equation based on a system identification flight test; designing an attitude-elastic-pneumatic coupling flutter suppression controller based on a traditional or modern control theory, and embedding the attitude-elastic-pneumatic coupling flutter suppression controller into a flight control system; the effectiveness of the flutter suppression controller is verified through a flight test. The problems that existing numerical analysis and wind tunnel experiments cannot accurately reflect the complex coupling effect in flight, flutter cannot be effectively restrained in flight, and the flight envelope cannot be expanded are solved, and the flight safety and stability of the flying wing layout aircraft can be effectively improved.

The utility model discloses a transesophageal probe capable of automatically rotating a head, and aims to solve the problems that in the prior art, a whole probe rotates, so that a patient feels uncomfortable, operation depends on experience of a physician, and the examination efficiency is low. The probe comprises a probe head, a snake bone pipe, an insertion pipe, a rotating structure arranged at the joint of the probe head and the snake bone pipe, a driving module, a sensor and a rotating stabilizing structure. The driving module transmits power to the rotating structure through the flexible transmission part, so that the probe head can independently, accurately and automatically rotate relative to the insertion tube. The sensor monitors the rotation angle and speed in real time and feeds back to the control system. The rotation stabilizing structure ensures the stability and reliability of the movement process. Through the innovative mechanical structure and control system design, independent rotation of the probe head is achieved, friction to the esophagus of a patient is remarkably reduced, the operation difficulty is lowered, and the examination efficiency and the standardization level are improved.

The embodiment of the invention provides a modeling method and system for aerodynamic efficiency of a nonlinear control surface of a high-speed aircraft, and the method comprises the steps: carrying out the numerical simulation of aerodynamic data of the high-speed aircraft at different control surface deflection angles through employing a computational fluid dynamics (CFD) method, building a control surface aerodynamic efficiency data set in a high-speed flight scene, comprising a sample set and a verification set; taking the sample set as an input variable, and constructing a high-speed aircraft nonlinear control surface aerodynamic efficiency prediction model; and performing verification and error evaluation on the constructed nonlinear control surface efficiency aerodynamic model of the high-speed aircraft by adopting the verification set, and updating model parameters to obtain a final control surface aerodynamic efficiency model. According to the method, the aerodynamic efficiency of the rapid nonlinear control surface of the high-speed aircraft can be rapidly predicted, and a rapid control surface aerodynamic efficiency prediction means is provided for design of a control system in a high-speed flight scene.

The invention belongs to the technical field of aero-engine control, and discloses an electric fuel pump active-disturbance-rejection control method based on a radial basis function neural network. According to the method, an intelligent control system is constructed through a radial basis function neural network, an active-disturbance-rejection controller with a nonlinear state error feedback control law as a core is designed, a control strategy is adjusted in real time according to the current state of the system, the complexity of controller parameter setting is reduced, and the stability and response speed of the system are improved. Through verification, the electric fuel pump control system obtained through the design can achieve the stable and rapid control effect under all working conditions, and is high in practicability, good in system robustness and high in anti-interference capacity.

The invention relates to the technical field of goods conveying, and discloses a water bottle stacking device which comprises a sliding rail fixedly installed on a bearing table, a pallet fork clamped on the sliding rail in a sliding mode and a self-locking type driving mechanism installed on the bearing table and used for driving the pallet fork to slide in a reciprocating mode. The self-locking type driving mechanism drives the sliding fork to slide in a reciprocating mode. A stand column is fixedly installed on the supporting fork. The action of reinforcing the packaging water bottle is achieved in the process that the self-locking type driving mechanism drives the pallet fork to withdraw the packaging water bottle to the bearing table, the two actions are seamlessly connected, operation of an operator is not needed, independent drive is not needed for the downward pressing piece, a control system does not need to be independently arranged for the downward pressing piece, and operation is convenient. Therefore, the cost is saved, the design difficulty of the control system is reduced, and meanwhile, the connection time between the two actions can be effectively shortened so as to improve the working efficiency.

The invention belongs to the technical field of airborne radar phased-array antenna wave control system design, and particularly relates to an airborne radar phased-array antenna wave control system multi-node software online upgrading method, which comprises the following steps of: 1, synthesizing upgrading files of software needing to be upgraded into a total upgrading file; step 2, extracting a total upgrading file from the software configuration library, sending the total upgrading file to a main node of a system to be upgraded by an upper computer, and performing file verification; step 3, extracting frame header information of the total upgrade file by the master node of the system to be upgraded, comparing the information of each upgrade file with the information of each slave node software collected in real time, and judging whether to upgrade each slave node software; 4, the master node of the to-be-upgraded system disassembles the upgrade file needing software upgrade according to the upgrade file information in the total upgrade file frame header, and issues the upgrade file to the corresponding slave node; and step 5, upgrading the software by the slave nodes needing to be subjected to software upgrading according to the upgrading file.

The invention discloses a predefined time fault-tolerant control method for a rigid spacecraft system, and relates to the technical field of aerospace flight control, and the method comprises the following steps: S1, building kinematics and dynamics models of a fault-tolerant control system for attitude tracking errors of a rigid spacecraft, and initializing a system state and control parameters; s2, designing a non-singular predefined time sliding mode surface based on an attitude error tracking control system of the rigid spacecraft; and S3, designing a non-singular adaptive fault-tolerant predefined time controller, and effectively solving the potential buffeting problem in the design process of the controller based on the predefined time preset performance function and the non-singular adaptive fault-tolerant predefined time control method. Under the condition that controller faults, inertia uncertainty and external interference exist at the same time, the steady-state performance and state constraint of attitude tracking errors are guaranteed, and system predefined time convergence is guaranteed.

The invention belongs to the field of deep reinforcement learning and automatic control, and particularly relates to a four-rotor unmanned aerial vehicle hanging anti-swing control method based on PPO-Clip. The method comprises the following steps: 1) establishing a mathematical model of a suspended unmanned aerial vehicle system based on Newton-Euler and Euler-Lagrange methods; 2) according to the system model, designing a Backstepping-PID controller to carry out pose control on the unmanned aerial vehicle; and 3) constructing a deep reinforcement learning framework based on a near-end strategy optimization algorithm (PPO-Clip), wherein the deep reinforcement learning framework comprises the processes of sampling of an unmanned aerial vehicle experience sequence, reward function design, intelligent agent training and the like. According to the invention, by designing the four-rotor unmanned aerial vehicle suspension anti-swing control system based on the PPO-Clip algorithm, a reasonable reward function is designed to guide the unmanned aerial vehicle to adjust the position and attitude of the unmanned aerial vehicle, so that the suspension unmanned aerial vehicle can track an expected trajectory with high precision under the condition of ensuring that the load stops or converges in a short time; therefore, the trajectory tracking performance, the load anti-swing performance, the anti-interference performance and the like of the four-rotor hanging unmanned aerial vehicle are improved.

The invention belongs to the technical field of aircraft control system design, and particularly relates to a dual-redundancy steering engine controller switching control method, switching control is achieved through three FPGA logic processing modules including an FPGA 1, an FPGA 2 and an FPGA 3, the FPGA 1 controls main and standby control boards, the FPGA 2 controls three main driving boards, the FPGA 3 controls three standby driving boards, and the situation that overall work is abnormal due to the fact that one device breaks down is avoided. And the full duplex 422 bus and the CAN bus are used for feeding back the control current and voltage, the power current and voltage, the temperature signal, the position signal and the overcurrent signal acquired by the signal feedback circuit. The main drive control circuit and the standby drive control circuit share states and check each other through dual-computer communication 422, and can detect each other and automatically switch when a fault occurs in a certain redundancy.

A cloud-based digital twin modeling and testing system is capable of hosting multiple applications that can be used to simulate and test versions of a control design prior to deployment, including but not limited to control programming applications, controller emulation applications, machine simulation applications, or other such platforms. The digital twin modeling environment renders an interface display that allows a user to easily build a testable digital model of a control system by connecting components of a proposed control project to these applications. The system also allows the user to define inputs and test scenarios to be executed as a simulation. Based on the connections, inputs, and test scenarios defined by the user, the modeling system leverages the hosted applications as needed to execute the defined test scenarios and generate predicted metrics for the proposed control system design.

The invention relates to the technical field of robot intelligent manufacturing, in particular to an active and passive compliance fusion robot grinding and polishing machining system and method, and aims to solve the problems that parameter debugging is tedious and difficult to master, and the contact force control precision is low due to rigidity changes of different parts of a workpiece. The machining system comprises a robot, a belt sander, a six-dimensional force sensor and a one-dimensional force sensor. The machining method comprises the steps that a robot grinding and polishing machining track program is generated; acquiring a contact force F10 of a grinding part at the end of the six-dimensional force sensor; acquiring the contact force F20 of the grinding part of the one-dimensional force sensor end; the F10 and the F20 are fused, and the accurate contact force fe of the grinding part is obtained; comparing fe with a set expected contact force fd to obtain a force deviation value delta f, and performing feedback control on the robot grinding and polishing processing system through the delta f; designing a robot active compliance control system; designing a belt sander passive compliance control system; and actual grinding machining is conducted.

The invention relates to a high-altitude cabin air inlet system active-disturbance-rejection control method based on an improved rapid super-spiral sliding mode and differential flatness, and belongs to the technical field of aero-engine high-altitude simulation control. The method comprises the following steps: establishing a high-altitude cabin air inlet system model; according to the established system model, the temperature and pressure coupling control problem is solved by using the differential flatness characteristic of the system; designing an improved rapid super-spiral sliding mode controller for the active disturbance rejection temperature and pressure decoupling control system to obtain an improved rapid super-spiral sliding mode active disturbance rejection temperature and pressure decoupling control system; the improved rapid super-spiral sliding mode active disturbance rejection temperature and pressure decoupling control system generates control input signals according to system temperature and pressure environment parameter output signals. The control input signal is input into the high-altitude cabin air inlet system, the high-altitude cabin air inlet system operates, and temperature and pressure environment parameter output signals are obtained. According to the invention, the problem of strong airflow interference in the rapid transition state test of the high-altitude cabin air inlet environment simulation system can be solved.

The invention discloses a micro-service-based heterogeneous unmanned aerial vehicle flight control system design, relates to the technical field of heterogeneous unmanned aerial vehicle flight control, and solves the problems that the operation difficulty is high due to the particularity of heterogeneous unmanned aerial vehicles; at present, many unmanned aerial vehicles in the market support one unmanned aerial vehicle to be equipped with one ground station and one management platform and face the technical problem that software of multiple ground stations is controlled at the same time. According to the method, heterogeneous unmanned aerial vehicle firmware is transformed and upgraded, a ground station distributed micro-service cluster framework is constructed, heterogeneous unmanned aerial vehicle data configuration and service access are carried out, a heterogeneous unmanned aerial vehicle operation platform is developed, and a heterogeneous unmanned aerial vehicle operation platform is constructed; and the task progress is adjusted according to the subscription data, and the behavior mode flight control operation is realized. The technical problem is solved.

The invention provides a medical robot control system based on a deep reinforcement learning algorithm, and relates to the technical field of medical robots. Comprising a magnetic control module of the magnetic control type miniaturized medical robot, a robot mechanical arm module, a robot mechanical arm kinematics analysis and control system design, mechanical arm control system design and construction, and a communication system and man-machine interaction operation design. According to the medical robot control system based on the deep reinforcement learning algorithm, the medical robot can autonomously learn how to execute tasks through interaction with the environment, detailed program design does not need to be carried out in advance, the medical robot can process a large amount of high-dimensional medical data, and the efficiency is improved. The medical robot control system based on deep reinforcement learning has high adaptability and generalization ability when facing a complex medical environment, can help the robot to realize interaction and communication with human doctors, patients and other robots, improves the intelligence and adaptability of the robot, and is high in automation and intelligence degree.

The invention relates to the technical field of road engineering, in particular to an automatic subgrade soil humidity control system, a design scheme generation method and a medium, the system comprises a geotechnical composite layer, the geotechnical composite layer comprises a first composite layer, a second composite layer and a third composite layer, the first composite layer absorbs moisture of a subgrade soil body, and the second composite layer discharges moisture of the subgrade soil body; the third composite layer blocks underground capillary water; the collecting assembly is used for collecting roadbed soil humidity and external environment humidity; and the control assembly is used for carrying out humidity control operation on the geotechnical composite layer according to the roadbed soil body humidity and the external environment humidity so as to control the geotechnical composite layer to absorb or discharge moisture of the roadbed soil body. The system can automatically control the novel geotechnical composite layer to actively absorb and drain water to the roadbed soil body according to the humidity of the roadbed soil body and the humidity of the external environment, so that the humidity of the roadbed soil body is kept in a constant and safe state for a long time.

The invention relates to the technical field of generator set detection, in particular to a generator set stator and rotor internal inspection device control system and control method.The generator set stator and rotor internal inspection device control system comprises a main control system, the main control system comprises a communication module, a built-in module and a processing module, and the communication module is used for communication between the built-in module and the processing module; the built-in module is used for detecting and cleaning stators and rotors of the generator set, and the processing module is used for processing data detected by the built-in module; according to the main control system designed by the invention, after the built-in module acquires data, the processing module can perform comparative analysis on sound acquired by the built-in module in a frequency spectrum comparison manner, and meanwhile, the processing module can perform comparative analysis on images acquired by the built-in module through a similarity calculation method, and the process does not need a large amount of calculation, so that the calculation efficiency is improved. Only the data needs to be compared and processed, the processing speed is high, the problems of the stator and the rotor can be rapidly analyzed, the detection efficiency is improved, and workers can conveniently and rapidly overhaul the stator and the rotor with the problems.

The invention belongs to the technical field of aircraft wind tunnel virtual free flight tests, and particularly relates to an aircraft wind tunnel virtual free flight lateral course stability augmentation control system design method and system.The aircraft wind tunnel virtual free flight lateral course stability augmentation control system design method comprises the steps that 1, a scale model lateral course linearization dynamics mathematical model is established; step 2, calculating a scaling coefficient of the scaling model; 3, determining the design requirement of the transverse flight quality of the scaling model; step 4, establishing a scale model transverse course stability augmentation control law; 5, establishing a scaling model closed-loop control system; step 6, optimizing control law gain parameters in a scaling model closed-loop control system; and 7, verifying the scale model closed-loop control system.

The invention provides a charging device for a vertical take-off and landing aircraft, and belongs to the technical field of take-off and landing aircrafts, and the charging device for the vertical take-off and landing aircraft is composed of a main cabinet, a charging terminal, an automatic charging interface and a ground induction type opening and closing cover plate. The main cabinet is responsible for voltage conversion and charging control and is connected with a plurality of charging terminals. The automatic charging interface realizes five-degree-of-freedom movement through a telescopic arm, a base turntable, a fine adjustment sliding rail, a mechanical arm, a guide cylinder, a rotating assembly, a driving assembly and the like, and is accurately butted with an aircraft; the induction type opening and closing cover plate consists of an inductor and a cover plate, and is controlled by the inductor; the system is designed to be used for automatically charging the vertical take-off and landing aircraft and is provided with a liquid cooling system and a terminal control system, and efficient charging is ensured; the aircraft charging device and the aircraft can be automatically docked, the environmental adaptability is high, and the safety is high.

The invention discloses a dynamic multi-domain power consumption regulation-based ultra-low power consumption design method for an AI voice chip. The method comprises the following steps of 1, designing a chip power supply scheme and a clock scheme according to an application scene of a system; 2, designing a multi-level layered clock gating architecture control system; step 3, dividing the power supply network into a dynamic power supply domain and a normally open power supply domain; step 4, cache compression design of voice data is carried out; step 5, minimum addressable unit grouping optimization is carried out on a memory, and minimum addressable units with different granularities are supported to implement selective turn-off; and step 6, completing the design after the simulation is passed and an expected target is reached. Through a hierarchical gating layer design method, bidirectional optimization of dynamic energy efficiency management and time sequence precision is realized, and the overall clock power consumption is reduced.

A coordinated control system designed with a small form factor that can be located within a robot or an automated inline manufacturing system, comprising: an on board advanced distributed control hardware configured with artificial intelligence enabled processors incorporated within a System on Module (SOM) board, each SOM comprising four processors or nodes; interfaced with a cameras, motors, general purpose I / O through I2C expander, audio interface, Internet, wireless communication such as WiFi and Bluetooth to send and receive commands and any other data; electrically connected to a plurality of sensors for perceiving the environment and collecting data from infrared, tactile, proximity and other types of sensors; an external host flashing computer dedicated for uploading / downloading firmware, cloning and configuration setup; a non-volatile memory for storing control algorithms, configuration files and other essential data; a HDMI based user interface for robot operation, training and setup; USB C or Ethernet based internal star network for high-speed communication bypassing the standard PCI bus interface bus; an Ethernet switch board enabling multiple boards to access the Ethernet for both internal communication within the star network as well as external Internet access.

The invention discloses a flexible cooperative control method for an air exhaust system, a medium and equipment, and relates to the technical field of air exhaust system control, and the method comprises the steps: constructing a second-order control system of the air exhaust system; defining an optimization problem of the air exhaust system, and designing a penalty function; designing a flexible control algorithm of the air exhaust system, designing an augmented objective function according to the penalty function and the flexible control algorithm, and converting an optimization problem; designing an ADRC controller according to the second-order control system; performing optimization iteration on parameters of the augmented objective function according to ADRC, and continuously updating a converted optimization problem; and cooperative control of the air exhaust system is carried out by combining the optimization problem which is continuously updated and converted and a proportional differential controller. The control efficiency and robustness of the air exhaust system are improved, and the safety of the compressor of the air exhaust system is improved.

1. The name of this design product: Tandem twin-rotor UAV. 2. Purpose of this design product: This design product is used for flight control system design, debugging and functional verification, etc. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The present invention discloses a nuclear power information recommendation method, system and computer device based on a knowledge graph, which relates to the fields of nuclear power human factors engineering and control system design. The method includes: obtaining data in a nuclear power plant system, and constructing a nuclear power knowledge graph based on the data in the nuclear power plant system, where the nuclear power knowledge graph includes multiple nuclear power entities and the relationships between the nuclear power entities. Establishing a vector space according to the nuclear power knowledge graph, and obtaining a first similarity matrix between nuclear power entities according to the vector space. Obtaining the historical operation information of an operator, and obtaining a set of historical operation sequences according to the historical operation information of the operator. Obtaining a second similarity matrix between nuclear power entities according to the set of historical operation sequences. Generating a fused similarity matrix according to the first similarity matrix and the second similarity matrix. And, in response to the real-time operation of the operator, obtaining recommended information according to the fused similarity matrix and displaying the recommended information.

The invention provides a control device, a control method and a control system, which can make a more suitable control system for a control object. The control device is provided with: a control object state ascertaining device (601) that acquires a predetermined state quantity of the control object (500) and detects an abnormality in the state quantity of the control object (500) on the basis of the operation performance of the control object (500); a control object analysis device (701) that estimates the correlation between the state quantities of the control object (500) and determines the input state quantity, the output state quantity, and the type of control system required to control the control object (500); and a control system design device (702) that sets a transfer function, which is the temporal response of the control object (500), and a control parameter of the control system.

This invention discloses a one-dimensional modeling method for scramjet engine volumetric dynamics, comprising the following steps: 1) establishing a mathematical model of the scramjet engine's inlet, combustion chamber, and tail nozzle; 2) establishing mathematical models of the scramjet engine's scramjet shockless mode, scramjet oblique shock mode, and subcombustion mode; and 3) establishing a dynamic model of the scramjet engine based on volumetric dynamics. This invention utilizes volumetric dynamics to establish a one-dimensional scramjet engine model, enabling rapid calculation of changes in combustion chamber axial flow field parameters, meeting the requirements of engine control system design.