88 results about "Design control" patented technology

The invention provides a heat storage heat pump system control method based on a physical information neural network, and belongs to the technical field of heat storage pump system intelligent control. Aiming at the problems that in the prior art, an algorithm is difficult to adapt to dynamic energy consumption requirements, engineering application of a model is difficult due to building space heterogeneity, high-order RC model prediction credibility is weak, engineering feasibility is poor and the like, a solution combining a physical information sequence to sequence neural network technology and a finite-state machine control strategy is provided. On the model level, a 2R2C resistance-capacitance RC model of building temperature change is established, and then a PI-Seq2seq prediction model is proposed based on the physical model. On the control flow optimization level, on the basis of an industrial and commercial time-of-use electricity price policy, an FSM control model is designed, a system state set is defined, parameters and a transfer function are input, and a control rule is constructed in combination with the working period of a building heat pump and the characteristics of a heat storage tank. And finally, energy consumption cost optimization and indoor temperature stabilization under the peak-valley electricity price are realized.

The invention discloses an air robot control method and system oriented to a complex environment, establishes a kinetic model of an air robot according to the control requirement of the air robot for executing contact operation in the complex environment, and provides a hierarchical control framework. The framework includes an outer torque estimator, an impedance-based force / trajectory tracking module, and a position controller and an attitude controller. Firstly, a generalized torque estimator is introduced, and effective estimation of external disturbance is achieved under the condition that no additional sensor is needed; secondly, the contact force tracking performance is improved while the track precision is maintained by using an impedance control module; and finally, a position controller and an attitude controller ensure rapid convergence of the position and the attitude. Theoretical analysis shows that the designed control law can ensure the stability and convergence of the system when uncertainty and external contact force exist, and an effective control method is provided for autonomous operation of the aerial robot in a complex task environment.

The invention relates to a mechanical arm actuator fault tolerance control method based on sliding mode control and a neural network, and belongs to the field of industrial robots. The method comprises the steps that modeling is conducted on the fault condition of a mechanical arm actuator, and a fault model is established; defining a joint angle tracking error, designing a sliding mode controller, and establishing a sliding mode surface of the sliding mode controller as linear sliding; designing a mechanical arm dynamic form according to the linear sliding surface and the fault model; estimating a total dynamic item by adopting an RBFNN neural network to obtain an estimated value of a system dynamic item, and taking the estimated value as an output quantity of the RBFNN neural network; designing a control law; calculating and generating a corresponding control input quantity according to a control law by adaptively updating a fault matrix of the weight matrix; and the mechanical arm actuator controls the mechanical arm according to the control input quantity so as to achieve fault compensation. According to the method, high-precision trajectory tracking is achieved under the condition that dynamics and actuator faults are unknown, and an accurate fault model or a fault detection system is not needed.

The invention discloses a forklift path tracking control method based on MPC and ARC cooperation, and belongs to the technical field of industrial vehicle automatic control. Comprising the steps that an upper-layer MPC is designed based on a forklift kinematics model, and an expected steering angle and an expected speed instruction are obtained through solving; a lower-layer ARC is designed based on the pump control steering system dynamics model to track an expected steering angle, and a PID controller is designed to track an expected speed; a time delay compensation mechanism is integrated in the upper-layer MPC, and a high-frequency execution strategy is adopted. According to the method, interference of the steering system is accurately observed and compensated, parameter uncertainty is adaptively processed through parameters, nonlinear uncertainty is processed through robust items, a time delay compensation mechanism is integrated in MPC, all control rates are display expressions, online solution is not needed, and the method is suitable for large-scale popularization and application. The influence of steering resistance dramatic change, external interference, unmodeled dynamics and system time delay on the control precision is effectively reduced, and high-precision and low-time-delay path tracking performance is achieved.

This invention relates to an AUV close-range docking method based on sliding mode adaptive control under ocean current interference. The controller design eliminates decoupling of the AUV's motion and incorporates an integral term in the sliding mode adaptive controller design, employing Integral Sliding Mode Adaptive Control (ISMAC) to minimize chattering during the AUV's approach motion. Finally, in designing the control parameters, overshoot is minimized at the expense of settling time to ensure successful docking. Furthermore, the estimation of ocean current velocity gives the system a certain degree of anti-interference capability, demonstrating its robustness.

The application belongs to the technical field of cold cathode trigger tube, and discloses a cold cathode trigger tube circuit simulation SPICE design method, which comprises the following steps: main gap channel design; trigger gap channel design; control module design; cold cathode trigger tube characteristic parameter verification and problem analysis; cold cathode trigger tube SPICE model improvement based on gas discharge theory and characteristic parameter verification; improved cold cathode trigger tube application simulation and result analysis. The cold cathode trigger tube SPICE model provided by the application meets the functions of the modern cold cathode trigger tube, and is verified by simulation; and different parameters of the model can be modified to meet the requirements of different scenes.

This invention discloses an adaptive robust brake-by-wire method and system, relating to the field of vehicle brake-by-wire technology. The method comprises the following steps: S1, establishing a multi-coupled dynamic mathematical model of the brake-by-wire system and determining the system state variables and control inputs; S2, online observation and approximation of the system's hydraulic coupling disturbances, mechanical friction disturbances, and external road surface disturbances; S3, designing a hierarchical adaptive robust control based on backstepping sliding mode control technology and combined with observations from a multi-disturbance observer; S4, adjusting the gain coefficient of the sliding mode control online; S5, verifying the asymptotic stability of the entire control system; and S6, converting the designed control law into an electrical signal and inputting it to the actuator of the brake-by-wire system. This invention achieves precise, rapid, and stable control of braking pressure under complex operating conditions, improving the robustness and adaptability of the brake-by-wire system.

The embodiment of the application discloses a form linkage processing method and device based on artificial intelligence, equipment, medium and program, the method comprises the following steps: determining the selection value list of each design control in the form rule designer according to the current page display state of the current form page; in response to the trigger operation of the selection value list of the current design control corresponding to the current configuration field in the form rule designer, automatically processing the cascade design control of the current design control based on the artificial intelligence mode; in response to the trigger operation of the selection value list of the target associated design control in the form rule designer, automatically establishing the linkage relationship of the current configuration field according to the trigger operation of the selection value list of the target associated design control based on the artificial intelligence mode. The technical scheme of the embodiment of the application can improve the flexibility, processing efficiency and intelligence of form linkage processing, and enrich the personalized function of form linkage processing.

The application provides a kind of heat storage heat pump system control method based on physical information neural network, belongs to the technical field of intelligent control of heat pump system;For the problems that the algorithm in the prior art is difficult to adapt to dynamic energy demand, the model is difficult to apply to engineering due to building space heterogeneity, the prediction credibility of high-order RC model is weak, and the engineering feasibility is poor, etc., a solution combining physical information sequence-to-sequence neural network technology and finite state machine control strategy is proposed.In the model level, a 2R2C RC model of building temperature change is established, and then a PI-Seq2seq prediction model based on the physical model is proposed.In the control process optimization level, based on the time-of-use electricity price policy for industry and commerce, a FSM control model is designed, the system state set, input parameters and conversion function are defined, and the control rules are constructed combined with the building heat pump working period and the characteristics of the heat storage tank.Finally, the energy cost optimization and indoor temperature stability under peak-valley electricity price are realized.

This invention discloses an autonomous and controllable kernel-shared collaborative design method, relating to the field of collaborative design control technology. The method includes reading nodes and task packages, constructing effective collaborative edges and calculating a consistency weight matrix, extracting the number of tasks to define a design state vector, completing a first-order state update through deviation identification and quantization step size control, calculating propagation weights and received aggregation quantities based on activation markers, updating shared change tracking quantities, identifying continuously deviating nodes, correcting the state vector through second-order coordination, constructing a quality prediction quantity and performing intervention, and using the corrected state and tracking quantity as the initial values ​​for the next cycle to form a complete iterative closed loop. This invention achieves stable convergence and efficient propagation of the decentralized collaborative design state by constructing an effective collaborative edge set and combining directional quantization synchronization and a shared change tracking mechanism.

This invention discloses a hybrid power system and its distributed control method. The system includes a device controller and multiple distributed control modules, each controlling a motor drive unit. Each distributed control module communicates bidirectionally with the device controller via a multi-redundant bus and includes a distributed reliable instruction generator, a fixed-time disturbance observer, and a timed controller. The distributed reliable instruction generator generates reliable control instructions through comparison and differentiation of multi-redundant instructions. The fixed-time disturbance observer uses an extended state observation method to estimate the system's lumped disturbance in real time. The timed controller is based on a nonlinear backstepping method and a dynamic inverse method, combined with a time-varying scaling function to design the control law, ensuring that the motor state accurately tracks the target instruction within a preset time. This invention, through its distributed control architecture design, effectively improves the control reliability, consistency, and anti-interference capability of the hybrid power system.

The invention provides a continuum robot safety critical control method which comprises the following steps: establishing a dynamical model of a continuum robot, and designing a control barrier function; designing an extended state observer; designing a nominal control law; a safety critical control law is designed, and the safety critical control law is obtained by integrating Lyapunov-like constraints into a quadratic programming problem of a control barrier function; obtaining a nominal control signal after the initial control input and the state observation result pass through a nominal control law; the nominal control signal passes through a safety critical control law to obtain control input after safety critical control; the control input after safety critical control and external interference input are input to the continuum robot, and control output is obtained; and after the control output and the control input after the safety critical control are input to the extended state observer, a state observation result is output. According to the method, the safety of the system state can be always kept without violation even under a complex safety boundary condition.

The application discloses a stratosphere airship incremental backstepping control method based on time delay estimation and belongs to the technical field of automatic control, and comprises the following steps: step one, establishing a stratosphere airship attitude control model; step two, calculating an expected angular velocity inner loop control quantity, preliminarily calculating an attitude inner loop control expected value according to a sensor value by means of an incremental backstepping method; step three, estimating an angular acceleration value according to an adaptive operator method; and step four, calculating an expected angular velocity channel control quantity and calculating an actual control quantity of a control channel according to a designed control law. The application provides the stratosphere airship incremental backstepping control method based on time delay estimation, combines time delay estimation and incremental backstepping control, enhances robustness under model uncertainty, has a lower requirement for modeling accuracy, has higher robustness and has better control precision.

The invention provides a nonlinear system periodic disturbance suppression method and system based on FDESO, and relates to the technical field of automatic control. The method comprises the following steps: S1, carrying out mathematical modeling on a nonlinear system to obtain a control system state equation containing unknown disturbance and output measurement noise; s2, designing FDESO according to the state equation of the control system; the FDESO carries out filtering processing on system output containing measurement noise, and then a dual-channel compensation architecture containing a disturbance estimation channel and an output estimation error compensation channel is constructed, so that the influence of the measurement noise is inhibited and the disturbance estimation precision is improved; s3, estimating the total disturbance of the system in real time by using the FDESO; and S4, designing a control law, and performing feed-forward compensation on the estimated total disturbance to suppress periodic disturbance of the system. Real-time estimation and active suppression of periodic disturbance in a nonlinear system are achieved, meanwhile, interference of output measurement noise to the disturbance compensation process is remarkably reduced, and the control precision and robustness in the actual noise environment are improved.

The invention provides a performance control method and device based on micro-electro-mechanical system gyroscope dynamics analysis, relates to the field of micro-electro-mechanical systems, and solves the technical problems of nonlinear oscillation, drift and high-frequency chaotic oscillation caused by the influence of external factors on a micro-electro-mechanical system gyroscope. The method comprises the following steps: establishing a fractional order model of a dual-mass micro-electro-mechanical system gyroscope, and carrying out kinetic analysis to determine a system parameter range of a micro-electro-mechanical system in a stable operation state; constructing a controller based on NGT3FLS and a command filtering technology, and controlling the micro-electro-mechanical system; a dynamic event triggering mechanism is designed, a dynamic variable is introduced to adjust a triggering condition, and when the triggering condition is met, the controller sends a control signal to the micro electro mechanical system; and constructing a finite time specified performance function, and constraining an output tracking error until the output tracking error is converged into a threshold boundary range. The method and the device are used in the process of optimizing system parameters and designing the controller.

A control device configurable to couple to one or more devices having different control functions and a method of facilitating remote control of at least one device having different control functions includes a processor that receives an instruction for at least one of the control functions and additional information from the at least one device, the processor including a plurality of processing algorithms, the additional information received from the at least one device including at least a locally transmitted data signal. The processor selectably processes the additional information using at least one of the processing algorithms and controls a touch sensitive display reconfigurable for the different control functions, such that the at least one control function and the selectably processed additional information are presented on the touch sensitive display. The processor also generates at least one control signal responsive to receiving the locally transmitted data signal. Other embodiments are disclosed.

This invention provides a finite-time consistency control method for multi-manipulator systems with output constraints. Addressing the cooperative control problem of multi-manipulator systems with model uncertainties, external disturbances, and output constraints, this invention proposes a finite-time convergent adaptive control strategy based on a backstepping design framework, combined with an event-triggered mechanism and a fuzzy logic system. First, a dynamic model of the follower manipulator is established, and the synchronization state error is defined. Second, a cascaded Lyapunov function is designed to handle the output constraints, and the fuzzy logic system is used to approximate the model uncertainties. Third, an event-triggered mechanism is constructed to save communication resources, and control and adaptive laws are designed based on finite-time convergence theory. Simulation results show that the proposed method enables multiple manipulators to achieve high-precision trajectory tracking consistency within a finite time, with the tracking error strictly controlled within a minimal range. The control voltage always meets the output constraints, improving system safety and engineering applicability.

The application claims a kind of adaptive neural network preset tracking performance control method, system and medium, belong to switching system tracking control technical field, in order to reach ideal tracking control performance and eliminate the problem of "calculation explosion" produced in the process of designing controller in backstepping method, by using the method of command filtering, a kind of adaptive neural network preset tracking performance control strategy based on command filtering is designed.The proposed control scheme eliminates the "calculation explosion" problem in the process of controller design, compensates the filtering error, and relaxes the constraint conditions of reference signal.The algorithm proves that the closed-loop system is semi-global ultimate consistent bounded, and ensures that the tracking error is always limited in the specified area defined by the performance function.The application combines actual problems, establishes model and solves model to obtain results, and provides new ideas and solutions for the cross research of mathematics and engineering problems.

The invention relates to a control system of a propeller and a clock synchronization method thereof, the control system comprises a plurality of integrated control modules, each integrated control module comprises a main control unit and a plurality of detachable function units, and the main control unit is used for storing a corresponding function program according to the function requirement of the propeller; the integrated control modules are in communication connection; and the integrated control module is used for accessing the corresponding function unit based on the function requirement of the propeller and controlling the function unit to realize the corresponding function according to the function program stored by the main control unit. In the integrated control module provided by the invention, the internal program of the main control unit can be replaced according to the actual function demand, and the integrated control module can be provided with the corresponding function unit according to the actual function demand, so that the control system provided by the invention does not need to independently design a controller for each control function of the propeller; the design unification of the controller is realized, and the development and maintenance cost of the controller is reduced.

To estimate estimated output values regardless of the linearity / non-linearity of a controller and design the optimal control parameters of the controller using the estimated output values in a controller design method that uses estimated output values to design optimal control parameters.SOLUTION: In a closed-loop control system in which a control signal from a controller is input as a control input to a controlled object and an output of the controlled object is fed back to the controller, the controller design method of the present invention comprises: data-driven simulation step (P1) in which an output is simulated based on time-domain calculations using experimental data on the input and output of the controlled object to obtain an estimated output value y; and optimal control parameter design step (P2) in which the estimated output value y obtained in the data-driven simulation step is used for determining optimal control parameters for the controller.SELECTED DRAWING: Figure 1

This invention relates to the field of standard reference material development and evaluation technology, and discloses a method for controlling and evaluating the homogeneity of standard reference materials used in interlaboratory precision assessment. This method effectively guides the design, control, and evaluation of the homogeneity uncertainty of standard reference materials used in interlaboratory precision assessment, promotes the quality improvement and upgrading of standard reference material development, and provides a scientific basis for users to select suitable standard reference materials for interlaboratory precision assessment. This invention uses the inherent precision of the measurement method as a quantitative basis to construct a complete technical system of "forward design control at the development end - reverse application evaluation at the user end." By distinguishing between the actual use scenarios of a single minimum packaging unit and multiple minimum packaging units, it establishes a quantitative constraint relationship between the homogeneity uncertainty of the standard reference material and the uncertainty of the measurement method, upgrading the homogeneity development of standard reference materials from empirical judgment to quantitative science, while providing users with a quantitative basis for selection and evaluation.

The embodiment of the application provides a resource perception-based self-triggered hierarchical pinning pulse synchronization control method and system, and relates to the technical field of automation control. The method first establishes a complex dynamic network model of a target system, and generates hierarchical network structures of a leader layer and an interactive following layer based on an invariable pinning mechanism. Then, control inputs are designed according to the complex dynamic network model and the hierarchical network structures, and then the pinning pulse synchronization control is performed on the target system according to the control inputs. For the leader layer, self-triggered driven pulse pinning control is designed, a constrained node set containing multiple nodes is determined in advance, the proportion of effective control nodes is improved, the required pulse frequency is reduced while the synchronization performance is ensured; for the interactive following layer, self-triggered control is designed, the controlled nodes determine the control application time according to the local state, global error information and centralized scheduling are not required, and the occupation amount of communication and calculation resources is reduced.

The invention belongs to the technical field of flight control, and relates to a short-distance take-off and landing aircraft pitching moment compensation method based on a fuzzy neural network. According to the method, a reference pitching moment instruction is generated by designing a control law, special fuzzy neural network compensators are constructed for the cruising stage and the vertical landing stage respectively, and pitching moment errors caused by atmospheric turbulence and the ground effect are estimated and compensated online. In the actual flight process, external disturbance is inevitable, so that the pitching moment compensation design of the fuzzy neural network is combined, and the original control strategy is enhanced and optimized. Compared with a traditional single control method, the provided fuzzy neural network composite control method has remarkable anti-interference capability and higher control precision, and shows good engineering application prospects.

The application provides a kind of unmanned ship heading fault-tolerant control method with input and state quantization, comprising: considering the fault factors of sensors and actuators in USV fault-tolerant system, designing controller;Using extended state observer, estimate the state variables and uncertainty of the system, and reconstruct the quantized state variables;Linearly describe the process of input quantization, the controller does not need any prior information of quantization parameter;The stability of the controller and observer is proved by Lyapunov stability theory, and the whole closed-loop system is finally consistent bounded.The application considers the fault factors in the process of ship motion control, and uses quantization technology to process the control input and state variables of the system.In the simulation process, the saturation function is used instead of the sign function in the control law to prevent chattering, and the effectiveness of the unmanned ship heading fault-tolerant control strategy with input and state quantization is verified.

The invention provides a multi-agent formation control method and device based on performance and security decoupling control, electronic equipment and a readable storage medium. According to the method, a nominal controller meeting performance constraints is designed based on PPC; and the nominal controller adopts a time-varying performance function with an auxiliary variable and is used for limiting the tracking error to evolve within a predefined dynamic limit. And designing a control barrier function (CBF) as a safety constraint, taking an intelligent agent control input smaller than a known scalar as an input saturation constraint condition, modeling a quadratic programming problem, and solving a safety control quantity closest to a nominal control quantity output by a nominal controller. And adjusting an auxiliary variable of the time-varying performance function according to the difference of the sum so as to relieve the conflict between the performance and the security and eliminate the control singularity. The multi-agent formation control method can solve the problem of multi-agent formation control under the condition that performance, safety and input constraints exist at the same time.

This invention discloses a self-organizing formation control method for polygonal planar swarms considering obstacle avoidance, belonging to the field of intelligent agent / UAV / spacecraft swarm motion control technology. The method includes: determining the number of swarm members, the dynamic model, initial state variables, and target configuration parameters; determining whether the vertex coordinates of the target configuration fall within the target configuration plane, and adjusting the final vertex coordinates based on the determination result; determining the boundary equations corresponding to each side of the target configuration in the target configuration plane, and adjusting the initial values ​​of temporary target positions; designing control laws using attractive and repulsive potentials; and performing swarm motion simulation based on the number of swarm members, the dynamic model, the initial state variables, the vertex coordinates of the target configuration, the initial values ​​of temporary target positions, and the control laws. This method enables the swarm to effectively form a target polygonal region configuration with appropriate control variables, meeting the needs of practical tasks in complex obstacle environments.

The invention provides a thermal management type combined power device control law design method and device, and belongs to the field of aviation electromechanics. The method provided by the invention comprises the steps of establishing a mathematical model for a core component of the thermal management type combined power device, constructing an initial steady-state simulation model in combination with a flow, pressure and energy conservation relationship, and correcting the initial steady-state simulation model to obtain a fidelity steady-state simulation model; establishing a transient simulation model on the basis of the fidelity steady-state simulation model, fusing modal switching logic, a fuel supply strategy, a control target selection rule and a system safety boundary, and designing a basic control law; optimizing control parameters of the transient simulation model by adopting a particle swarm optimization algorithm by taking fuel control PID parameters of the transient simulation model as optimization objects and taking mode switching time, system overshoot and power turbine exhaust temperature as optimization indexes, and updating the optimized parameters to the transient simulation model to obtain a control parameter of the transient simulation model; and obtaining a transient simulation model of the thermal management type combined power device.

The invention discloses a design method for deflection moment control of a ball bearing with a mounting disc, and relates to the field of bearing design. The problems that an existing ball bearing with a mounting disc does not have a deflection moment design control method, but is assembled and groped according to different spherical surface sizes of a first outer ring and a second outer ring after actual machining of the bearing is completed, so that the machining period is long, and the percent of pass is low are solved. The invention discloses a design method for deflection moment control of a ball bearing with a mounting disc. The method comprises the following steps: establishing a mathematical analysis model of deflection moment between a first outer ring and a second outer ring; according to the model in the first step, the deformation amount between the first outer ring and the second outer ring is calculated; according to the deformation amount obtained in the second step, the theoretical matching amount between the first outer ring and the second outer ring is calculated. The method is used for improving the design capacity of the ball bearing with the mounting disc, and a design foundation is laid for design of products of the same type.

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.