130 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 discloses an aircraft active side lever force feedback control method based on feedback linearization. The method is suitable for pitch axial force feedback control and roll axial force feedback control of an aircraft active side lever. The method comprises the following steps: establishing a kinetic equation of a mechanical transmission system and a pitch axis motor or a roll axis motor, and establishing a state-space equation of an active side lever system according to the equation; designing a linear expansion observer, and estimating the thrust applied to the active side lever by the driver based on the linear expansion observer; and designing a feedback linearization control method, deducing a control law according to a state-space equation of the active side lever system, and introducing the estimated thrust applied to the active side lever by the driver into the control law to realize real-time compensation of external interference. Under the condition that the thrust of the driver cannot be measured, the thrust of the driver is obtained through the linear expansion observer, the thrust of the driver is compensated by designing the control law, and therefore the dynamic performance and the steady-state performance of the servo system are improved.

The invention provides a heavy duty gas turbine control system which comprises a signal conditioning module and a plurality of parameter control modules, and a rotating speed control module, a load control module, a temperature limit control module and an acceleration control module in the parameter control modules are all used for achieving closed-loop control according to the deviation between a set value and a corresponding observation value; the starting control module is used for acquiring a starting fuel quantity instruction through a designed control strategy; the IGV and VGVs control module obtains an IGV and VGVs angle instruction according to the turbine inlet temperature set value, the turbine outlet temperature set value and the deviation maximum value of the corresponding observation value; the fuel quantity control module obtains a total fuel quantity instruction based on a full working condition range fuel quantity control strategy; the fuel gas distribution control module is used for obtaining an opening degree instruction of each fuel valve according to the total fuel quantity instruction; the adaptability, the reliability and the usability of the control system in application scenes such as autonomous design and technical improvement are improved.

The invention discloses a self-adaptive finite time fuzzy safety control method for a flexible joint mechanical arm, which comprises the following steps that a flexible joint mechanical arm state space model influenced by spoofing attack is established, and a control signal comprises an unknown time-varying parameter and an unknown bounded attack function; introducing a Nussbaum function meeting a preset limit integral property; designing a control method based on a finite time stability principle, and ensuring that a system state converges to a bounded residual set within finite time; a fuzzy logic system is adopted to approach an unknown nonlinear function in the mechanical arm model; defining an error variable through coordinate transformation, and constructing a parameter which exponentially decays along with time; constructing a Lyapunov function containing the exponential decay parameter, and designing a virtual control function, a controller and a parameter adaptive law based on the function; and the Nussbaum function is constructed to be used for processing the unknown time-varying parameters. According to the invention, the influence of spoofing attacks on state signals can be reduced.

The invention discloses a multi-stage control method for a lower limb exoskeleton, is applied to the field of exoskeleton robots, and aims to solve the problem that the design control precision is reduced due to the uncertainty of a model in the prior art. According to the controller designed by the invention, in a high-level control layer, a human body training mode is determined by a motion intention of an operator so as to generate a reference gait track; in the middle control layer, a variable admittance controller is designed, and three training modes of human exoskeleton cooperative movement, namely a passive mode, an active mode and a passive-to-active mode, are planned. In a low-level control loop, a method with a radial basis function neural network estimation function and a fixed-time convergence controller with input dead zone compensation are provided so as to ensure that an exoskeleton joint position tracks an expected trajectory output by an admittance loop. In order to avoid the Zeno phenomenon of the designed controller, an event trigger mechanism is used to determine the execution time of sampling and transmitting signals. Finally, the effectiveness of the proposed control strategy is verified through simulation and experimental results.

The invention provides a self-adaptive fixed time tracking control method based on event triggering, which is used for solving the technical problem that a virtual control law is easy to generate singularity in the traditional backstepping method design. The method comprises the following steps: establishing a mathematical model of a non-strict feedback nonlinear system with input time delay, and introducing an auxiliary system to counteract delay influence; an error dynamic system is obtained through coordinate transformation; according to system fixed time convergence, designing a piecewise function, introducing a backstepping method to design a controller and an adaptive law, using an RBFNN to approach an unknown function therein, designing a virtual control signal corresponding to each error signal, and obtaining an actual controller and an adaptive law; according to the actual self-adaptive controller, event triggering conditions are designed, when the event triggering moment is reached, the event triggering conditions containing input are triggered, and information transmission and response are carried out. An event triggering mechanism is designed, the number of times of control instruction transmission is reduced, communication resources are saved, and rapid convergence and safe operation of the system state are achieved.

The invention relates to the technical field of nuclear power plant system design, in particular to a nuclear power system design drawing generation method and device, electronic equipment and a storage medium. According to the nuclear power system design drawing generation method provided by the embodiment of the invention, design control demand data of a target nuclear power control system is acquired; performing control key point analysis based on the design control demand data to obtain target control key point data; performing schematic diagram construction on the target nuclear power control system according to the target control key point data to obtain a target system schematic diagram; in response to a condition that the target system schematic diagram meets a system principle verification condition, performing application diagram construction on the target nuclear power control system according to the target system schematic diagram and the target control key point data to obtain a target system application diagram; and in response to the condition that the target system schematic diagram meets the system application verification condition, determining the target system application diagram as a target system design diagram of the target nuclear power control system. Therefore, the efficiency of generating the design drawing of the control system of the nuclear power plant can be improved.

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 long flexible blade reduced scale model design method suitable for a large fan wind tunnel experiment. The method comprises the following steps: selecting a reasonable similarity criterion, selecting a section airfoil of a model blade, optimizing the distribution of chord length and torsion angle in the length direction of the blade, and optimizing a model rotor variable pitch control strategy; the design objectives that the thrust coefficient of the reduced-scale model rotor in the experimental wind speed range is equal to that of the original-size fan rotor in the corresponding original-size wind speed range, and the first-order inherent frequency in the flapping and shimmy directions of the blades of the reduced-scale model is equal to that of the original-size blades are achieved, and the long flexible blade reduced-scale model is provided for a large-scale fan wind tunnel experiment. According to the method, the first-order inherent frequency of the flapping and shimmy directions of the model blade and the blade of the original size is equal, the thrust coefficients are equal under multiple working conditions, the wind tunnel experiment similarity criterion is met, different airfoil choices are appointed for different design control sections, and the method has high optimization solution efficiency.

The invention discloses a fault compensation and H-infinity fault-tolerant tracking control method for an autonomous underwater vehicle, and belongs to the technical field of engineering control methods. Comprising the following steps: S1, aiming at actuator faults, sensor faults and external disturbance problems in vertical plane motion of an autonomous underwater vehicle, introducing a depth variable and establishing a high-order all-drive fault model; s2, designing an intermediate estimator based on a high-order all-drive model, and realizing estimation of a system state and a fault; and S3, designing a controller based on the high-order all-drive model, solving a game Riccati equation by using a Minmax method, obtaining an optimal control strategy, and realizing fault compensation and external disturbance suppression. The effectiveness of the method and the excellent tracking control effect of the designed controller are verified through a depth control simulation experiment of the autonomous underwater vehicle.

The invention provides a design and application method of a sliding-mode deadbeat reaching law, and relates to the technical field of electrical engineering, and the method comprises the steps: designing a sliding-mode deadbeat reaching law SMDRL, designing a control strategy through a deadbeat control principle, defining a state change law on a sliding-mode surface through a sign function, and achieving the design of the sliding-mode deadbeat reaching law SMDRL. It is ensured that the system state converges to the sliding mode surface at the fastest speed in a control period; an improved sliding mode deadbeat reaching law ISMDRL is designed, a traditional sign function is replaced with a hyperbolic tangent function, and parameters of the hyperbolic tangent function are adjusted according to the system state; the SMDRL and the ISMDRL are applied to a speed driving system of a permanent magnet synchronous motor (PMSM), and the speed driving system comprises a PMSM mathematical model, a sliding mode speed controller with a speed disturbance observer and model prediction current control. The SMDRL is introduced from the traditional sliding mode reaching law for the first time through theoretical derivation, the convergence time of the SMDRL is the shortest, and the SMDRL is applied to a permanent magnet synchronous motor speed driving system.

This invention provides a low-computational-complexity, pre-set performance-tolerant control method for steer-by-wire systems. The control method includes: determining the control objective based on a pre-set performance control method; subsequently designing a new pre-set performance function and error transformation function; designing virtual control laws and control laws in the controller using a robust control method; establishing a dynamic model of the steer-by-wire system based on system dynamics; establishing a dead-zone model and a fault model based on the impact of dead zones and faults in the vehicle actuators on the control performance of the steer-by-wire system; simultaneously obtaining the input nonlinear model of the steer-by-wire system; subsequently establishing a state-space model of the steer-by-wire system; and finally, verifying the controller's control effect and optimizing its internal parameters using the state-space model. This invention considers fault and dead-zone issues, improving the robustness of the controller; and considers the limited computational resources of the vehicle, with a simple controller structure that improves the overall computational efficiency of the vehicle.

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 invention discloses a buoy-unmanned aerial vehicle cooperative fault-tolerant docking control method based on event-triggered communication, and belongs to the field of unmanned aerial vehicle navigation, guidance and control. The method comprises the following steps: firstly, establishing a buoy-unmanned aerial vehicle affine nonlinear model considering the fault influence of an execution mechanism; then, a communication mechanism based on an event triggering strategy is designed, and in the collaborative docking process, aperiodic information interaction is carried out between the buoy and the unmanned aerial vehicle through the event triggering mechanism; then, based on a backstepping control theory, a controller is designed for the position, track, attitude and angular velocity loop of the buoy-unmanned aerial vehicle and the velocity loop of the unmanned aerial vehicle, and based on an observation-compensation idea, a lumped nonlinear item containing airflow disturbance and execution mechanism fault information is estimated and compensated; and finally, realizing cooperative fault-tolerant docking of the buoy and the unmanned aerial vehicle through the controller. According to the method, the accurate cooperative docking of the unmanned aerial vehicle and the buoy can still be realized under the conditions of limited communication resources, execution mechanism faults and complex airflow disturbance.

The invention provides an angular velocity measurement-free under-actuated spacecraft attitude hybrid finite time control method based on a layered sliding mode, and the method comprises the steps: employing a w-z parameter kinematic model suitable for an incomplete system, decoupling an under-actuated axis from the other two axes, and carrying out the deduction to obtain a south-north pole projection switching relation of w1 and w2, and a switching kinematic model; an improved self-adaptive second-order sliding mode observer is designed for the situation that the spacecraft has no angular velocity measurement, and anti-unwinding control of the spacecraft is achieved through hybrid control and a lagging strategy. The finite time stability of the designed control law is proved through the finite time convergence theorem and the Lyapunov theorem, and the effectiveness and superiority of the designed control law are verified through numerical simulation.

The invention discloses an active control system with a self-adaptive control strategy and a working method thereof. The active control system is characterized by comprising a vibration noise active control system and a control strategy incremental learning system, the control strategy incremental learning system comprises a noise source monitoring and evaluation module, a transmission path monitoring and evaluation module, a response surface control effect evaluation module, a control effect comprehensive evaluation module and a control strategy optimization design module; wherein the vibration noise active control system can realize a function of implementing control according to a certain strategy; the control strategy incremental learning system has the functions of matching and designing a control strategy according to the working condition information and feeding back the control strategy to the control system.

The invention discloses a rapid algorithm for column design considering the most unfavorable arrangement of live loads, and belongs to the technical field of civil engineering reinforced concrete member structural design. A design control load combination in the reinforced concrete structure design is converted into a mathematical convex hull set, a universal mathematical convex hull calculation method is used for searching the design control load combination, and the most unfavorable live load arrangement combination set is obtained by calculating the convex hull set of the live load combination set; according to the convex hull merging method, two convex hull subsets calculated in batches can obtain an equivalent convex hull set through Minkowski summation and a union set of the two convex hull subsets; according to the batch calculation method, a convex hull set obtained after the convex hulls are subjected to batch enumeration calculation and convex hull set merging is completely equivalent to a convex hull set obtained after all live loads are subjected to full enumeration and then convex hull calculation.

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 present invention discloses a control system and method for an emergency material transport robot, relating to the field of trajectory tracking control for emergency material transport robots. To address the difficulties inherent in trajectory tracking control for emergency material transport robots, various methods are employed to optimize system performance. A recursive least squares parameter identification method is employed to identify the robot's parameters, improving model accuracy. A fuzzy control method is employed to accelerate the robot's trajectory tracking speed. A model predictive control method, which can effectively handle multivariable and constrained problems, is employed to design the controller. Although model predictive control offers strong robustness, its performance deteriorates when the system is subject to persistent disturbances. Therefore, an extended state observer is incorporated to estimate disturbances and improve trajectory tracking accuracy.

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.