152 results about "Differentiator" patented technology

The invention discloses a miniature proportional valve control method based on active-disturbance-rejection control, and relates to the technical field of miniature proportional valve control, and the method comprises the steps that a target flow set value is received and is used as a control signal to be sent to a control unit, and the control unit comprises a tracking differentiator, an expansion state observer and a nonlinear feedback controller; the tracking differentiator processes the target flow set value to obtain a differential input signal; the expansion state observer receives the differential input signal and the actual flow feedback signal, and estimates the total disturbance of the system in real time to obtain a disturbance estimation value; the non-linear feedback controller combines the differential input signal and the disturbance estimation value to generate a compensation current signal; the compensation current signal is used as a control parameter of the micro proportional valve, and the position of the valve element is accurately adjusted. An active disturbance rejection control algorithm is adopted, the control performance and disturbance rejection are improved, accurate flow control of the micro proportional valve is achieved, and the micro proportional valve is more suitable for industrial application with high requirements.

The invention relates to the technical field of power system operation and control, and discloses an improved model-free adaptive flexible low-frequency power transmission oscillation suppression method, which performs zero-phase lag filtering on noisy signals through a nonlinear tracking differentiator, effectively solves the problem of control divergence caused by signal noise, and improves the suppression efficiency. A tight-format dynamic linearization and linear expansion state observer technology is adopted, accurate capture of dynamic characteristics of a strong nonlinear system and real-time observation and compensation of internal and external full-dimensional disturbance are achieved without dependence of a physical model, and particularly, an adaptive estimation algorithm of an output variable quantity penalty factor is introduced. The problem that model parameter identification jumps severely under the broadband oscillation working condition is solved, the robustness of a control system is enhanced, and the self-adaptive optimality of a control strategy is guaranteed and interference of long-term online operation on steady-state performance is avoided by combining parameter optimization of a cuckoo search algorithm and an event triggering mechanism of time-frequency double criteria.

The invention relates to a permanent magnet synchronous motor improved fractional order sliding mode active-disturbance-rejection control method based on an improved fractional order super-spiral sliding mode observer, and the method specifically comprises the steps: firstly, building a mathematical model of a PMSM in an alpha-beta and d-q coordinate system, designing an improved fractional order super-spiral sliding mode disturbance observer, and estimating the unknown disturbance in a system in real time; and finally, optimizing a steepest function and designing a fractional order tracking differentiator in combination with a fractional order calculus principle. A nonlinear state error feedback law is constructed, nonlinear calculation is carried out on the proportion, differential and integral of an error signal, and the anti-interference capability, the response speed and the control precision of the controller are improved; and combining a fractional order tracking differentiator, a fractional order state observer and a nonlinear feedback control law, and designing a fractional order sliding mode active-disturbance-rejection controller. According to the method, system buffeting is effectively weakened while the convergence speed is increased, and the robustness of the controller under load disturbance is effectively improved.

The invention discloses a method for realizing a multi-polarization high-numerical aperture Laplace differentiator based on a metasurface, and belongs to the technical field of micro-nano photonics, optical simulation calculation and light field regulation and control. The single-layer metasurface is composed of a cylindrical array which is made of an amorphous silicon material and has a hexagonal lattice period. Geometric parameters of a silicon cylinder are designed and selected, so that the metasurface excites resonance spectrums with large-angle dispersion capability under illumination of p polarized light and s polarized light in the same working wavelength range, and an optical transfer function required by optical Laplacian differential operation with broadband and high numerical aperture is realized in a real airspace; and Laplacian operation can be executed under non-polarized light and non-coherent light conditions. And generating a processing file of the corresponding metasurface according to the determined geometric dimension of the silicon cylinder unit. And processing the dielectric metasurface by adopting a micro-nano processing technology of electron beam etching. In a working wave band, the metasurface can directly obtain two-dimensional second-order edge contour information of a target image under various illumination conditions.

The invention discloses a ship rust removal mechanical arm anti-interference motion control method introducing jet flow counter-acting force, and relates to the technical field of ship rust removal equipment control. Aiming at the problems of poor robustness, easy saturation of an integral term and poor dynamic response effect when a ship rust removal mechanical arm is faced with water jet reaction force and other interferences in traditional PID control, the invention provides an active disturbance rejection control (ADRC) scheme introducing jet reaction force. The method comprises the following steps: constructing a jet reaction force model, mapping the jet reaction force model into a joint torque compensation item based on a Jacobian matrix, and integrating the joint torque compensation item to an ADRC control law; an improved tracking differentiator, a nonlinear extended state observer (ESO) and a nonlinear state error feedback (NLSEF) module are designed, real-time estimation and compensation of internal and external disturbance of a system are achieved, and joint control performance is optimized. Experiments show that by means of the method, the joint angular displacement tracking error can be reduced by 10% or above, the adjusting time is shortened to 2 s from 10 s, the absolute value of the transient error is smaller than 0.3 rad, and the anti-interference capacity and the control precision of the mechanical arm are remarkably improved.

The invention relates to the field of control, in particular to a flight attitude control method and system for an unmanned aerial vehicle, and the method comprises the steps: obtaining an expected attitude angle instruction and actual attitude angle feedback of the unmanned aerial vehicle, calculating an attitude angle error, employing a tracking differentiator to calculate a transition process for the expected attitude angle instruction, and enabling a tracking rate factor to achieve the control of the flight attitude of the unmanned aerial vehicle when the instruction is subjected to step change. Based on initial attitude angle error setting, instruction smooth transition is ensured, based on a transition signal output by a tracking differentiator and an estimated value of an expansion state observer, a basic control quantity is generated through nonlinear state error feedback, and control gain is adjusted on line according to a lumped disturbance amplitude. And predicting the lumped disturbance historical sequence by using a grey prediction model, calculating a predicted value at a future moment, and carrying out algebraic summation on the basic control quantity, a compensation component of the lumped disturbance predicted value and a gyroscopic moment decoupling component to generate an attitude control moment signal so as to realize stable flight of the unmanned aerial vehicle.

The invention discloses a piezoelectric micro-positioning platform preset performance control method based on an extended state observer, and the method mainly comprises the steps: firstly, building a piezoelectric micro-positioning platform system model considering input hysteresis and unknown disturbance; secondly, designing an extended state observer based on a radial basis function neural network to estimate an unmeasurable state of the system and lumped disturbance containing input hysteresis; then, a preset performance function is used, so that the overshoot performance of the system is effectively improved; thirdly, in combination with a preset performance function, a first-order sliding mode differentiator and an expansion state observer, providing a virtual control law and an adaptive control law; and finally, a preset performance controller is utilized, a Lyapunov stability theory is combined, proper parameters are selected to ensure that the closed-loop system is kept stable within preset time, and tracking errors are controlled within a set error range.

The invention discloses a shore power winch cable tension control system and method based on fuzzy active-disturbance-rejection control. The system comprises a tension sensor module, a fuzzy active-disturbance-rejection control module, a real-time parameter updating module, a motor control signal output end and a motor driving and executing module. The tension sensor collects a cable tension signal in real time and transmits the cable tension signal to the fuzzy active-disturbance-rejection control module. The module integrates a tracking differentiator, an expansion state observer and nonlinear state error feedback combined with fuzzy logic, and accordingly, a control signal is generated. The real-time parameter updating module dynamically obtains rotational inertia and rolling diameter parameters and feeds back the rotational inertia and rolling diameter parameters to the controller; and finally, controlling the signal to drive the motor to execute cable winding and unwinding operation. Through the fuzzy active disturbance rejection control core, the rapid transition of the tracking differentiator and the real-time disturbance estimation of the expansion state observer are combined, the influence of the time-varying working condition and the strong disturbance is effectively overcome, and the optimal consideration of the response speed and the control precision is realized.

The invention belongs to the field of aero-engine control, and particularly relates to a variable cycle engine active disturbance rejection control system which comprises a tracking differentiator, an expansion state observer, an error nonlinear feedback unit and a disturbance compensation unit. The tracking differentiator can obtain the target rotating speed or pressure ratio of the engine and generate the tracking trajectory of the target. The extended state observer can collect the state quantity of the engine and the control quantity of the disturbance compensation unit to generate disturbance estimation and state estimation. The method does not depend on an object accurate model, and only needs to estimate the system dynamics online through an extended state observer. Compared with a traditional PID which needs to repeatedly set parameters (such as a proportionality coefficient and integral time) for different working conditions, control parameters (such as the tracking speed of TD, the bandwidth of an extended state observer and the gain of nonlinear feedback) of the algorithm only need to be calibrated based on the typical working conditions of the engine, and the design complexity and the maintenance cost of the controller are greatly reduced.

The invention discloses a control method of an energy accumulator oil supply hydraulic servo system of a shipborne helicopter mooring device, which belongs to the field of mechanical hydraulic control and comprises the following steps: establishing a mathematical model of the energy accumulator oil supply hydraulic servo system; based on the position of a helicopter probe rod, the speed track in the capturing process of a mechanical claw is planned; a smooth speed feedback signal is obtained through a tracking differentiator; generating a feed-forward control quantity by a feed-forward controller; designing an error active disturbance rejection controller comprising a feedback compensator and an extended state observer based on the mathematical model, and generating an error adjustment signal; and the feedforward control quantity and the error adjusting signal are synthesized, the parameters of the error active disturbance rejection controller are adjusted, a final control instruction is formed to drive a hydraulic servo system, and the mechanical claw tracks the planned speed track. The problem of flow-pressure nonlinearity in the oil supply process of the energy accumulator is effectively solved, the capturing speed tracking precision of the mechanical claw is improved, capturing impact is reduced, and the quick mooring device is suitable for helicopters of different tonnages.

The application discloses a kind of anti-rising sine tracking differential devices and methods, by first subtracter to input signal and the output signal of second integrator carry out subtraction operation, the output result of subtracter is input to first integrator and is integrated, and the output result of first integrator is input to second integrator and is integrated;By delay ware to the output result of second integrator is delayed, the output result of first integrator and input signal are input to second subtracter and carry out subtraction operation, and the output result of second subtracter and the output result of second integrator after time delay are transmitted to third subtracter and carry out subtraction operation, obtain anti-rising sine tracking differential signal.The application subtracts the sum of first integration result and second integration result after time delay from input signal, can improve the cut-off speed of output differential signal, improves the tracking efficiency of differentiator.

To detect a disconnection in a voltage detection circuit having an AD converter.SOLUTION: A voltage detection circuit includes: a modulation signal generator that generates a modulation signal; an AD converter that converts a voltage applied between first input wiring and second input wiring into a digital value; a current source that supplies a first current which changes based on the modulation signal to the first input wiring, and supplies a second current which changes based on the modulation signal to the second input wiring; a differentiator that outputs a value obtained by differentiating an output value of the AD converter; a multiplier that multiplies an output value of the differentiator by a value that changes positively and negatively based on the modulation signal; and an integrator that integrates an output value of the multiplier.SELECTED DRAWING: Figure 1

The application discloses a time delay control method and system based on an error compensation type extended state observer, which comprises the following steps: a time delay controller acquires input signals and each output state of a tracking differentiator, and outputs a first control signal; an estimation error model of a displacement is constructed for an extended state observer; based on the first control signal, a total disturbance signal and an estimation error of the extended state observer, a controlled object is converted into an integrator series type form, and a displacement signal is output based on the controlled object; the displacement signal is input into the tracking differentiator to obtain real-time estimation values of each state of a nano-positioning stage; and the real-time estimation values of each state are fed back to the time delay controller. By introducing the extended state observer, the application solves the problem that the stability of a control system is easily affected by the uncertainty of a control input matrix; by introducing the tracking differentiator, the application solves the difficult problem that high-order system states and their derivatives required by time delay control are not easy to obtain.

An electronic circuit includes a fast-settling threshold estimator for determining a fast-settling threshold voltage which includes a maximum peak detector that receives an analog signal containing digital data and produces an estimate of a maximum value of the analog signal; a differentiator that produces an output voltage responsive to a change in the estimate of a maximum value of the analog signal; a preselected voltage coupled to a comparator that outputs a pulse when the output voltage is greater than the preselected voltage; a minimum peak detector that produces an estimate of a minimum value of the analog signal; and an averaging circuit that produces a weighted average of the estimate of a maximum value of the analog signal and the estimate of a minimum value of the analog signal. In one embodiment, the fast-settling threshold estimator is coupled to a bit slicer and to a RF receiver.

A power supply system (50) is disclosed, comprising a power supply circuit (1), a sensor (3) of a current (I_HV+) flowing through a terminal of the power supply circuit and a protection circuit (2). The protection circuit comprises a differentiator (2-1; 2-2, 2-3) adapted to measure a slope of a current measurement signal (S1_ms) and comprises a drive stage. The power supply circuit (1) is configured to receive a disconnect signal (S1_dsn) and, alternatively, depending on a value of the disconnect signal (S1_dsn), to electrically connect internal components of the power supply circuit to terminals of the power supply circuit or to electrically disconnect the internal components of the power supply circuit from the terminals of the power supply circuit.

This invention provides an improved sliding mode active disturbance rejection control (ADRC) method and system for an automotive shimmy system based on an electromagnetic linear actuator. Addressing the system's strong nonlinear characteristics and unknown external disturbances, a mathematical model of the automotive shimmy system based on the electromagnetic linear actuator is established. A nonlinear tracking differentiator is constructed to process the desired input signal of the wheel shimmy angle, rationally arrange the transient process, and synchronously extract the differential signal of the desired signal. A continuous and smooth Ifal function is constructed based on trigonometric sine and inverse proportional functions, and a novel extended state observer is designed to estimate the system's internal and external disturbances in real time. A super-helical sliding mode control law based on the hyperbolic tangent function is designed to replace the error feedback control law in the traditional ADRC, outputting a control voltage. This invention effectively estimates and compensates for the impact of vehicle state parameter changes, model uncertainties, and external disturbances on system stability, improving dynamic performance and control accuracy, and exhibiting good robustness and anti-interference capabilities.

The invention relates to a PCB circuit of a three-degree-of-freedom Duffing type MEMS resonator and an event-triggered fuzzy neural network inversion control method, and belongs to the technical field of MEMS resonator control, and the method comprises the steps: constructing an electrostatic coupling three-degree-of-freedom Duffing type MEMS resonator based on a series mode, and building a mathematical model; the method comprises the following steps: designing an analog circuit of a three-degree-of-freedom Duffing type MEMS resonator, and constructing a PCB experiment platform; designing an inversion controller based on a logarithmic obstacle Lyapunov function, an acceleration function, an acceleration exponential integral tracking differentiator and a type-2 fuzzy wavelet neural network; and a switching threshold event triggering mechanism is introduced into the inversion controller.

The invention provides a permanent magnet synchronous motor backstepping sliding mode control method based on a hybrid nonlinear tracking differentiator, and relates to the technical field of permanent magnet synchronous motor control. Firstly, a permanent magnet synchronous motor model is established. A system state equation is established based on a model of the permanent magnet synchronous motor, a backstepping control law is designed based on the system state equation, and a backstepping sliding mode control law is obtained according to the backstepping control law. According to the backstepping sliding mode control method of the permanent magnet synchronous motor, the operation stability and the energy efficiency of the permanent magnet synchronous motor in the using process are improved.

The invention discloses a data and physics hybrid driven bolt connecting beam tangential excitation vibration model parameter identification method. The parameter identification method comprises the following steps: establishing a transient excitation model of a to-be-identified bolt connecting beam; acquiring test data of vibration generated by external excitation of the to-be-identified bolt connecting beam; setting a parameter to be identified, establishing a neural network, using an automatic differentiator, adding a physical loss item in a loss function according to the transient excitation model in the step 1, inputting the test data in the step 2, training the deep neural network until the loss function converges or reaches a set threshold, and obtaining the parameter to be identified. According to the parameter identification method, the model parameters can be conveniently and accurately identified from the test data.

The invention discloses a nonlinear active-disturbance-rejection control method and an experimental device for a permanent magnet synchronous motor of an electric vehicle. The method comprises the following steps: establishing a state equation of total disturbance of the permanent magnet synchronous motor; constructing a tracking differentiator of the permanent magnet synchronous motor; constructing a nonlinear expansion state observer based on the tracking differentiator in combination with the state equation; constructing an initial nonlinear active-disturbance-rejection rotating speed controller of the permanent magnet synchronous motor according to the nonlinear expansion state observer; performing parameter optimization on to-be-designed parameters in the nonlinear extended state observer based on a genetic algorithm, and obtaining an optimal nonlinear active-disturbance-rejection rotating speed controller according to the initial nonlinear active-disturbance-rejection rotating speed controller; and according to the optimal nonlinear active-disturbance-rejection rotating speed controller, nonlinear active-disturbance-rejection control of the permanent magnet synchronous motor of the electric vehicle is realized. The method solves the problems that an existing method is difficult to meet the requirement of a wide speed range, the anti-interference performance is poor, real control signals and feedback signals are difficult to be not considered in an actual controller, and limitation exists in the process of converting an algorithm into the actual controller.

The embodiment of the application provides a data processing method and device of a filter, electronic equipment and medium, the method comprises the following steps: obtaining input data; according to a pre-configured filtering parameter, searching a pre-stored lookup table to find a target output bit width corresponding to the input data; according to the target output bit width, using a cascade integrator to perform integral processing on the input data to obtain integral data; according to the target output bit width, using a decimator to perform decimation sampling on the integral data to obtain sampling data; and according to the target output bit width, using a cascade differentiator to perform differential processing on the sampling data to obtain filtered data corresponding to the input data. In the embodiment of the application, a bit width adaptive control unit is added to realize bit width selection and effective data bit control under different decimation rates and orders, which can effectively avoid the generation of burrs in the filtering process.

The invention provides an attitude control energy optimization method for a spacecraft. The attitude control energy optimization method comprises the following steps: firstly, obtaining a smoothed attitude angle instruction and an attitude angle rate instruction by using a tracking differentiator; estimating impact disturbance through a nonlinear extended state observer; forming an impact disturbance sign signal according to the estimated value; obtaining a state error, establishing an attitude control law under a non-interference condition and an attitude control law under impact disturbance, and obtaining a corresponding control quantity and a sliding mode surface; according to the state error and the two attitude control laws, the switching compensation control quantity is calculated, the attitude control law under the impact disturbance containing integral switching compensation control is designed, and the smoothed control quantity under the impact disturbance is obtained; according to the impact disturbance mark signal, the control quantity under the interference-free condition or the control quantity under the smooth impact disturbance is selected and sent to the attitude control engine. The method effectively solves the energy optimization problem of the direct force control system when the parameters of the control system change drastically under large impact disturbance.

The invention discloses a thermal power generating unit primary frequency modulation performance improvement method based on a fast tracking differentiator, and aims to improve the primary frequency modulation response speed and control precision of a thermal power generating unit under power grid frequency disturbance. The method comprises the following steps: acquiring a frequency deviation signal, and decomposing the frequency deviation signal into a low-frequency filtering signal and a high-frequency differential signal by using a rapid tracking differentiator; calculating a system working condition index based on a decomposition result, and dynamically adjusting a fast factor and a filtering factor; a short-term prediction feedforward compensation signal is constructed, and historical information is introduced through a gating mechanism; and superposing the feed-forward compensation signal and the PID feedback control signal, and outputting a frequency modulation control instruction. The method can be directly integrated on the basis of an original frequency modulation system structure, has the advantages of being high in response speed, high in adaptability, good in frequency difference fluctuation suppression effect and the like, and is suitable for a primary frequency modulation control scene of a thermal power generating unit under a new energy high-permeability background.

The invention discloses a double-closed-loop active disturbance rejection control system and method for a flexible joint mechanical arm. In order to solve the problems of endpoint jitter, poor anti-interference capability and the like of a flexible joint mechanical arm under traditional PID control, a double-closed-loop active-disturbance-rejection controller composed of a tracking differentiator, a nonlinear state error feedback law and an expansion state observer is designed by establishing a mathematical model of a permanent magnet synchronous motor and a flexible joint; wherein the expansion state observer can estimate and compensate the total disturbance inside and outside the system in real time, and linearizes a complex nonlinear system, so that the endpoint jitter of the mechanical arm is effectively inhibited, and the trajectory tracking precision, the dynamic response speed and the robustness to parameter change and external disturbance of the system are remarkably improved; the control performance of the flexible joint mechanical arm is verified through Simulink simulation, and an effective solution is provided for high-precision control of the flexible joint mechanical arm.

The application relates to the technical field of circuits, and discloses a neural network optimization circuit, which can simultaneously train multiple target training data and simultaneously optimize errors of the multiple target training data, has high parallelism, fast calculation speed, on-chip learning ability, no non-continuous signals such as switch signals and clock signals in the training process, realizes fast convergence under the guarantee of strict mathematical theory, uses analog circuits, and has low expansion cost. Furthermore, the second differentiator is placed from the disturbance source to the position of the output of the adder, the original convergence direction of the circuit can be maintained, the requirement for disturbance power is reduced, and the stability of the network is improved.

The invention discloses a unit coordination control method and system based on main steam pressure prediction, and the method comprises the steps: obtaining a unit operation signal, constructing a hybrid mechanism prediction model, obtaining a main steam pressure prediction value, calculating a first deviation between the main steam pressure prediction value and a current main steam pressure effective signal through an adder module, and calculating a second deviation between the main steam pressure prediction value and the current main steam pressure effective signal; superposing the first deviation to the first main steam pressure set value to generate a second main steam pressure set value; on the basis of the regulating stage pressure effective signal, the machine front pressure effective signal and a second main steam pressure set value, operation is executed through a multiplier, a differentiator and an adder, and an energy signal is generated; based on the change rate of the regulating stage pressure effective signal and the current main steam pressure effective signal, operation is executed through a differentiator and a summator, and a heat signal is generated; the problem that in the prior art, the matching contradiction between boiler lag and rapid load change cannot be effectively solved is solved, and unit coordination control of material amount advanced adjustment is achieved.

The invention discloses a process-oriented forward acceleration device and system controller. The device comprises a first addition link, an amplitude limiting integrator, a differentiator, a forward output controller and a second addition link, the amplitude limiting integrator comprises an integrator and an integrator amplitude limiting controller; and the integrator amplitude limiting controller is used for limiting the amplitude of the output of the integrator. The first addition link is used for adding the output signal of the integrator and the external process signal, accelerating the external process signal and outputting an acceleration signal to the differentiator. According to the method, the forward control quantity can be advanced, and the method has a good effect on restraining forward overtemperature of the overheat steam temperature control system.

This utility model relates to an ultra-wideband radar sensor chip architecture, including a signal generator, a transmit link, and a receive link. The signal generator generates a first clock signal and a second clock signal. The first clock signal is output to the transmit link, and the second clock signal is output to the receive link. The transmit link includes a first pulse generator, a differentiator, and a transmit multiplexer with multiple transmit branch channels. The receive link includes a second pulse generator, a mixer, a receive multiplexer with multiple receive branch channels, a low-pass filter, an automatic gain control amplifier, and an analog-to-digital converter. This ultra-wideband radar sensor chip architecture adopts a multi-transmit, multi-receive approach, allowing each channel to operate independently in a time-division multiplexing manner, improving radar detection accuracy and resolution, and significantly expanding the application range of radar sensors.

The invention discloses a power distribution network high-resistance grounding fault initial traveling wave head calibration method, and relates to the field of power distribution system protection and fault positioning. The method comprises the steps of obtaining a fault voltage signal of a measurement node in a power distribution network, and calculating a line mode component of the fault voltage signal; extracting a fault transient component from the line mode component; calculating an integral deviation waveform of a fault transient component to select a fault sudden change time window; a multi-scale time window differentiator is constructed, fault initial traveling wave arrival time is accurately calibrated in a fault sudden change time window, and accurate time data is provided for power distribution network fault traveling wave positioning, so that accurate fault positioning is realized.

A system for Large Language Model (LLM) based differentiation, the system including a processor configured to receive input data associated with an entity, classify the input data to a descriptive class, command an adaptive web crawler to retrieve descriptive content associated with the descriptive class, extract a plurality of positioning signals from the input data associated with the entity, generate a contrast score for each positioning signal of the plurality of positioning signals by comparing the plurality of positioning signals to the descriptive content, encode the contrast score into a differentiator profile including at least one categorical tag and at least one weighted relationship for each positioning signal, modify a generation behavior of a base LLM using the differentiator profile as a conditioning input and generate, by the base LLM conditioned on the differentiator profile, one or more differentiator outputs.