212 results about "Differentiator" patented technology

The invention provides an unmanned aerial vehicle motor rotating speed control method based on active disturbance rejection. The method comprises the following steps: 1) measuring the rotating speed of a motor by adopting a high-precision rotating speed sensor based on a quantum effect; 2) designing a tracking differentiator TD to smooth an expected rotating speed, and outputting a rotating speed tracking signal and a rotating speed tracking signal change rate; 3) introducing a dynamic weight matrix to form a dynamic weight expansion state observer DWESO, and taking an output state variable estimation value and a total disturbance estimation value as the input of the NLSEF; 4) automatically searching the optimal combination of the gain parameters of the DWESO by adopting an ALA (artificial Louver Mouse Algorithm), so that the optimal state variable estimation value and the optimal total disturbance estimation value are output to the NLSEF; compared with the prior art, the method for controlling the rotating speed of the unmanned aerial vehicle has the advantages that the dynamic response speed, the anti-jamming capability and the parameter adaptability of the system are remarkably improved, and the flight performance and the robustness of the unmanned aerial vehicle are improved.

The invention provides a quadrant switching smooth control method, device and equipment for an electro-hydrostatic system, and relates to the technical field of electro-hydraulic compound drive control. According to the method, sensor state information is acquired, a discretization state-space equation is established, a cost function is designed, improved sequential quadratic programming is called to solve the optimal control quantity, instructions are smoothly processed through a linear tracking differentiator, a reference value is calculated through a current distribution strategy and pressure feed-forward compensation, and cooperative impact resistance control is achieved through a PI controller and SVPWM. The response speed and stability of the electro-hydraulic compound system in the quadrant switching process can be remarkably improved, the problems of impact and torque overshoot are effectively restrained, the service life of equipment is prolonged, and the electro-hydraulic compound system is suitable for high-performance requirement scenes under complex working conditions such as electric loaders, excavators and winches.

The invention discloses a low-rigidity heavy-load permanent magnet synchronous motor flexible system structure resonance suppression method, and relates to the technical field of permanent magnet synchronous motor control, and the method comprises the steps: carrying out the dynamic filtering of an input position signal through setting a TD tracking differentiator, and generating a smooth planning instruction and a differential signal thereof; based on the planned instruction differential signal, a speed feed-forward control method is adopted to introduce feed-forward compensation in a position closed loop; constructing a disturbance observer according to the electromagnetic torque equation of the motor, estimating the actual wheelbase of the system in real time, and performing disturbance compensation; based on system resonance characteristics, an IP control method is adopted to perform pole assignment, and proportional gain and integral gain are set to suppress structure resonance and optimize closed-loop response. According to the method, a relatively good resonance suppression effect can be achieved without displacement, speed or acceleration signals of a load end and information such as very accurate load resonant frequency, relatively good dynamic response is achieved, and the requirement on hardware is reduced.

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 discloses a method for an unmanned ship to cooperatively surround an unknown target in a GPS denial environment, and relates to the technical field of unmanned ship cooperative control. In order to solve the problems that effective surrounding is difficult to complete in a GPS denial or unstable signal environment, the unmanned surface vehicle does not respond to target maneuvering in time and the surrounding precision of a dynamic complex water area is difficult to guarantee, the scheme is provided as follows: establishing an unmanned surface vehicle motion mathematical model, and describing the two-dimensional plane motion and dynamics of the unmanned surface vehicle; calculating a target speed estimator according to the distance and azimuth measurement between the adjacent unmanned ships; designing a first-order fixed time differentiator, and approaching a target speed and a derivative thereof within a preset time; on the basis of azimuth rigidity, the azimuth between the adjacent unmanned surface vehicle and the target is regarded as a rigid constraint, a rotation item is introduced to realize collaborative surrounding, and uncertain interference and model errors are compensated online. The scheme can be applied to cooperative surrounding operation of multiple unmanned ships on unknown targets in a GPS denial or signal limited environment.

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 provides a method for correcting a flow coefficient of a large-diameter regulating valve, which belongs to the technical field of aero-engines and comprises the following steps: filtering original test data by adopting a tracking differentiator to obtain filtered test data; constructing a regulating valve flow characteristic model, and retrieving an original model theoretical flow coefficient by setting a simulation condition which is the same as a test working condition; constructing a flow coefficient calculation model, inputting the filtered test data into the model, and calculating a real flow coefficient; establishing a flow coefficient deviation prediction model based on a random forest algorithm, substituting the difference value between the real flow coefficient and the theoretical flow coefficient into the model for training, obtaining a flow coefficient prediction deviation value, superposing the flow coefficient prediction deviation value with the theoretical flow coefficient to generate a new flow coefficient, and replacing the theoretical flow coefficient of the original model with the new flow coefficient; and new test working condition data are obtained, the steps are repeated, and the flow coefficient is continuously updated. According to the scheme, the adjusting valve transition state working condition flow coefficient and the flow calculation accuracy are 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 relates to a control and adjustment method and device of an accelerometer, electronic equipment and a medium, and belongs to the technical field of accelerometers, and the method comprises the steps: obtaining a first parameter value representing the acceleration of the accelerometer through a detection device of the accelerometer; inputting the first parameter value into a preset rapid tracking differentiator to obtain a tracking value of the acceleration and a differential value of the acceleration; inputting the actual given value of the accelerometer and the first parameter value into a preset state observer to obtain a first estimated value, a second estimated value and a third estimated value of the accelerometer; determining a first error value between the tracking value and the first estimated value, determining a second error value between the differential value and the second estimated value, and determining a comparison value of the third estimated value and a control gain of the accelerometer; and inputting the first error value, the second error value and the comparison value into a preset feedback control rate model to obtain a feedback control rate of the accelerometer, so that the accelerometer is modulated based on the feedback control rate.

The invention discloses a non-singular fast terminal sliding mode observer based on a neural network phase-locked loop. A Sigmoid function is adopted to design a non-singular fast terminal sliding mode surface in the observer; a stator current error system is defined, an equivalent item of a sliding mode control law is obtained according to an equivalent sliding mode control principle, a switching control law is designed for control of the stator current error system state on a sliding mode surface, and the sliding mode control law in the observer is obtained according to the equivalent item and the switching control law; introducing a rapid tracking differentiator comprising a terminal attractor, wherein the rapid tracking differentiator is used for accurately tracking and filtering the back electromotive force; and a phase-locked loop in the observer is controlled through the BP neural network, and the phase-locked loop is used for extracting an electrical angle and an electrical angular velocity signal from the back electromotive force to obtain a final sliding-mode observer. According to the method, the convergence speed is effectively increased, high-frequency buffeting is reduced, phase delay is compensated, and the dynamic performance is improved.

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 an active control method and system for suppressing torsional vibration of a permanent magnet synchronous wind driven generator, and the method comprises the steps: building a dual mass-rigidity-damping model through a lumped mass method based on transmission chain parameters and pneumatic torque, and obtaining a transmission chain dynamic equation; performing torsional vibration characteristic analysis on the natural wind speed, the pneumatic torque and the transmission chain dynamic equation to obtain a torsion angle, an eigenfrequency, a damping ratio equation and electromagnetic torque influence evaluation; and controller design is carried out on the torsional vibration mathematical model and the active disturbance rejection controller parameters to obtain an electromagnetic torque compensation amount, and active suppression of torsional vibration is realized. According to the invention, through cooperation of a physical model and intelligent control, a sensing-analysis-compensation closed loop is formed; a high-precision mathematical model is constructed, and a wind-machine-electricity coupling effect is captured; the ADRC regards unknown parameters and external disturbance as total disturbance, real-time estimation and compensation are carried out through a tracking differentiator, and an accurate system model is not needed; torsional vibration is restrained, and adaptability is enhanced.

The invention discloses a preset time intelligent active disturbance rejection control method and device. The method comprises the following steps: acquiring an error kinetic equation of a target control system; constructing a preset performance function according to the error kinetic equation; constructing a target tracking differentiator according to the preset performance function; constructing an extended state observer according to the error kinetic equation; constructing a nonlinear control law according to the target tracking differentiator and the extended state observer; obtaining an active disturbance rejection controller according to the target tracking differentiator, the extended state observer and the nonlinear control law; and combining an intelligent anti-disturbance algorithm with the active-disturbance-rejection controller, and controlling the target control system to obtain environment state data. The method can improve the stability and robustness of a control system, and can be widely applied to the technical field of active disturbance rejection control.

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 discloses a Malus metasurface-based dynamic optical differentiator and a design method thereof, the dynamic optical differentiator comprises a metasurface array and a grating structure, and the metasurface array is formed by a plurality of nano brick structure units on the same plane; each nano brick structure unit comprises a silicon substrate, a silicon dioxide layer and a silicon nano brick which are sequentially arranged from bottom to top; a layer of grating structure composed of vanadium dioxide is tightly attached to the bottom of the substrate, and the state of the vanadium dioxide is changed by controlling the temperature, so that dynamic switching between first-order differential and second-order differential is completed, that is, the vanadium dioxide is in a medium state before phase change, the first-order differential is completed, and the vanadium dioxide is in a metal state after phase change, and the second-order differential is completed. The functions of a first-order differentiator and a second-order differentiator can be achieved without additional optical elements, and the vanadium dioxide material is introduced to achieve dynamic regulation and control of functions.

The invention provides a cooperative dynamic predetermined performance control method for output synchronization of a network nonlinear system, and the method comprises the steps: guaranteeing the effective transmission of information through designing a communication network (S1) between multi-agent systems; secondly, designing a dynamic performance function based on a neighborhood error (S2), giving a stricter permissible limit, and achieving a faster convergence speed; in the stage of establishing the dynamic model (S3) of the strict feedback type nonlinear system, establishing a model containing unknown parameters and disturbance for each agent; (S4), reducing the updating frequency through an event triggering mechanism to guarantee the efficient operation of the system; finally, in a PPC and backstepping control strategy (S5) stage, a finite time differentiator is used for solving the differential explosion problem in a backstepping method, and an output synchronous controller is designed; according to the method, a new performance function is introduced while the system performance is ensured, the calculation burden and the updating frequency are reduced, and the practicability and the efficiency of the system are improved.

The embodiment of the invention provides an active-disturbance-rejection attitude control method, an aircraft, a medium and a program product, and relates to the technical field of automatic control. The method comprises the following steps: converting an initial control instruction into a smooth instruction by utilizing a tracking differentiator; using an extended state observer to generate ESO observed quantity based on attitude observation variables in the operation process of the unmanned aerial vehicle; generating a compensated angular acceleration differential instruction based on the smooth instruction and the ESO observed quantity by using a multi-stage feedforward control law; and determining a compensated motor control quantity based on the compensated angular acceleration differential instruction, the ESO observed quantity and a pre-set control parameter. According to the embodiment of the invention, a feedback control framework is improved on the basis of a traditional active-disturbance-rejection controller, and a multi-stage feed-forward mechanism is added, so that the structure of the active-disturbance-rejection controller is effectively simplified, the types of parameters needing to be set are simplified, and the response efficiency and the anti-disturbance performance of the active-disturbance-rejection attitude control of the unmanned aerial vehicle are effectively improved.

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 invention relates to the technical field of underwater vehicle control, and discloses a undulating fin robot control method based on a residual MLP and an active disturbance rejection controller, and the method comprises the steps: obtaining the state information of a robot through a kinematics and dynamics model; a non-linear tracking differentiator is adopted to generate a smooth reference signal, disturbance such as ocean current and density change is estimated in real time in combination with an extended state observer, and high-precision depth tracking is achieved through a state error feedback controller. The attitude control system fuses a PID controller and a depth factor adjustment mechanism, and dynamically optimizes control parameters to maintain attitude stability; a fin ray cooperative control strategy is put forward, the swing amplitude and the offset angle are adjusted, output torque is adjusted in combination with a depth factor, and propulsion performance fluctuation caused by water pressure changes is solved; the depth and attitude control parameters are optimized by using the residual MLP, the nonlinear fitting capability is enhanced through the residual block structure, the parameter setting efficiency is improved under the finite computing power, and an efficient and reliable technical scheme is provided for ocean exploration and ecological monitoring.

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.

The embodiments of the present application provide an auto-disturbance rejection attitude control method, an aircraft, a medium and a program product, and relate to the field of automatic control technology. The method comprises: using a tracking differentiator to convert an initial control instruction into a smoothing instruction; using an extended state observer to generate an ESO observation quantity based on the attitude observation variables during the operation of the UAV; using a multi-level feedforward control law to generate a compensated angular acceleration differential instruction based on the smoothing instruction and the ESO observation quantity; and determining the compensated motor control quantity based on the compensated angular acceleration differential instruction, the ESO observation quantity and the pre-set control parameters. The embodiments of the present application improve the feedback control architecture and add a multi-level feedforward mechanism on the basis of the traditional auto-disturbance rejection controller, which not only effectively simplifies the structure of the auto-disturbance rejection controller and simplifies the types of parameters that need to be adjusted, but also effectively improves the response efficiency and anti-disturbance performance of the UAV auto-disturbance rejection attitude control.

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.

The present invention provides a quadrant switching smooth control method, device and equipment for an electro-hydraulic system, which relates to the field of electro-hydraulic composite drive control technology. The present invention obtains sensor state information, establishes a discretized state space equation, designs a cost function, calls an improved sequential quadratic programming to solve the optimal control quantity, smoothes processing instructions through a linear tracking differentiator, adopts a current distribution strategy and pressure feedforward compensation to calculate a reference value, and uses a PI controller and SVPWM to achieve collaborative anti-shock control. The present application can significantly improve the response speed and stability of the electro-hydraulic composite system during quadrant switching, effectively suppress impact and torque overshoot problems, and extend the service life of the equipment. It is suitable for high-performance demand scenarios under complex working conditions such as electric loaders, excavators and winches.