13 results about "Equilibrium control" patented technology

This invention proposes a method based on the total discharge outlet NO x This invention relates to a denitrification equilibrium control method that combines ammonia slip correction with other methods, and pertains to the field of flue gas denitrification control in thermal power plants. Specifically, it provides a method based on NO from the total exhaust outlet. x A denitrification equilibrium control method that combines concentration and ammonia slip correction, which involves adjusting the total NO emission at the discharge outlet. x The hourly average concentration of NO is introduced into closed-loop control to dynamically calculate the NO concentration for the current hour. x NO emission surplus x As a baseline setting value, and combined with the NO values ​​at both entrances x The concentration difference is corrected by a baseline setpoint based on weighted load allocation. At the same time, fuzzy inference is used to constrain and correct the ammonia escape concentration on both sides. Finally, the opening of the ammonia injection valves on both sides is precisely adjusted by a model predictive controller, thereby minimizing the consumption of reducing agent while ensuring that environmental emissions meet the standards.

This disclosure provides a two-wheeled vehicle control method and device, a two-wheeled vehicle, and a storage medium. By acquiring first attitude data and first driving state data of the two-wheeled vehicle, the control priorities and corresponding control parameters for the power, steering, and braking of the two-wheeled vehicle are determined based on the first attitude data and the first driving state data. At least one of the power, steering, and braking of the two-wheeled vehicle is coordinated and controlled through the control priorities and control parameters, so that the two-wheeled vehicle is in a balanced state. This achieves self-balancing control of the two-wheeled vehicle, improves the driving stability of the two-wheeled vehicle, and enriches the data basis for self-balancing control by using multi-source data such as attitude data and driving state data. This improves the accuracy and robustness of control and solves the problem of disconnect between self-balancing control and driving state.

A balance control method and apparatus (1600) for a wheel-legged robot (200), a device, and a storage medium. The method is executed by a computer device (101). An n-order inverted pendulum model as which the wheel-legged robot (200) is equivalently represented comprises: wheels (1016), n connecting rods and n rotating joints; first connecting rods (1026, 1110) are equivalently derived from at least two leg mechanisms (1022, 1024) of the wheel-legged robot (200), and the wheels (1016) are equivalently derived from moving wheels (1012, 1014) respectively connected to the at least two leg mechanisms (1022, 1024). The method comprises: step 1310, acquiring an actual state quantity of the wheel-legged robot (200) at a first moment; step 1320, calculating an equivalent state quantity at the first moment on the basis of the actual state quantity at the first moment; step 1330, establishing a sliding mode surface on the basis of the equivalent state quantity at the first moment; step 1340, determining a force and torque instruction of the whole body joint on the basis of a dynamic equation of the sliding mode surface and the equivalent state quantity at the first moment; and step 1350, at a second moment, respectively controlling the n rotating joints on the basis of the force and torque instruction. The method is adapted to a wheel-legged robot (200) in movement, facilitating improvement of the robustness of balance control.

The application belongs to the technical field of lunar exploration vehicle attitude control, and relates to a balance control method for a double-wheel lunar vehicle based on a control moment gyro, aiming at the pitch-roll instability problem of the double-wheel lunar vehicle under the low gravity and complex terrain of the moon, a whole vehicle multi-body dynamics model containing a double-shaft CMG is established, attitude estimation and terrain disturbance torque prediction are realized by fusing IMU, wheel speed meter and terrain sensor data, a total compensation torque is calculated by using a sliding mode control, and the torque is dynamically distributed according to the disturbance frequency: high-frequency transient disturbance is quickly inhibited by the CMG, and low-frequency continuous disturbance is efficiently compensated by the wheel hub motor, and a wheel hub motor saturation torque transfer mechanism is set; the application realizes layered inhibition of high and low frequency disturbances, improves balance stability, energy efficiency and system reliability, and is suitable for a double-wheel self-balancing carrying equipment for lunar exploration.

The present application relates to rectification technical field, particularly to a kind of rectification tower system balance full-automatic separation control method, rectification tower system includes rectification I tower, control method includes to rectification I tower is carried out material balance control and gas-liquid equilibrium control, gas-liquid equilibrium control is used to control the amount of backflow of material backflow to rectification I tower;The material balance control includes: detecting the actual feed flow of rectification I tower and the actual liquid level value of the first reflux tank corresponding to rectification I tower, in combination with the overhead take-off component set point of rectification I tower and the overhead take-off component density, the overhead take-off material flow of rectification I tower is calculated and controlled in real time.By the method, the stability and efficiency of rectification tower system are improved, and the energy consumption cost and the volatility problem of product are reduced.

This invention relates to a hybrid force-position control method and apparatus for a quadruped robot. The method includes extracting features from the body perception sequence and quantifying key features of the active dynamic load carried by the quadruped robot using a preset active dynamic load model. These key features include real-time interactive interference forces, enabling adaptive perception of load changes and real-time interference forces. The method also involves actively correcting the quadruped robot's motion commands using the preset hybrid force-position control model and real-time interactive interference forces to generate anti-interference target commands, thereby guiding the robot to actively correct its motion commands. Finally, the method generates actuator motion commands to drive the quadruped robot using a preset motion control strategy network. These actuator motion commands maintain the quadruped robot's balance during the active dynamic load transport process in complex terrain, enabling adaptive adjustment of the quadruped robot and improving its balance control capability and anti-interference robustness in active dynamic load transport tasks in complex terrain.

This disclosure relates to a method, control device, and electric sprinkler vehicle for balance control. The method includes: real-time acquisition of the sprinkler vehicle's speed, motor output torque, driver-required torque, and load value; acquisition of a reference torque for flat roads based on the speed and load value; acquisition of a torque deviation value based on the difference between the motor output torque and the reference torque; determination of the sprinkler vehicle's operating condition based on the torque deviation value, motor output torque, and driver-required torque; acquisition of the sprinkler vehicle's speed change rate when the operating condition is uphill or downhill; if the absolute value of the speed change rate is not less than a first risk threshold, the sprinkler vehicle is determined to be in a swaying condition, and sprinkler vehicle spraying status control and overall torque control are performed. This disclosure can improve the driving stability of sprinkler vehicles.

This invention relates to the field of reciprocating pump hydraulic balance control technology, and discloses a dynamic adjustment method, system, equipment, and medium for reciprocating pump hydraulic balance. The method includes determining the theoretically optimal balance pressure based on the reciprocating pump's structural parameters and operating conditions; acquiring bearing temperature and vibration signals in real time, extracting temperature characteristic values, vibration characteristic values, and temperature change rate, and performing weighted fusion to obtain a bearing load index; tracking the theoretically optimal pressure when the load index is lower than a set value; otherwise, performing incremental PID adjustment based on the deviation; and executing graded protection actions according to the load index's range. This invention evaluates the actual bearing load state through multi-parameter fusion and achieves closed-loop adaptive adjustment, overcoming the shortcomings of existing technologies that cannot reflect the true bearing state and offer only a single evaluation method, effectively extending bearing life and improving operational reliability.

The invention discloses a self-balancing control method and system for a distribution line, and relates to the technical field of self-balancing control, a plurality of unbalance factors are determined according to the identification of an unbalance event, and a balance adjustment system is determined according to the plurality of unbalance factors, the corresponding unbalance degree and the branch point position of a line load branch point. And the accuracy of the balance adjustment system is improved. Determining a corresponding balance adjustment amount based on detection of a balance adjustment system, and determining a corresponding self-balance adjustment event according to the balance adjustment amount, a corresponding adjustment direction and a state distribution diagram of the distribution diagram of the distribution line; a plurality of self-balancing adjustment items are determined based on the recognition of the self-balancing adjustment event, and a corresponding cooperative control system is determined according to each self-balancing adjustment item, the load data combination of each line load branch point and the corresponding branch point combination, so that the accuracy of the cooperative control system is improved.

The application relates to the technical field of virtual driving and provides a vehicle balance control method and device in a virtual driving scene and a storage medium, the method comprising the following steps: after determining that the first vehicle tire pressure of a target vehicle meets a preset tire pressure abnormality condition according to a first vehicle speed and a duration, outputting a first prompt message for instructing the target vehicle to travel to a nearby service area of the target vehicle according to target safe parking navigation guidance; if the tire of the target vehicle meets a preset tire burst condition according to a second vehicle speed and a duration after the user ignores the first prompt message, generating a second prompt message for prompting the user to perform at least one operation of releasing an accelerator pedal, downshifting, shortening brake stepping, turning a steering wheel within a preset angle and the like until traveling to any nearby service area according to a tire damage position. The scheme can intelligently simulate the whole processing process of simulating a tire burst, the simulation process has safety guarantee, and users can quickly learn correct processing measures after a tire burst.

This invention discloses a constrained following active disturbance rejection control (CFADRC) method for autonomous motorcycles. This method mainly includes two features: First, it constructs an extended state observer (ESO) using a linear variable parameter model (LPV) of the autonomous motorcycle to observe the uncertainties and internal and external disturbances of the system, and compensates for them in the system state equations, thereby reducing the impact of uncertainties and internal and external disturbances on the system. Second, it utilizes the principle of constrained following control (CFC) to design the control problem of lateral tilt balance as a state constraint with a tilt angle of 0. This objective constraint is equivalently represented using a second-order linear differential equation, and the constrained following active disturbance rejection control law is designed based on the disturbance terms observed by the extended state observer. The constrained following active disturbance rejection control of this invention for autonomous motorcycles has a standardized design process, a simple control structure, low dependence on the accuracy of the system's dynamic model, and relatively easy parameter tuning subject only to unilateral constraints. It exhibits strong robustness and provides a simple and effective solution for designing balance control strategies for autonomous motorcycles.

The application discloses a power material supply chain network equilibrium control method and device based on a value function, relates to the technical field of supply chain network equilibrium control, and comprises the following steps: according to local value functions of nodes, key neighborhood nodes are screened through influence among the nodes and sparse communication is carried out, and a local equilibrium control strategy is generated; nodes at the same level are combined into a subnetwork, coordination optimization is carried out in the subnetwork based on the local equilibrium control strategy, a subnetwork equilibrium control strategy is generated, and is summarized to a cross-level coordination layer, global state information is constructed, a coordination target is determined, and after relaxation iteration smoothing processing, multi-level coordination control instructions are output; the local strategy of each node is dynamically adjusted, and the execution result is fed back to each subnetwork; and the application solves the problems that in the existing power material supply chain management, local optimization leads to global imbalance, cooperation between levels is insufficient, and when facing supply and demand fluctuations and sudden disturbances, real-time response capability is poor and control stability is low.