204 results about "Equivalent control" patented technology

The invention relates to the safe auxiliary driving and intelligent control filed and discloses an automatic control system and a method for preventing side-slipping and side-turnover in a curve road. A vehicle-mounted automatic control system is adopted to control an intelligent vehicle. At first, information about curve road curvature is obtained; secondly, the information about curve road curvature is converted into digital signals and input into a vehicle-mounted micro-processor, curve road critical safe driving speed is calculated by a safe driving speed calculation module and current driving speed is measured by a vehicle-mounted sensor; then the current driving speed and the critical safe driving speed are judged by a safe condition judging module; and finally a system automatic control module is used to control the intelligent vehicle to pass through the curve road smoothly. The automatic control system and the method for preventing side-slipping and side-turnover in the curve road overcome the shortcoming that trajectory tracking is achieved by only using a vehicle kinematics controller, a designed vehicle dynamics controller guarantees straightaway automatic deceleration and practicability and instantaneity of maintenance in the curve road, and calculation accuracy of safe driving speed is improved. By means of dynamics control principles including equivalent control and switching control, the system chattering phenomenon can be restrained effectively and influence of external disturbances can be overcome.

The invention discloses an adaptive fuzzy sliding mode controller for a micro gyroscope, which is characterized by comprising an adaptive fuzzy control system based on a reference module, and a switching control system. In the adaptive fuzzy control system, a sliding mode surface is used as the input of the fuzzy controller, and the weight is automatically adjusted by a dynamic adaptive law so as to realize fuzzy approximation to an equivalent control law. The adaptive fuzzy sliding mode controller for the micro gyroscope of the invention has the following benefits that: when the system is in a steady state, the dynamic performance of the micro gyroscope is an ideal mode, and the manufacturing error and the environment interference are compensated; an adaptive algorithm designed based on a Lyapunov method can ensure the global asymptotic stability of the whole closed-loop system; and with adaptive adjustment on the upper bound of the approximation error, buffeting is reduced obviously.

A portable input device is described. The portable input device can wirelessly send control signals to an external circuit. The control signals can derive from touch or gestures applied to a touch sensitive surface. The control signals can also include a mouse click equivalent control signal generated by mechanical manipulation of the portable input device.

The invention relates to a similarity detection method of a computer software source code, and belongs to the technical field of computer application. The method comprises the following steps: firstly, according to different programming languages, carrying out a word segmentation operation on the source code; then, selecting a specific labeling word to carry out partitioning processing on a word segmentation result, and carrying out relevant processing on a variable segmentation word according to variable attributes; thirdly, on the basis of a word segmentation result, carrying out a difference measurement operation on each block to obtain a difference matrix, and obtaining integral difference according to the difference result and the correlation of each block; and finally, according to a formula, finally obtaining a code similarity detection result. Compared with the prior art, the method can successfully identify means including word-for-word copying, comment statement blank area change, identifier renaming, data type change and the like in the similarity detection of the code, and can successfully detect means that a code block sequence is changed, a statement sequence is changed, redundant statements and variables are increased, an original control structure is replaced with an equivalent control structure and the like.

The invention discloses a flexible spacecraft underactuated system based on the switching control method and an attitude control method of the flexible spacecraft underactuated system based on the switching control method and belongs to the technical field of spacecraft attitude control. According to the flexible spacecraft underactuated system based on the switching control method and the attitude control method of the flexible spacecraft underactuated system based on the switching control method, a dynamical model of a flexible spacecraft with an execution mechanism completely ineffective is established, coupling, caused by elastic vibration of a flexible accessory, with a rigid body is taken as an uncertainty of the system, a dynamical model of a conversion system is a standard nonlinear model, all states are divided into three sliding model surfaces according to the layering sliding model idea, an equivalent control component is designed for the first layer of sliding model surface according to the Filippov equivalent theorem, a switching control law is designed by means of the second layer of sliding model surface and the third layer of sliding model surface, and a final control law is formed by combining equivalent control input and the switching control law. By the adoption of the flexible spacecraft underactuated system based on the switching control method and the attitude control method of the flexible spacecraft underactuated system based on the switching control method, the defect that in the prior art, a flexible spacecraft can not operate normally under the condition that an actuator becomes ineffective completely during operating of the flexible spacecraft is overcome, and operating reliability of a flexible spacecraft attitude control system is improved.

The invention discloses a control method for a sliding mode converter control structure of an active power filter containing a parameter perturbation, which comprises the following steps: firstly, building a state space mathematical model under an abc coordinate system; converting the state space mathematical model to be under a dq coordinate system to obtain a uniform mathematical model by taking dq components of harmonic current and capacitor voltage on a direct-current side as state variables; constructing a sliding mode surface; decoupling the sliding mode surface for control; defining a control rate; carrying out inverse transformation on the control rate to obtain an effective control rate; constructing an integral sliding mode surface; and redefining a new control rate, so as to finally obtain a PWM (Pulse-Width Modulation) signal for driving a switch tube. The control method adopts the sliding mode converter structure, so that current tracking and the capacitor voltage on the direct-current side are uniformly controlled. The sliding mode converter control structure is simple in design and is easy to realized, has good robustness on the internal parameter perturbation and internal interference of a system and has good dynamic performance, and the current variation can be quickly tracked when a load is suddenly changed.

The disclosed filter includes active power filter (APF) and passive filter (PF). Output of APF is connected to primary side of isolating transformer. Being connected to series resonance circuit in parallel, the isolating transformer is connected to PF in series, and then connected to electric network. Steady state error of APF is lowered through iterative control algorithm of improper integral. Result output from the control algorithm is as equivalent control in slipform variable structure control, realizing combination of two methods so as to form triplet variable control structure. Comparing with slipform variable structure control or iterative control of improper integral adopted in solely, the invention possesses features of quicker responsibility and smaller steady state error.

The invention relates to the field of mobile robot motion control, and discloses a control method for a tracked robot, and the tracked robot. According to the invention, the method comprises the steps: taking the tracked robot as a cascading system which consists of a motor drive system and a vehicle body motion system; constructing an adaptive integral sliding-mode switching function of a variable inclination parameter, and proposing adaptive sliding-mode tracking control based on the equivalent control and switching control according to the adaptive integral sliding-mode switching function;feeding back a drive motor time-varying uncertainty parameter, obtained through the online recognition and the speed of the robot, and a target posture error which is solved in a kinematic model to acontroller of a drive system; decomposing the expected speed of each motor according to the kinematic relation, and achieving the stable motion control of the robot.

The invention relates to a damping injection control method for improving power angle oscillation of a water turbine generator set. An autocorrelation factor of the unit power angle is increased based on the structural analysis of a Hamilton model damping matrix of the water turbine generator set, namely the power angle damping is injected based on a dynamical mechanism associated inside the system, and the structural change is equivalent by designing a corresponding control law. Due to the applicability analysis of the equivalent control law, a variable structure control strategy by combining the algorithm and a traditional PID control algorithm is provided so as to control the machine set, and corresponding solutions are provided for the control of output phase step and other problems. The simulation proves that: the provided control algorithm can effectively improve the oscillating characteristics of the power angle of the machine set, even can keep the stability of the machine set under lower damping.

A DC power supply apparatus and method of supplying DC power for mission critical applications utilizes multiple power circuits in one unit, the power circuits being optimizable for efficiency as the load increases or decreases. The individual power supplies may use a multiphase topology within the power circuits, with logic phase shifts between multiphase, and two types of power management circuits arranged in parallel, or an equivalent controller, for implementing: (a) a variable linear or variable exponential precision droop algorithm, and (b) a “virtual bus” or current averaging / active current sharing circuit, the current sharing being provided by a low bandwidth communications link between droop controllers in each of the power circuits. In addition, the droop / paralleling circuitry and / or programmed components may be arranged to implement two types of arc detection and suppression, including: (a) unequal positive and negative current in each power circuit to shut down the output power, and (b) monitoring output current for an arc “signature” to protect against arcs between positive and negative.

This invention relates to one parallel source filter and its mixture compensation system control method, wherein, when the filter testes load current, the filter tests the electrical network voltage and load current resonance component; the test load current is to control source power filter needed resonance wave; the test network voltage controls the source power filter into one resonance resistance with resonance wave value as set.

The invention provides a balanced control distribution method of an airplane with multiple control surfaces, which mainly comprises the following steps of: transferring a control distribution problem of the multiple control surfaces into an equivalent control problem of a virtual control surface and a real control surface, determining a basic method for carrying out normalization on the real control surface and carrying out balanced distribution on the control efficiency, classifying the real control surface, carrying out the normalization and sequencing according to absolute values of the normalized control efficiency, determining the leading control efficiency of the virtual control surface, grading the normalized control surfaces, calculating a distribution coefficient and the like. Inthe invention, by utilizing the balanced control distribution method, the control of the multiple control surfaces is equalized to the control of the special control efficiency and the virtual control surface which is limited by a deflection range, so that the design of the control efficiency is simplified, the problem that the angular rate of the control surface is transfinite, and the matrix calculation of the weighted balanced distribution is simple; the deflection range, the control efficiency, the control grade and the authority coefficient of the control surface are comprehensively considered, and the effective control surface is completely utilized, so that the saturation, which is caused by that some control surfaces bear overmuch control efficiency, is effectively avoided.

The present invention discloses an adaptive steering sliding model control method of a tracked robot as a WSN mobile node. The fuzzy theory and sliding mode control are combined, the total control formed by equivalent control and switching control is constructed, the approximation control of approximation equivalent control and an adaptive rule capable of adjusting a control parameter is designed, the output control is adjusted in real time, and a controlled object is allowed to move along a designed 'sliding mode' trajectory purposefully. According to the method, the fuzzy control, the sliding mode control and the adaptive control are combined, the stability, rapidness and anti-interference ability of the system are obviously better than Smc control, and the method has a high engineering application value.

The invention discloses a dynamic sliding mode voltage control method for a DC-DC boost converter based on an interval type-II adaptive fuzzy neural network, and relates to the technical field of power electronic control. The invention aims to solve the problem sliding mode control on the DC-DC boost converter based on a fuzzy neural network lacks robustness to complex uncertainty and autonomous learning capability of the fuzzy neural network in the prior art. The method comprises the steps of obtaining operating parameters of the DC-DC boost converter, and establishing a dynamic model of theDC-DC boost converter; adopting a tracking error dynamic system containing a dynamic sliding mode control law to track the output voltage in the dynamic model; designing a sliding mode surface according to the tracking error dynamic system to obtain a dynamic equivalent control law, and constructing a dynamic sliding mode controller based on the interval type-II adaptive fuzzy neural network according to the dynamic equivalent control law; and controlling the dynamic sliding mode control law through the controller to enable the output voltage in the tracking error dynamic system to be equal tothe expected voltage. The control method is used for controlling output voltage.

The invention discloses a sensorless control method for a permanent magnet synchronous motor. The sensorless control method comprises the following steps: step (1), using a back electromotive force equation of the permanent magnet synchronous motor to build a back electromotive force observer; step (2), using a current state observer to obtain a sliding mode variable structure control function, obtaining an equivalent control function of a sliding mode variable structure, and combining a feedback gain coefficient to calculate and obtain the back electromotive force; and step (3), calculating the back electromotive force to obtain a rotor position through a rotor position estimation module. A state feedback gain and a disturbance decoupling observer are further added to the current state observer. The control method of the invention can effectively weaken the chattering phenomenon in a system, solves the phase delay problem, improves the system robustness and anti-interference ability, improves the low speed estimation accuracy of the rotor position, and further broadens the range of rotor position estimation.

The invention discloses a fixed-frequency quasi-sliding mode controller applicable to a single-inductance double-output buck converter. The fixed-frequency quasi-sliding mode controller comprises an equivalent follow current duty ratio detector, a fixed-frequency quasi-sliding mode equivalent control signal generator, a first comparator comp1 and a dynamic follow current generation circuit, wherein the equivalent follow current duty ratio detector is used for detecting an equivalent follow current duty ratio signal of inductance current; the fixed-frequency quasi-sliding mode equivalent control signal generator is used for outputting a fixed-frequency quasi-sliding mode equivalent control signal; the first comparator comp1 is used for outputting a control signal D1 and a control signal D2 of a synchronous sequential tube S1 and a synchronous sequential tube S2; and the dynamic follow current generation circuit is used for generating a control signal of a follow current tube S3 and selecting follow current at the next moment according to an inductance current follow current duty ratio signal at the current moment. Compared with the controller in the prior art, the fixed-frequency quasi-sliding mode controller has the advantages that the problems of over-high voltage cross-modulation and low transient response speed in the single-inductance double-output buck converter can be solved, and the load working range of the single-inductance double-output buck converter can be greatly expanded on the premise of keeping high efficiency of a system and quick response.

The present invention discloses a voltage and current double closed loop control method and device of an adjustable invertor inertial effect. In the frame of the routine voltage and current double closed loop control, the inertial current component is added in an inverter current inner ring instruction to realize the equivalent control of the inverter inertia property and is indirectly generated through an inertial control system connected in parallel on the voltage outer ring. The inertial control system is formed by three parts connected in series, wherein the three parts include a low pass filter, a proportional controller and a differential arithmetical unit. The size of the inertial current component and the intensity level of the grid-connected inverter inertial effect can be flexibly controlled through the proportional controller in the inertial control system. The voltage and current double closed loop control method of the adjustable invertor inertial effect does not need to change the hardware portion of the current grid-connected inverter system, completely maintains the current basic control frame of the software portion, has good compatibility, can be applied to a double-fed wind turbine system and a photovoltaic power generation system, and has good engineering application values.

According to a discrete repetition sliding mode control method for an inverter, a difference between preset inverter voltage and actual inverter voltage is used as a repetition sliding mode controller error; the preset inverter voltage is as an input of a feedforward transfer function and an index double-power approach rate; a summation of a repeated controlled output and a repeated sliding mode controller error is used as the input of the sliding mode controller on the condition of equivalent control; and a summation of the output of the feedfoward transfer function, the output of the sliding mode controller and the output of the index double-power approach rate is used as a control signal for switching on or switching off an inverter bridge switch tube in an inversion step. According to the discrete repetition sliding mode control mode, repeated control and sliding mode control are combined based on an equivalent control method in a discrete domain, thereby realizing advantages of high state precision in repeated control and high dynamic speed and high robustness in sliding mode control. Furthermore the index double-power approach rate can improve system dynamic response speed. According to the discrete repetition sliding mode control method, designing is performed in the discrete domain, and a result more accords with an actual system.

A control apparatus controlling a controlled variable of a controlled object having a response lag characteristic using a combination of feedforward control method, response-specifying control method, and disturbance compensation method. An ECU of the apparatus calculates driver demand boost pressure for feedforward-controlling actual boost pressure as controlled variable, and calculates FB target pressure as value on which response lag characteristic of the actual value to the driver demand value is reflected. The ECU calculates error as difference between the actual and target values, and feedback correction term as sum of equivalent control input including disturbance estimated value and the error as variables and reaching law input, using equation defining relationship between the error, feedback correction term value, and disturbance estimated value, and response-specifying control algorithm, and then adds the correction term value to the driver demand value to thereby calculate demanded boost pressure as control input.

The invention relates to the technical field of electric system modeling and analysis, in particular to a unified power flow controller equivalent modeling method based on the switching period averageprinciple. The method comprises the steps that a unified power flow controller (UPFC) model based on a modularization multilevel converter (MMC) is composed of a static synchronous series compensator(SSSC) and a parallel static synchronous compensator (STATCOM), on the basis of the switching period average equivalent principle, alternating current side and direct current side equivalent controlled source models of the static synchronous compensator (STATCOM) are built, then, alternating current side and direct current side equivalent controlled source models of the series compensator (SSSC)are built separately, an equivalent capacitor is connected to a direct current bus between the static synchronous series compensator (SSSC) and the static synchronous compensator (STATCOM), and parallel side and series side combined equivalent modeling and simulation calculation of the UPFC is achieved. The dynamic characteristics of subsynchronous oscillation and low-frequency oscillation in a power system of the UPFC can be accurately reflected, the UPFC model is simplified, the calculation speed is increased, and the requirements for stable analysis and control precision of the power systemcan be met.

The invention relates to a fault diagnosis method for a drone formation system on the basis of a sliding mode observer. The fault diagnosis method includes the following steps of 1, establishing a nonlinear model for a single drone with an actuator fault with an unknown upper limit; 2, designing the corresponding sliding mode observer and introducing a relative output error to represent the interaction of individual information on the basis of directed graph network topological structure description; 3, constructing a global error system based on a state space equation of the single drone andthe structure of the observer; 4, solving global sliding mode stability conditions and arrival conditions; 5, adopting a linear matrix inequality toolbox for solving to-be-designed quantity; 6, carrying out fault estimation according to an equivalent control output error injection principle. According to the online drone formation fault diagnosis system, high robustness can be achieved, fault detection, isolation and estimation can be carried out, and the stability and safety of an entire formation are improved.

The invention discloses a three-phase LCL type inverter control method and device based on a harmonic interference observer. The method comprises the following steps of establishing a mathematical model under a dq rotating coordinate; introducing capacitive current active feedback damping to obtain an equivalent controlled object mathematical model, and discretizing the model to obtain a z-domainmathematical model; on the basis of proportional negative feedback of a current inner loop and direct feedforward of a power grid voltage, designing a Q (z) filter of a discrete disturbance observer by adopting an infinite impulse response filter method, introducing a first-order low-pass filter and a zero-phase shift low-pass filter into a Gpn-1 (s) channel and an output channel of the disturbance observer to filter a high-frequency noise, and introducing two beats of advance into output of the disturbance observer to compensate time delay of digital control; subtracting an output observationvalue of the disturbance observer from the output of the current inner loop proportional negative feedback, and compensating disturbance so as to obtain a high-quality inverter output current. A problem of LCL inverter output current distortion caused by disturbance of a dead zone effect, power grid voltage distortion, parameter perturbation and the like is solved.

A combustion control device (50) is installed in a gas turbine including a compressor (2), combustors (3), a turbine (4), a bleed air pipe (12) through which bleed air is returned to an inlet of an air intake facility (7), and an air bleed valve (22) that regulates the amount of bleed air extracted. The combustion control device (50) includes: a fuel distribution setting unit (70) that sets a turbine inlet temperature or a turbine inlet temperature-equivalent control variable on the basis of input data, and sets fuel distribution ratios on the basis of the turbine inlet temperature or the turbine inlet temperature-equivalent control variable; and a fuel valve opening setting section (81) that sets the valve openings of fuel regulating valves. The fuel distribution setting unit (70) includes correction means for modifying the fuel distribution ratios.

The invention relates to an ESO-based magnetic suspension ball sliding mode variable structure control method. The ESO-based magnetic suspension ball sliding mode variable structure control method comprises the following steps that 1, linear treatment is carried out on a mechanism model of a magnetic suspension ball system at the equilibrium point; 2, an expanded state space model of the magneticsuspension ball system is constructed; 3, an ESO for observing and estimating the speed state and unknown disturbance is designed, and disturbance information is used for compensating a controller; 4,the stability of the ESO is determined; 5, an error system of the magnetic suspension ball system is constructed; 6, a sliding mold surface function is designed, and an equivalent control law is solved; and 7, a sliding mode variable structure controller is constructed by using a power approaching law, and a sliding mode control law and a final control law are solved. According to the ESO-based magnetic suspension ball sliding mode variable structure control method, the speed state of small balls and the unknown external disturbance are observed and estimated, the sliding mode variable structure controller is adopted to control the system, a disturbance estimation value serves as the compensation amount of the controller, and the robustness and the anti-interference performance of the system are enhanced.

The invention discloses a control method of a vehicle-mounted flywheel battery radial suspension support system based on working conditions. The method includes: 1, taking a magnetic bearing system asa controlled object, and establishing a rotor dynamic model and a system state equation of the magnetic bearing system under different working conditions of the flywheel battery by using a dynamic test and a dynamic simulation; 2, subtracting the output x of the magnetic bear system from the target air gap x* to obtain the air gap error ex, and designing a sliding mode switch surface and a sliding mode controller including an equivalent control and a switching control based on the air gap error ex, a dynamic model and a state equation, and obtaining the sliding mode control law; 3, forming afuzzy RBF neural network by combining fuzzy control and an RBF neural network, and adjusting the constant velocity gain [epsilon] and exponential gain k of switching control by using the fuzzy RBF neural network; 4, adding a current controller, converting the output of the fuzzy sliding mode controller into the given current value of the current inner loop, and controlling the chopper to adjust the magnitude of the control current of the maglev bearing system. The control method improves the transient response rate of the current, and outputs the control current [delta] i of the maglev bearingsystem by the chopper.

Disclosed is a two-dimensional pointing mirror imaging tracking image servo control method. The two-dimensional pointing mirror imaging tracking image servo control method comprises collecting the azimuth axis angle and the pitch axis angle of a two-dimensional pointing mirror as angle position measurement feedback signals, and collecting the offset of a CCD (charge coupled device) camera focal plane target as image information feedback; calculating increment required by an axis tracking target of the two-dimensional pointing mirror, and establishing a tracking differentiator; simplifying a voice coil motor stator coil model into an RL (resistance-inductance) network, defining axis parameter estimation errors of the two-dimensional pointing mirror, performing computation to obtain speed equivalent control quantity, angular speed tracking errors and axis current equivalent control quantity, and further to obtain the axis voltage control quantity of the two-dimensional pointing mirror to generate driving signals and to complete servo control. The two-dimensional pointing mirror imaging tracking image servo control method is based on image feedback information, thereby, compared with pure two-dimensional pointing mirror angle position servo control, adding image feedback information, improving the measuring precision and having the advantage of high control precision.

The invention relates to a bridge crane system control method based on a layered sliding mode control theory. A sliding mode controller is established by applying the sliding mode control theory. Aiming at the under-actuated characteristic of a bridge crane system, the layered sliding mode control theory is selected for designing a controller. According to the invention, the under-actuated characteristic of the bridge crane system is used; large and small vehicle displacement error sliding mode functions, a hoisting swing angle error sliding mode function and a total sliding mode function in large and small vehicle running direction are constructed, the effective control over an equivalent control rate and a switching control rate solid line bridge type crane system is designed, and the effectiveness of the method is checked through simulation and comparison with a traditional PID control method.

The invention brings forward a brushless DC motor current change rate integral equivalent control method. According to the control method, in a dynamic process when motor load torque is changed, according to a principle that double integrals of a phase current change rate are equal, acting time for increasing a vector of phase current amplitude is increased, acting time for decreasing the vector of the phase current amplitude and switching time of different vector time are accurately calculated, and a motor rotating speed can be converged through processes of a slowdown and a speed increase. According to the method, the rotating speed convergence time is the shortest, the rotating speed dynamic ripples are the smallest, the rotating speed convergence time and the rotating speed dynamic ripples of any load abrupt change are enabled not to be influenced by rotating speed ring PI parameters, and a speed regulation system is enabled to have optimal dynamic performance.

The invention discloses a self-adaptive fuzzy super-twisting sliding mode control method for a micro-gyroscope system. The method comprises the following steps of (1) building a dimensionless kineticequation of the micro-gyroscope system; (2) designing a self-adaptive fuzzy super-twisting sliding mode controller of the micro-gyroscope system, wherein the controller is composed of an equivalent control term and a switching control term based on a super-twisting control algorithm; and (3) approximating parameters of the super-twisting sliding mode controller by using a fuzzy system, identifyingan estimated gain term on line, and realizing self-adaptive adjustment of the parameters of the controller. The control method provided by the invention is simple in design and convenient to apply; the application range of a micro-gyroscope is further expanded; and the effective control on the controlled system can be realized, so that the trajectory tracking of the micro-gyroscope system has relatively strong robustness, relatively high convergence speed and relatively high precision.