81 results about "Equivalent input" patented technology

The invention discloses a networked motion control system position tracking control method based on high-order all-drive, and the method employs a high-order all-drive theory to convert a system state space model into a second-order all-drive model with dead zone nonlinearity, thereby providing great convenience for the design of a controller. A dead zone pre-compensation method is adopted to compensate a deterministic parameter part of a dead zone in the system identification process, the system is helped to reduce response delay, and the dynamic performance is improved; an equivalent input interference method is adopted to integrate internal disturbance and external disturbance into input channel interference, so that the design complexity of the control system is reduced; an intermediate observer is introduced to estimate the interference of an input channel, and the accuracy and convergence speed of disturbance estimation are improved by adjusting parameters of the observer; and designing an MPC controller to solve a control law, and inversely transforming the control law into an all-drive control law through a corresponding relational expression to realize high-precision control of the system.

The invention provides a drilling process drill string vibration suppression method and device based on modal analysis, and relates to the field of geological drilling engineering.The method comprises the steps that S1, a drill string vibration model of a drill string system is constructed, and the drill string vibration model comprises a drill string dynamic model and a drill bit-rock interaction model; s2, performing simulation through a drill bit-rock interaction model to obtain an external interference signal with a multi-modal characteristic, and extracting a main modal frequency of the external interference signal; and S3, based on the drill string dynamic model and the main modal frequency, constructing an active suppression system by adopting an equivalent input interference method, and performing drill string vibration suppression on the drill string system through the active suppression system. The active suppression system is designed based on the drill string dynamic model and the main modal frequency, multi-modal disturbance caused by multi-drilling-tool combination can be eliminated, the stick-slip vibration phenomenon generated in the drilling process is effectively suppressed, and the drilling efficiency can be improved.

The invention discloses an MIMO system channel estimation method and device based on ODDM modulation, and the method comprises the steps: generating a pilot frequency data signal, carrying out the ODDM modulation of the pilot frequency signal, and then transmitting the modulated signal to a receiving module through a transmitting module. The receiving module performs matched filtering on the received pilot signal to obtain a received signal; an equivalent input and output relation is derived according to a generated pilot signal and a channel received by a receiving end, and a low-complexity approximate Bayesian optimal algorithm is provided to obtain information such as time delay, Doppler, gain and angle of the channel. According to the method, the accuracy of channel estimation can be improved in a high-speed moving scene, and meanwhile, the process of matrix inversion in channel estimation is also avoided, so that the calculation complexity is remarkably reduced.

The invention discloses a single-port detection resonator resonant frequency on-line real-time measurement system for an MEMS gyroscope, and the system comprises a closed-loop drive circuit which is used for driving a resonator to resonate and outputting a drive detection signal; the first C / V conversion circuit converts the current into a detection voltage signal, and the on-off of the first C / V conversion circuit and the negative resistance circuit is controlled by a voltage control switch; the negative resistance circuit enables the equivalent input resistance of the first C / V conversion circuit to be a negative value so as to generate positive damping feedback force on the detection resonator; the multiplier is used for carrying out multiplication demodulation on the detection voltage signal and the driving detection signal, and the angular velocity of the MEMS gyroscope is output after the signals are filtered by the low-pass filter; the upper computer controls the on-off of the voltage control switch, the frequency fd and the frequency fs are calculated through fast Fourier transform by driving the detection signal and the detection voltage signal respectively, the frequency difference is obtained by solving the difference, and the resonant frequency of the single-port detection resonator is measured on the premise that the work of the MEMS gyroscope is not affected.

The invention belongs to the technical field of anti-interference, and discloses a high dynamic response anti-interference and noise suppression method and device for a robot, and the method comprises the steps: building an equivalent input interference state space model of a robot control system; designing a state observer, and obtaining a state observation value according to the system output of the robot control system and the state observer gain of the state observer; designing an internal model system, and establishing a state feedback controller of the robot control system according to the state observer and the internal model system; according to the method, a parallel-cascade interference estimator is designed, the parallel-cascade interference estimator comprises a plurality of equivalent input interference estimators and filters, the equivalent input interference estimators are connected in a mode of first parallel connection and then cascade connection, and a corresponding disturbance suppression feedback control law is designed. Through the combination of parallel connection and cascade connection, the disturbance estimation error is reduced, the disturbance suppression capability is enhanced, and the influence of measurement noise is remarkably reduced, so that the comprehensive performance of a robot control system is improved.

The invention provides a ship-borne wave compensation platform permanent magnet synchronous motor control system and method. The ship-borne wave compensation platform permanent magnet synchronous motor control system comprises an upper platform, branched chains, permanent magnet synchronous motors and a lower platform. The lower platform is fixed on a ship deck, the branch chain is provided with a moving pair capable of actively adjusting the length, and the moving pair is connected with the permanent magnet synchronous motor and is driven by the permanent magnet synchronous motor; the two ends of the branch chains are connected with the upper platform and the lower platform respectively, the positions and postures of the upper platform relative to the deck are changed by adjusting the lengths of the branch chains, ship movement is counteracted, and the upper platform is kept stable relative to a geodetic coordinate system. According to the method, the controller design of integrating the dynamic feedforward with the equivalent input interference compensation is adopted, so that the effective suppression of the multi-source interference is ensured, the expert knowledge is fully utilized to ensure the rapid convergence of the equivalent input interference compensation observer, the control is simple, and meanwhile, the robustness is good.

The present invention belongs to but is not limited to the field of motion control technology, and in particular relates to a high-order full-drive system control method and system for a networked multi-axis motion system, including: S1, analyzing a networked multi-axis motion system model with time delay, system uncertainty and nonlinearity, noise and external interference, giving its differential equation, discretizing it so that the system meets the full-drive conditions, and obtaining its high-order full-drive system model; S2, designing a high-order full-drive system control law, establishing a system linearized state space equation, normalizing the system time delay, system uncertainty and nonlinearity, and external interference, and processing them into system lumped interference; S3, designing a filter-based equivalent input interference estimator to achieve a good estimation of the lumped interference, and then designing a controller with interference elimination function to ensure that the networked multi-axis motion system with time delay, system uncertainty and nonlinearity, noise and external interference has control performance.

The invention belongs to the technical field of robot anti-interference, and discloses a robot active anti-interference and control method and device with preset time convergence, and the method comprises the steps: constructing an equivalent input interference state space model of a controlled system of a robot; constructing a preset time equivalent input interference estimator based on the equivalent input interference state space model; reference input of a controlled system of the robot is given, a control signal is obtained after the reference input passes through a controller, the control signal serves as input of a preset time equivalent input interference estimator, and output of the preset time equivalent input interference estimator and equivalent input interference serve as control input of the controlled system of the robot; and obtaining the output of the controlled system of the robot. According to the method, the preset time equivalent input interference estimator is designed, the reconstruction speed of the estimator on disturbance is increased, disturbance estimation errors are effectively reduced, and therefore the comprehensive performance of a robot controlled system is improved.

The invention provides a current multiplexing type output amplifier. The current multiplexing type output amplifier comprises a current multiplexing type input stage, a first self-biased diode pair, a second self-biased diode pair, a first AB type output stage and a second AB type output stage, wherein the first self-biased diode pair and the second self-biased diode pair are connected with the current multiplexing type input stage; the first AB type output stage is connected with the first self-biased diode pair; according to the invention, two self-biased diode pairs are adopted to replace a floating voltage source in the prior art. When a large pulse signal is input, one diode in each of the two diode pairs is in a cut-off state, transient change current I only flows into or out of the output end from a certain branch, and compared with a traditional amplifier, the slew rate is multiplied under the same bias current condition. In addition, the input stage adopts a current multiplexing type architecture combining a PMOS (P-channel Metal Oxide Semiconductor) and an NMOS (N-channel Metal Oxide Semiconductor), under the same bias current, the equivalent input transconductance is the sum of the transconductance of the PMOS and the transconductance of the NMOS, and the unity gain bandwidth is also multiplied.

The invention discloses a DC micro-grid power buffer safety control method and device aiming at FDI attack, and relates to the technical field of power electronics and power system control. The method comprises the steps of obtaining a block matrix of a DCmGs system node current equation according to the Kirchhoff's current law; adopting Kron simplification to eliminate internal node voltage, obtaining a relation between a port current vector and a voltage vector, and constructing a small signal model of the port voltage vector; based on a small signal model, a linear mapping relation about disturbance of bus voltage to equivalent input impedance of each power buffer is constructed, modeling and linearization are carried out on energy and adjustable input impedance of each power buffer, a network coupling small signal model is constructed, and a second-order high-gain observer is designed; and if the FDI attack exists in the DCmGs system, an anti-FDI attack elastic control law is designed, so that the closed-loop voltage in the DCmGs system and the energy of a power buffer are quickly converged, and buffeting is inhibited. By adopting the method, the DCmGs system can be prevented from buffeting in an unknown FDI attack scene.

An anti-interference control method for a permanent magnet synchronous motor driving system with output containing measurement noise comprises the following steps: when the permanent magnet synchronous motor driving system is disturbed and current is used as system output to have measurement noise, noise and disturbance suppression is realized through output filtering, an improved equivalent input interference method and control law optimization; the method specifically comprises the following steps: step 1, establishing a permanent magnet synchronous motor driving system state space model considering system state disturbance and output measurement noise; 2, introducing an output filtering strategy, transferring noisy output to a state equation, and combining a filter state and an original system state to form an extension system; 3, a traditional equivalent input interference method is improved, a parameter variable sliding mode observer is constructed to replace a state observer, and the equivalent input interference method is integrated to reduce observation errors; 4, designing a proportional-integral controller, and enabling the expansion system to output tracking reference current; and 5, constructing a Lyapunov function to perform stability analysis, and ensuring that all signals of the closed-loop system are consistent and finally bounded. According to the anti-interference control method for the permanent magnet synchronous motor driving system with the output containing the measurement noise, disturbance and noise are effectively suppressed, and the stability and the control precision of the permanent magnet synchronous motor driving system are improved.

The invention discloses a method, system and medium for a voltage clamping unit in a chip circuit, and belongs to the technical field of chip circuit protection, and the method comprises the steps: obtaining a maximum allowable voltage deviation window and a maximum allowable voltage rise rate of a target input / output pin of a chip, and constructing a target clamping characteristic parameter set; selecting a clamp sub-model based on the parameter set; adjusting capacitance matching unit parameters according to the equivalent input capacitance of the target pin by combining a support vector regression algorithm with a genetic algorithm; connecting a clamping model and injecting a test voltage waveform, and extracting clamping response time and clamping voltage to construct feedback characteristics; a mathematical model between the clamping response time and the delay gate series is generated through a symbol regression algorithm, and a control delay unit structure is corrected; according to the method, closed-loop adaptive adjustment of clamping parameters is realized, the transient interference suppression capability and clamping precision of the chip under high-frequency and low-voltage conditions are improved, and the method has good reliability and expandability.

The present invention discloses a bandgap reference circuit that generates low input offset. The circuit comprises a bandgap reference circuit, an auxiliary operational amplifier circuit, and a chopper circuit. The bandgap reference circuit includes a startup circuit, a bandgap reference core circuit, and a voltage bias circuit. The auxiliary operational amplifier circuit includes a polarity-variable transconductance amplifier for reducing voltage input offset. The chopper circuit includes a discrete-time low-pass filter and a polarity conversion switch. The discrete-time low-pass filter is used to filter out high-frequency signals output by the reference, and the polarity conversion switch is used to complete the positive-negative polarity conversion of the operational amplifier. The present invention ensures that the equivalent input offset voltage is reduced by orders of magnitude through the chopper circuit and the auxiliary operational amplifier circuit. The auxiliary operational amplifier circuit also uses output and input storage technology to ensure the low input offset of the auxiliary operational amplifier, thereby ensuring the accuracy of the output voltage of the bandgap reference circuit and providing a good bandgap reference for subsequent analog circuits.

This invention discloses a streaming computing engine system and method applicable to various scenarios, relating to the field of streaming computing technology. It includes: a mismatch assessment module for calculating the mismatch margin of the RF link based on the characteristic impedance of the RF transmission line, cable type tolerance, and the equivalent input impedance of the cellular module at the RF port; a thermal and humidity characteristic module for calculating the initial temperature difference of the metal plate penetrating the compartment in a metal control cabinet, and calculating the thermal conductivity enhancement ratio and moisture retention coefficient of the cold bridge in the condensation joint area on the metal plate penetrating the compartment; and a temperature compensation increment module for calculating the target compensation temperature increment of the metal plate penetrating the compartment based on the thermal conductivity enhancement ratio, moisture retention coefficient, and initial temperature difference of the cold bridge. This invention improves the accuracy of RF link health status determination.