21 results about "Feed forward" patented technology

A kind of atomic gyroscope pumping rate stable composite control method based on phase reshaping extended state observer and power approaching sliding mode control.Aiming at the problems that standard linear extended state observer has steady-state estimation error under the action of ramp disturbance, disturbance estimation phase lag and it is difficult to balance between observation bandwidth improvement and noise sensitivity, a composite corrector composed of lead network and lag network is cascaded at the output end of disturbance estimation of extended state observer, the disturbance estimation channel is shaped in frequency domain, phase lead is provided in mid-frequency band to reduce compensation delay, amplitude lag characteristic is used to suppress high-frequency noise, and parameter constraint design is used to realize zero-error estimation of ramp disturbance;At the same time, a power approaching sliding mode controller is constructed to improve the adaptability to the nonlinear, internal and external coupling and parameter uncertainty of atomic gyroscope system, and the phase reshaping extended state observer is combined to effectively estimate and feed forward compensate the lumped disturbance, so as to improve the stability and accuracy of pumping rate control.The present application can balance dynamic anti-disturbance performance, steady-state control accuracy, convergence speed and noise robustness without significantly improving the observation bandwidth, and is suitable for atomic gyroscope precision control system affected by ultra-low frequency slowly varying disturbance.

The present application relates to a kind of BP-PID intelligent control system for constant temperature drying oven, belong to industrial oven precision temperature control technical field.The system is by using BP neural network algorithm, the parameter of traditional PID controller is dynamically set online, combined with the high-precision temperature and humidity sensor of multiple point layout in the box, constructs adaptive temperature control loop with self-learning ability.BP neural network is fed forward according to the deviation of system real-time operating state and set value, real-time adjustment PID parameter to match the dynamic characteristics of controlled object.The system can significantly improve the dynamic response speed and steady control precision of constant temperature drying oven under the working condition such as temperature rise, anti-interference, effectively overcome the shortcomings of large overshoot and poor adaptability of traditional PID control, provide highly stable and uniform thermal environment for the drying process of temperature sensitive material, significantly improve product quality and drying efficiency.

A method controls a circulation pump installed in a system, equipped with one or more temperature-controlled valves for heating or cooling. The pump is operated at an operating point defined as an intersection point of an adaptable pump characteristic curve and a variable system characteristic curve, that varies with a common degree of openness of the valves. The pump characteristic curve is adapted by setting a pump speed, controlled such that the operating point follows an adjustable control curve, adjusted when the system characteristic curve changes in order to keep the common degree of openness in a desired range between a minimum and a maximum common degree of openness, including determining a system variable that is susceptible to system characteristic curve changes, and using the system variable as an input to provide a feed forward signal to automatically adjust the control curve in a feed forward control.

This application relates to the technical field of flying cars, and in particular to a method, device, and equipment for controlling the split actuators of flying cars. The method includes: acquiring the current signal of the split actuator of the flying car; performing a time-frequency domain transformation on the current signal to obtain multi-dimensional frequency domain features; matching the multi-dimensional frequency domain features with a preset state fingerprint database, and using a fuzzy inference algorithm to obtain the attitude offset angle between the flying car's flight body and the ground-based vehicle under the current road slope; generating a decoupling transformation matrix based on the attitude offset angle, which is used as the transformation matrix from the virtual master axis space to the dual motors; in a preset virtual master axis model, the target motion command in the virtual master axis model is fed forward and allocated through the decoupling transformation matrix to generate dual motor control commands, so that the dual motors drive the split actuators to move. This improves the control accuracy of the dual motors and achieves dynamic compensation of the attitude angle.

The application provides a grid-connected inverter fault ride-through composite compensation control method and system, acquires a grid-connected point voltage amplitude, when the grid-connected point voltage amplitude is less than or equal to a set value, starts low voltage ride-through control; after starting the low voltage ride-through control, feeds forward an active power angle in an active ring, feeds forward a voltage in a reactive ring, and feeds forward a transient virtual resistance in a virtual impedance part; after the grid voltage returns to a normal range, the voltage feed forward is exited, a timer is started, whether the system enters a steady state is judged after the timer ends, whether the compensation value of the power angle feed forward is greater than a set value is judged after the system enters the steady state, if the compensation value is greater than the set value, power angle smoothing is exited, otherwise, the power angle feed forward part is exited, the system exits the low voltage ride-through mode, and returns to a normal working mode. The application introduces the power angle feed forward, the voltage feed forward and the transient virtual resistance, accelerates the response speed of the output power during the low voltage ride-through, simultaneously suppresses the transient impact current, and guarantees the safe operation of equipment.

The application provides a mechanical manufacturing feed automatic control system and method, and belongs to the technical field of automatic control. Real-time process parameters of a rolling slab to be entered into a finishing mill stand are acquired. Multiple rolling force change trends of the rolling slab along the length direction are determined according to the real-time process parameters. Multiple rolling mill stiffness coefficients of the finishing mill set are determined. The first roll gap compensation sequence caused by the rolling force change is obtained by feeding forward mapping of the roll gap effective profile change and the thickness change based on all the rolling mill stiffness coefficients and all the rolling force change trends. The second roll gap compensation sequence is determined according to the actual thickness value and the target thickness value. The dynamic adjustment instruction of the working roll gap of the finishing mill set is determined according to the first roll gap compensation sequence and the second roll gap compensation sequence, and the rolling plate thickness is controlled based on the dynamic adjustment instruction. The scheme of the application can control the rolling plate thickness under the conditions of rolling force fluctuation and process parameter change at different positions of the rolling plate.

The application discloses a cooperative actuator linkage control method and system based on spatial humidity distribution mapping, relates to the technical field of actuator linkage control, and comprises the following steps: initializing and establishing a cup body fixed coordinate system and a nozzle array coordinate system, and calibrating a conversion matrix of the two coordinate systems; the rotating bearing table and the nozzle run according to set parameters during drying, the humidity of each region of the cup body is collected in real time and is mapped to the corresponding coordinate system; when the humidity of a certain region exceeds the standard, the controller solves and realizes accurate blowing; meanwhile, a digital twin model is trained based on historical data, the humidity change is predicted in real time, and abnormal regions are fed forward and compensated. The system monitors the execution state of the nozzle in real time, starts fault tolerance reconstruction when a fault occurs, adjusts the parameters of adjacent nozzles, and alarms. The application realizes dynamic tracking type accurate drying, introduces digital twin feedforward and fault tolerance reconstruction, reduces the required energy consumption and drying time, greatly improves the drying coverage rate and the standard deviation of the residual humidity of the cup wall, and has the abilities of process tracing and fault tolerance.

The present application relates to the technical field of permanent magnet synchronous motor control, and particularly relates to an adaptive method for actively feeding forward and compensating cogging torque of super-multipole permanent magnet synchronous motor, which is as follows: a cogging torque feedforward compensation model is established, and the amplitude-phase nonlinear parameters are converted into linear weight coefficient form through triangular orthogonal decomposition; secondly, the AC component of the q-axis voltage output by the current PI regulator is extracted as a compensation residual error signal, the weight coefficient is updated on-line and iteratively using the normalized least mean square algorithm, and adaptive tracking of the cogging torque change caused by temperature drift and mechanical wear is realized; finally, combined with a dual-redundant position feedback system, a double-channel independent weight coefficient maintenance, cross-checking and seamless fault switching mechanism is established. The present application can reduce torque ripple under low-speed working conditions, improve the low-speed stability and control accuracy of super-multipole permanent magnet synchronous motor, and meet the functional safety requirements of aviation-grade electric drive systems.

The application discloses a closed-loop clean air purification regulation method, system and device for a developing process, and relates to the technical field of semiconductor manufacturing environment control; relying on a shell, a fan and a filter screen integrated closed-loop device, time series data of particle concentration, air pressure difference and wind speed of a developing area are acquired and feature extraction is performed, and a multi-dimensional dynamic feature vector containing change slope, fluctuation variance and the like is generated; the vector is input into a long short-term memory neural network, future particle concentration peak value and positive pressure instability probability are predicted; a target filtering wind speed compensation value and a positive pressure maintenance lower limit are generated according to the prediction result; a smooth variable frequency driving signal is generated by using a multi-objective collaborative optimization algorithm, a dynamic vertical unidirectional airflow is fed forward and output, and online fine tuning of the model is triggered through monitoring of time series deviation degree; the application realizes the change from lag response to active prediction and defense, effectively suppresses developing defects, prevents external pollution backflow, and has dynamic energy saving and AI model self-evolution capabilities.

This invention belongs to the field of industrial automation control technology, and relates to a multi-model switching control method and system for the temperature of a reactor used in biofuel production. The method includes: acquiring real-time temperature and real-time current of the stirring motor within the reactor, and performing filtering preprocessing to obtain smooth monitoring data; calculating a rheo-thermodynamic coupling characteristic index reflecting the reaction depth and thermodynamic trend based on the ratio of initial current to real-time current and the temperature change rate; calculating the real-time intervention weight of the cooling suppression model using a smoothing switching function based on the deviation of this index from a preset threshold; and finally, weighted fusion of the outputs of the heating-dominant model and the cooling suppression model based on this weight to generate the final control command. This invention achieves adaptive control under all operating conditions by monitoring current changes and feeding forward to predict the reaction stage, effectively preventing temperature runaway during the reaction and significantly improving production safety.

The present application relates to the technical field of energy storage battery thermal management, and particularly relates to a thermal management method of an energy storage unit, which comprises the following steps: collecting key parameters in a current control period and inputting the key parameters into a pre-trained temperature difference prediction model to output temperature difference prediction values and trend directions of each evaporation branch in a next control period; judging current attributes of each evaporation branch and adjusting an opening degree of a corresponding expansion valve in advance according to the current attributes; feeding forward to calculate a preliminary expansion valve opening degree, calculating a feedback correction amount; calculating a corrected valve position control amount; combining a maximum allowable opening degree of the expansion valve, combining a redistribution coordination mechanism to obtain a final valve opening degree instruction of each expansion valve, and issuing, driving and controlling a final opening degree of a corresponding expansion valve in each evaporation branch to realize dynamic optimization management of each evaporation branch. Through the thermal management method, the fundamental problem that the prior art cannot effectively monitor and adjust a single evaporation branch is solved, and sensors and valves need not be additionally arranged for each battery direct cooling plate.

This invention discloses a virtual PSS control method and system for suppressing low-frequency oscillations in grid-connected converters. The method includes: sampling the PCC voltage of the grid-connected converter system and performing Park transformation to obtain the voltage at low frequency. dq The PCC voltage component under the axis. (The PCC voltage...) dq The axial component is differentiated and then filtered by a second-order low-pass filter to remove high-frequency components; the filtered PCC voltage is calculated in each sampling period. dq The 2-norm of the differential value of the axis component is used to set the sign of the calculated result to be the same as the PCC voltage obtained above. q The axis differential values ​​are the same, and the signed value of the output is counted as... m ;Will m The signal is fed forward to the reactive power loop (RFL) via a phase compensator to suppress low-frequency oscillations in the system. This invention solves the problem of insufficient low-frequency oscillation suppression capability of traditional virtual PSS under weak power grid conditions, and improves the robustness and adaptability of virtual PSS.

The application discloses a kind of door and window aluminium plastic co-extrusion temperature self-adaptive cooperative control method and system.The method obtains the original temperature data of aluminium plastic co-extrusion production process in aluminium profile area, plastic melt area, mould area and other multi-area, generates temperature state evaluation information using dynamic temperature self-adaptive model;Multi-zone cooperative control algorithm is used to fuse the evaluation information and generate temperature self-adaptive control instruction;Combining model prediction mechanism, the control instruction is fed forward to correct and drive the temperature adjusting mechanism, and temperature control record is generated;Finally, the dynamic temperature self-adaptive model is feedback corrected according to the temperature control record.The application can significantly improve the temperature control accuracy and cooperative stability of multi-area, effectively reduce temperature overshoot and regional interference, and improve the quality stability and production efficiency of door and window aluminium plastic co-extrusion product.

The application discloses a kind of winding segmentation linear permanent magnet synchronous motor's position sensorless control method, first according to the coupling relationship of two adjacent stator and rotor, establish double-section composite equivalent model;Then MRAS reference model and adjustable model are constructed based on composite equivalent model;Third, the LESO observer of the dq axis lumped disturbance formed by parameter drift, inverter nonlinear error and load disturbance is established;Further, the disturbance estimation value output by LESO is fed forward to the adjustable model of MRAS, and a composite equivalent model LESO-MRAS observer is formed;Finally, the speed and position estimation value output by the observer is used to realize closed-loop position sensorless control.The application can significantly weaken the influence of position-sensitive parameters on position sensorless control, improve the speed, position estimation accuracy and system disturbance robustness in the full stroke range, especially in the transition area between sections.

The application belongs to the technical field of robot control, and particularly relates to a robot trajectory control method fusing delay performance and finite time command filter, comprising: establishing a dynamic model of the robot; introducing a preset performance boundary with a delay function to constrain a position tracking error; in the control law design, combining a backstepping method with a second-order finite time command filter to obtain a virtual control signal and a derivative thereof; processing the filter error by constructing a dynamic compensation signal at a position layer, and directly feeding forward the derivative signal of the filter when designing a control torque at a speed layer, so that the differential error at the speed layer is eliminated; meanwhile, an external time-varying disturbance is estimated on line by using a RBF neural network; and finally, the actual finite time stability of a closed loop system is proved based on Lyapunov theory. The application can realize high-precision trajectory tracking of the robot, and effectively overcome the influence of command filter compensation coupling and external disturbance on the system.

The application relates to the technical field of strong and weak electric integration control, and discloses a safety isolation linkage control method and system for a strong and weak electric integration system. The method comprises the following steps: collecting strong and weak electric system physical layer error code events and strong electric side electrical transient data; establishing a timing error code correlation array through time stamp alignment and event correlation coding; adaptively dividing the strong electric side transient data into frequency windows and identifying the phase coupling based on the array directivity query result to establish a frequency spectrum coupling phase chain; matching the two cross-domain isomorphism and constructing a strong and weak electric coupling causal grid through causal sequential reasoning; predicting a safety margin decay trajectory and feeding forward adjusting a linkage type isolation parameter based on the causal grid; the problems that a weak electric communication error code microscopic mode caused by strong electric disturbance is covered by a protocol error correction mechanism, the existing monitoring cannot capture, and the control lacks causal mapping are solved; and closed-loop control from sub-health state perception to prior active regulation is realized.