75 results about "Feed forward" patented technology

The invention provides a magnesium alloy electric drive main shell mold machining precision control method and system, and belongs to the field of precision numerical control machining. The method comprises the steps that dynamic milling force, key point temperature and position signals of all shafts are synchronously collected through a multi-source sensor; a recursive least square method is adopted to identify the dynamic rigidity and damping coefficient of the tool-workpiece system on line, and the thermal deformation drift distance is calculated in combination with a temperature signal; predicting a three-dimensional deformation error vector in real time based on the dynamic model, thermal deformation and geometric errors, and constructing a space compensation field; macro motion compensation is achieved by modifying numerical control program coordinate points, and meanwhile high-frequency micro-amplitude compensation is conducted through a spindle tail end fast tool servo system. And establishing an adaptive disturbance observer to perform online estimation on unmodeled disturbance and feed-forward compensation, and realizing online self-tuning of model parameters in combination with in-situ measurement feedback. Real-time sensing, full-band dynamic compensation and closed-loop self-adaptive control of multi-source errors are achieved, and the machining precision and long-term stability of the mold are remarkably improved.

The invention relates to the technical field of yield control, in particular to a neutron generator yield control method and system. The method comprises the following steps: establishing a polynomial model by using historical yield data to predict a target efficiency attenuation factor; dynamically determining neutron event boundaries in the pulse integral value and the pulse width two-dimensional characteristics based on the attenuation factor, and counting the neutron event boundaries; the yield deviation and the change rate are calculated, and when the deviation exceeds a threshold value, feedforward compensation is carried out on the target yield; and selecting a three-dimensional lookup table, an input deviation, a change rate and a current high voltage according to the interval to which the attenuation factor belongs, and cooperatively determining the adjustment amount of the ion source current and the accelerator high voltage. According to the scheme, the measurement and control problems caused by aging of the target piece can be solved, and the precision, the response speed and the long-term stability of yield control are improved.

The invention discloses a task synchronization and scheduling method for compensating CAN bus clock drift, which relates to the technical field of industrial automation control, and comprises the following four steps: initializing a system, loading a real-time protocol stack, completing hardware self-inspection and clock calibration, and sending a ready signal after confirming that a link is smooth; performing synchronization parameter configuration and task planning, defining clock synchronization reference parameters, dividing four types of tasks and setting priorities; performing dynamic calibration and data buffering on master and slave clocks, broadcasting a synchronous message with a timestamp by a master station, correcting a local timer by a slave station through a soft phase-locked loop, and constructing an annular buffer area to realize time domain decoupling; task cooperative scheduling and abnormal fault tolerance are carried out, a control task is triggered based on a calibration clock, edge calculation is carried out to reconstruct a motion state and feed-forward compensation is carried out, a multi-dimensional state is monitored in real time, and a fault tolerance mechanism is triggered. According to the method, clock synchronization precision and control stability are greatly improved, bus bandwidth limitation is broken through, high dynamic tracking precision is achieved, and long-term stable operation of the system is guaranteed.

The invention relates to the technical field of PLC control, in particular to a PLC communication expansion system and method supporting modular dynamic reconfiguration, and the system adopts a physically isolated biplane bus architecture, and comprises a process interaction unit for maintaining a deterministic interpolation period containing a preset fixed bit wide shadow time slot, the configuration management unit is used for acquiring parameters through an independent serial bus, the motion resolving unit verifies data suitability and loads drive in the background, meanwhile, coordinate system zero point offset vectors of new and old models are resolved in parallel based on real-time position feedback, the undisturbed switching unit responds to a ready signal, atomic operation is executed in an inter-frame protection gap, and a new and old model is obtained. The shadow time slot is mapped to the new module, and the offset vector is used as a feedforward injection motion instruction. According to the invention, zero-jitter undisturbed dynamic reconstruction is realized through dual-plane and atom switching.

The invention discloses a virtual impedance control method based on a double-resonance controller, which is characterized in that a nonlinear load is connected to a power grid at a point of common coupling (PCC), a converter side and a power grid side are respectively provided with a converter side inductor () and a power grid side inductor (), and a branch is led out from the middle point of the converter side inductor () and the power grid side inductor () and is provided with a capacitor (C); the converter side current is fed back and compared with the fundamental wave current reference to form closed-loop control; the closed-loop control includes a proportional resonant controller that adjusts at a harmonic frequency of interest; and when the system does not need the virtual impedance, the branch where the resonance controller is located is cancelled. When the system needs virtual impedance, the capacitor voltage is fed forward through the resonance controller. The resonance controller is connected in series with the feedback branch of the capacitor voltage, so that the high-frequency influence of the branch on the system is eliminated, namely, the stability of the system is not influenced by the branch, and the system can be used for simulating any complex virtual impedance and ensuring the stability of the system at the same time.

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 disclosure proposes an actuator failure compensation and safety control method based on a double-layer evaluation architecture, a storage medium and a system. The bottom layer uses an adaptive model predictive control to output a nominal instruction, a reinforcement learning model is built thereon to output a high-frequency residual compensation instruction to eliminate model mismatch, and a second evaluation network is independently built to evaluate the future global loss-of-control risk of the vehicle. The Lagrange dual optimization is introduced to convert the macro risk evaluation into a mathematical constraint to guide the first strategy network correction; the global risk index is used to feed forward the target cost weight of the predictive control to realize continuous flexible degradation, and the control barrier function is triggered at the limit boundary to realize discrete quadratic programming instruction projection. The present application overcomes the conservative strategy degradation defect caused by the traditional mixed reward, establishes an absolute safety line, and improves the control accuracy and safety robustness of the vehicle in complex nonlinear working conditions.

The invention discloses a Mecanum wheel jacking integrated driving assembly and a motion and jacking collaborative prediction control method thereof. The assembly is composed of a chassis, four Mecanum wheel driving modules, a jacking execution unit, a height sensor, an encoder / posture or pressure monitoring unit and a central controller. The controller maps a non-linear state to a Koopman state space through a multi-layer perceptron, multi-step prediction and rolling optimization are carried out, and the wheel speed and the jacking execution amount are solved at the same time in the same control period; during the jacking execution period, speed constraint adaptive to the jacking state is set for the chassis, and feedforward compensation is conducted on the jacking control quantity according to the posture or the acceleration signal; and the Koopman matrix parameters are periodically updated on line to adapt to load and working condition changes. According to the scheme, the synchronism and stability of moving and jacking are improved, and the device is suitable for warehousing, carrying and other scenes.

The application relates to the technical field of unmanned plane control, and discloses an omnidirectional flying robot high-precision hovering system and method, which comprises the following steps: collecting the connection state of a module assembly, allowing flying action when it is determined to be normal; collecting the GNSS signal strength of a positioning sensor, determining a positioning decision mode according to the GNSS signal strength, and generating flight attitude control data according to the positioning decision mode; adjusting the flight attitude of the flying robot according to the flight attitude control data and based on the closed-loop PID control of a harmonic reducer and a servo motor; obtaining predicted wind speed data to determine a disturbance torque, and feeding forward compensating the flight attitude according to the disturbance torque; controlling the central double rotors of the flying robot to continuously run, and controlling the start and stop of the inner and outer rotors of the flying robot based on Q-learning. The application guarantees the wind resistance hovering performance, improves the energy utilization rate, and enhances the environmental adaptability, wind resistance stability and endurance of the aircraft.

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.

The invention provides a fault-tolerant control method and system for a local demagnetization fault of a permanent magnet motor based on parameter robust model predictive control, and the method is characterized in that the method comprises the steps: carrying out the super-localization processing of a permanent magnet motor model after the local demagnetization fault, and obtaining a super-localization model; a generalized proportional-integral observer is designed, and lumped disturbance caused by demagnetization is estimated in real time and subjected to feedforward compensation; voltage and current data of adjacent sampling periods are used as real-time updating of super-local model gain, estimated values of current and disturbance are obtained from a generalized proportional-integral observer, and online self-tuning of input gain is achieved. According to the method, super localization is carried out on a motor model after a fault, unbiased estimation is carried out on disturbance introduced by the fault and a high-order derivative thereof through a generalized proportional-integral demagnetization disturbance observer, and input gain in the super localization model can be calculated in real time only by utilizing voltage and current data of two continuous periods through an input gain self-tuning algorithm. And the operation quality of the motor and the robust performance after the fault are improved.

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.

The invention relates to a control system for a motor operating a roof assembly, including a speed controller, a current controller, a motor and a performance feed forward module. The control system is configured for receiving a speed setpoint as input, feeding back a speed signal, and determining a speed error. Providing a current setpoint and feeding back a current output to the current setpoint, and providing a current error signal to the current controller. Feeding back a relative position signal and feeding forward, based on at least one performance profile determined from an absolute position signal, a current feed forward signal to the current setpoint. And generating, based on the current error signal and the relative position signal, a drive signal for driving a motor. The current error signal is based on the current setpoint, the current feedback and the current feed forward.

The application provides a permanent magnet motor local demagnetization fault tolerance control method and system based on a parameter robust model predictive control, and is characterized in that the permanent magnet motor model after local demagnetization fault is subjected to super-localization processing to obtain a super-local model; a generalized proportional integral observer is designed to estimate and feed forward compensate the lumped disturbance caused by demagnetization in real time; the voltage and current data of adjacent sampling periods are used as real-time updates of the super-local model gain, the estimated values of the current and disturbance are obtained from the generalized proportional integral observer, and input gain online self-tuning is realized. The motor model after the fault is subjected to super-localization, the disturbance and high-order derivatives introduced by the fault are unbiasedly estimated through the generalized proportional integral demagnetization disturbance observer, and through the input gain self-tuning algorithm, the input gain in the super-local model can be calculated in real time only by using the voltage and current data of two continuous periods, so that the motor operation quality and the robust performance after the fault are improved.

An abrasive jet cutting system may include a differential pressure measurement apparatus configured to measure a differential pressure between points in an abrasive supply system. The differential pressure may be used to determine one or more conditions of the jet and the abrasive delivery. The measured differential pressure may be used in a feedback control system, feed forward control system, and / or an alarm or safety system.

The invention particularly relates to a step scanning control method based on path planning and forward compensation. The step scanning control method comprises the following steps: calculating an observation distance from an optical axis to a current pointing direction by using a height difference between a photoelectric turret and an observation target and a platform coordinate system attitude matrix; then, calculating an attitude angle, an azimuth angle and a pitch angle of the equivalent observation ray under a flight path horizontal coordinate system by using the observation distance, an aircraft center geographic position matrix and a platform coordinate system attitude matrix; then, obtaining a scanning track speed according to the path planning information, and then calculating an optical axis scanning angular speed instruction corresponding to the scanning track; and finally, performing feedforward compensation on the flight speed of the aircraft and the earth rotation angular velocity, and calculating to obtain an optical axis scanning inertia angular velocity instruction. According to the method, on the basis of an optical axis scanning angular velocity instruction generated by a path planning trajectory velocity angular velocity, forward compensation is performed on an optical axis scanning angular velocity instruction generated by the flight speed of an aircraft and the earth rotation angular velocity, and the method is visual and effective.

The application discloses a kind of composite board hot rolling speed-deformation-pressure coupling control system and method, based on multilayer composite board hot rolling data, using long short-term memory network establishes space-time sequence prediction model, and according to the deviation of prediction quality and target quality, using multi-objective balanced optimization algorithm to feed forward correction is carried out to roll gap.On the basis of feed forward correction, the residual between thickness actual value and set outlet thickness is further considered, and a roll gap feedback adjustment strategy is designed, realizing the coupling control of composite board hot rolling speed-deformation-pressure.The composite board hot rolling speed-deformation-pressure coupling control method proposed in the application has high control precision, makes up for the defects of traditional methods, improves the speed-deformation-rolling force dynamic coupling control, and can be widely used in multilayer composite board hot rolling.

The invention provides a PID control algorithm, a control device used for pressure control, a medium and equipment, and relates to the technical field of industrial control, the PID control algorithm comprises the steps that current load parameters are collected in real time, and the load parameters comprise pressure or temperature or power or flow; calculating the change rate of the load parameter in the preset time period according to the current load parameter; obtaining a feed-forward quantity uf (k) according to the change rate of the load parameter; obtaining a final control increment delta u according to the feed-forward quantity; and according to the control increment delta u, PID control is executed, the change rate dP / dt of the load parameter is dynamically weighted and then is directly fed forward to a PID control algorithm for output, so that the pre-regulation quantity is generated at the beginning of disturbance of the load parameter, the regulation time can be shortened, the system response speed can be improved, and the overshoot quantity can be reduced.

The present application relates to a kind of new energy ship shore power grid connection anti-disturbance control method and system of direct current networking, based on virtual synchronous generator model calculation angle frequency and phase angle, total disturbance is input into extended state observer real-time estimation angle frequency deviation;The original active instruction of virtual synchronous generator is fused with total disturbance observation value and fed forward compensation, generates active power reference instruction of anti-disturbance;According to direct current side signal and active instruction, SPWM modulation is operated, and modulation signal control power conversion is generated;Drive signal is amplified after filtering and is fed to grid;While gathering output current, compare with the reference current synthesized by phase angle, realize static error tracking using proportional resonant controller, generate compensation signal and modify modulation in real time;New generation power electronic switching device SiC-MOSFET is used in grid-connected power converter, and efficiency can be more than 98%.Compared with prior art, the present application has the advantages of high stability, high power quality and strong reliability.

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 invention relates to the technical field of data integration, in particular to a coal mine hidden fault recognition-oriented multi-source geological data fusion analysis system, which comprises a response delay section construction module, a seismic response time sequence wave crest interval construction module, a seismic response time sequence wave crest interval construction module and a seismic response time sequence wave crest interval construction module, the direction structure balance regulation and control module adjusts vector density according to a drift trajectory of a borehole diameter symmetry axis to generate balanced direction vector distribution, and the coupling conflict blocking control module reduces conflict node weights based on multi-physical-quantity synchronous inversion characteristics to construct a non-interference data access path. According to the method, timing sequence coherence is determined by dividing a torque fitting interval, vector density is adjusted according to a drift trajectory to maintain space structure balance, conflict node weights are reduced based on synchronous inversion characteristics to block abnormal diffusion, and synchronous feedforward control of timing sequence, direction and structure is realized in an access stage. And the physical authenticity and the registration precision of multi-source geological data fusion are obviously improved.

The present application belongs to the technical field of exploration and engineering surveying, and specifically discloses a tunneling machine vibration coupling navigation self-calibration method, which comprises: based on a global system reference beat, feeding forward compensating the physical transmission delay of a heterogeneous bus and the inherent hardware latch delay of an analog-to-digital converter, controlling a micro-electro-mechanical system accelerometer to collect and output a clean vibration acceleration sequence; performing window segmentation on the clean vibration acceleration sequence to extract time-frequency domain features, and synchronously extracting the thermal flow gradient change rate features of the inertial measurement component kernel, and cascading and combining them into a holographic intrinsic state descriptor; the present application aims to solve the problems in the prior art, such as low positioning accuracy and poor stability of the combined navigation system, caused by the problems of the tunneling machine under vibration and impact working conditions, such as non-synchronization of heterogeneous sensor data, vibration rectification error and thermal hysteresis effect caused thereby, model misalignment caused by sudden geological changes, integral error accumulation, and decline of long-period operation model generalization ability.

The invention discloses an electric load simulator control method based on 1D-CNN adaptive PID and backlash compensation. The method comprises the following steps: firstly, calculating an error between an expected torque instruction and an actual output torque, and constructing a time window vector containing the error, a control quantity and output; inputting the vector into a one-dimensional convolutional neural network for online training, and outputting a system Jacobian estimated value in real time; based on the estimated value, calculating the PID parameter adjustment amount through a gradient descent method to realize online self-tuning of the parameters; meanwhile, an angle sensor is used for collecting a rotation angle, and feedforward compensation is carried out on the motor through a gap inverse model; the system synthesizes the updated PID control quantity and compensation quantity to generate a loading instruction to drive a motor, and actual output is collected through a torque sensor to form closed-loop feedback; according to the method, the friction and the gap of the electric load simulator are compensated, so that the defects of weak feature extraction capability and slow parameter convergence of a traditional method under the condition of coping with nonlinear and time-varying disturbance in a system are effectively overcome, and the tracking precision and the dynamic response robustness of the electric load simulator to an expected torque instruction are remarkably improved.

The invention provides a nonlinear system periodic disturbance suppression method and system based on FDESO, and relates to the technical field of automatic control. The method comprises the following steps: S1, carrying out mathematical modeling on a nonlinear system to obtain a control system state equation containing unknown disturbance and output measurement noise; s2, designing FDESO according to the state equation of the control system; the FDESO carries out filtering processing on system output containing measurement noise, and then a dual-channel compensation architecture containing a disturbance estimation channel and an output estimation error compensation channel is constructed, so that the influence of the measurement noise is inhibited and the disturbance estimation precision is improved; s3, estimating the total disturbance of the system in real time by using the FDESO; and S4, designing a control law, and performing feed-forward compensation on the estimated total disturbance to suppress periodic disturbance of the system. Real-time estimation and active suppression of periodic disturbance in a nonlinear system are achieved, meanwhile, interference of output measurement noise to the disturbance compensation process is remarkably reduced, and the control precision and robustness in the actual noise environment are improved.

The invention discloses a control method for a direct-drive type grid-forming wind generating set with an inertia self-sustaining function, and relates to the technical field of wind generating set control. The method comprises the steps that a grid side or machine side power reference value is adjusted during a fault period; acquiring a control output angular frequency of a grid-side converter, obtaining a virtual power or voltage compensation value for inertia self-sustaining control after the control output angular frequency passes through a first transient stability controller and an amplitude limiter, and feeding back the virtual power or voltage compensation value to a grid-side reference adjustment module; the grid-side virtual compensation value is fed back to a machine-side converter, and a machine-side compensation value for inertia self-sustaining control is obtained after the grid-side virtual compensation value passes through a second transient stability controller and an amplitude limiter; and the angular frequency error output by the grid side synchronization link is converted into a torque compensation current through a third transient stability controller and a torque-current mapping coefficient, and the torque compensation current is fed forward to a machine side reactive current reference. The system inertia can be effectively maintained, the power imbalance of the machine side and the network side is adjusted, and the transient stability and the fault ride-through capability of the system are improved.

The invention discloses a material flow self-adaptive control system in a condiment continuous proportioning process, and relates to the technical field of condiment proportioning control, and the material flow self-adaptive control system comprises a main conveying unit used for continuously conveying a liquid basic condiment; the at least one auxiliary material feeding unit is connected with the output pipeline of the main conveying unit in a converging manner and is used for continuously adding solid seasoning auxiliary materials into the liquid basic seasoning; the temperature detection unit is used for detecting the temperature of the liquid basic seasoning in real time; the controller is in signal connection with the main conveying unit, the auxiliary material feeding unit, the pressure detection unit, the flow detection unit, the auxiliary material flow detection device and the temperature detection unit; according to the invention, the rheological state of the main body material is sensed on line through coupling analysis of the pipeline pressure difference and the pump power signal, and according to dynamic feedforward compensation auxiliary material ratio setting, compound control is formed, so that the influence of natural fluctuation of the main body material characteristics on the mixing uniformity can be effectively and adaptively counteracted.

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 embodiment of the application discloses a kind of mechanical arm adaptive fractional order sliding mode control method, equipment and medium. Based on the position vector, velocity vector and acceleration vector of mechanical arm, the corresponding dynamics model of mechanical arm is established;Based on the actual trajectory and expected trajectory of mechanical arm, a tracking error dynamic equation is established;Based on the position error and error boundary corresponding to different joints of mechanical arm respectively, an error function is constructed to limit the trajectory tracking error corresponding to mechanical arm in the preset range based on the error function;According to the tracking error dynamic equation and error function, the corresponding fractional order non-singular terminal sliding mode surface of mechanical arm is obtained to construct adaptive fractional order non-singular terminal sliding mode control;According to the comprehensive disturbance data in the dynamics model corresponding to mechanical arm, a nonlinear disturbance observer is constructed to feed forward compensation based on the nonlinear disturbance observer on the dynamics model corresponding to mechanical arm, to realize the control of mechanical arm.

A control system for operating a motor of a roof assembly includes a speed controller, a current controller, a motor, and a performance feed-forward module. The control system is configured to receive a speed setpoint as an input, feed back a speed signal, and determine a speed error. A current setpoint is provided and a current output is fed back to the current setpoint, and a current error signal is provided to the current controller. The relative position signal is fed back, and a current feed-forward signal is fed forward to the current setpoint based on at least one performance profile determined from the absolute position signal. And generating a driving signal for driving a motor based on the current error signal and the relative position signal. The current error signal is based on the current setpoint, the current feedback, and the current feedforward.