34 results about "Fuzzy self tuning" patented technology

The invention discloses an ultra-precision lathe motion control method based on fuzzy PID self-tuning calculation, relates to the technical field of ultra-precision cutting, and mainly includes the following steps: taking the linear motion guide rail of the lathe as the controlled object, and obtaining the linear motion guide rail According to the preset position information and actual position information, according to the deviation value and deviation value change rate between the preset position and the actual position, the fuzzy PID control algorithm is used to calculate the control output, and the control output is input into the control system to control all Describe the motion of the linear motion guide rail. The present invention adopts a domain parameter self-tuning method in the fuzzy PID control, introduces it into the fuzzy PID control, can realize self-learning and improve the static and dynamic performance of the ultra-precision lathe guide rail control system, and then achieve the improvement of ultra-precision cutting The purpose of machining accuracy.

The invention belongs to the field of hot-rolled strip steel flying shear control engineering and relates to a machine vision-based optimal shearing method for hot-rolled strip steel. The method is mainly combined with the principle of machine vision to conduct non-contact measurement of the deformation of the strip end caused by rough rolling on the hot rolling production line, and optimize the control of the flying shear system through a fuzzy self-tuning PID controller, including the following operations Steps: 1) image acquisition of strip end; 2) image information processing; 3) three-dimensional contour acquisition; 4) three-dimensional convex hull calculation; 5) fuzzy self-tuning PID controller decision-making; ) actuator for shearing. The invention is based on a machine vision detection system, combined with an image processing unit to obtain the three-dimensional profile of the steel strip end, and controls the flying shear mechanism through a fuzzy self-tuning PID controller, and the shear mechanism performs precise cutting after receiving a signal sent by the controller. The invention realizes the online optimization of the hot-rolled steel strip flying shear system through the closed-loop control structure.

The invention provides a servo control method for the gasoline engine speed in a hydraulic system of a legged robot. The servo control method comprises the following steps: (1) calculating the engine speed error e and the engine speed error change rate ec; (2), after the fuzzy logic calculation of e and ec, outputting the proportionality coefficient increment delta kp and the integral coefficient increment delta ki; (3) calculating the proportionality coefficient and the integral coefficient according to the following formulas correspondingly: kp = kp0 + delta kp and ki = ki0 + delta ki; (4) calculating the accelerator opening degree according to the following formula: S1 = S1_old + kp*ec + ki*e; (5) calculating the accelerator opening degree change caused by the hydraulic oil flow rate change according to the following formula: S2 = kQ*detal Q; and (6) calculating the final accelerator opening degree Sf = S1 + S2, wherein the rotation of a steering engine is controlled through the accelerator opening degree in the PWM form, the air inlet volume is controlled by controlling the opening degree of an engine throttle valve through an accelerator cable, and finally the engine speed is controlled. The servo control method provided by the invention has the advantages that the feedforward control is adopted, so that the stable engine speed can be guaranteed well under the circumstance that the flow rate changes suddenly; parameters are modified online by adoption of fuzzy self-tuning, so that the different control requirements can be met; and accordingly, the hydraulic system can have the good dynamic property and static property.

The invention provides a method for controlling the furnace pressure in the isolation section of a continuous annealing furnace for silicon steel. The furnace pressure P01 in the 1# furnace area, the furnace pressure P02 in the 2# furnace area and the furnace gas pressure in the 1# isolation section are measured by a pressure transmitter. P12 is sent to the PLC control system; the PLC control system executes the PID parameter fuzzy self-tuning program, calculates the PID parameters, and then outputs the MV from the PID controller, and sends it to the associated operation controller; at the same time, the PLC control system also uses the normal distribution function Obtain the correction coefficient J12 of the relief valve in the 1# isolation section, and finally calculate the output opening of the relief valve in the 1# isolation section through the associated calculation controller MV12=J12×MV, and assign the calculation result of MV12 to the relief valve in the 1# isolation section to adjust the isolation Section furnace gas furnace pressure. The invention reduces the frequency of starting the nitrogen protection program to reduce the interference to the pressure and atmosphere in the furnace under the condition of ensuring the airflow isolation function of the isolation section and the micro positive pressure state of the isolation section.

Provided is a multi-mode operation optimization controlling device of a variable pitch wind turbine based on time series analysis and an operation method thereof. The multi-mode operation optimization controlling device of variable pitch wind turbine based on time series analysis comprises a human interface module, a modal perception module, a timing analysis module, a module for time series statistics recording, an online identification module of a variable pitch system, a parameter optimization module of a controller, a fuzzy self-tuning multi-mode PID controlling system module, a calculating module for control performance. From a systemic level, the invention includes the steps of categorizing various devices contained in the variable pitch wind power generation system as 'assembly' by zones and functions, wherein the assembly is regarded as fundamental elements and used for building the modal perception module; time series analyzing for the modal perception module in the transient process of various modal switching on the basis of the assembly; obtaining the time series statistic data through the time series analyzing during the transient process of the various modal switching; online identifying and controller parameter optimizing for the various pitch system utilizing the time series statistics; synthesizing the optimized controlling parameter through the fuzzy self-tuning multi-mode PID controlling system, the step that eventually realizes the optimal performance of the variable pitch system under full working conditions.

The present invention relates to a magnetic combined navigation method of an AGV (automated guided vehicle). The method mainly comprises a combination method of command magnetic tapes, a signal filtering algorithm and an AGV navigation control algorithm. According to the magnetic combined navigation method, a plurality of magnetic tapes are combined into a function command; magnetic tapes are laid in a crossed manner between commands; command magnetic tapes of the same polarity are laid inconsecutively at the same sampling point; the signals of a command sensor are received through IO external triggering interruption, the effectiveness of the signals is analyzed through detecting the duration and receiving sequence of the signals; the signals of a navigation sensor are received through an IO scanning mode, and whether the signals are discarded is determined through detecting the continuity of the sampling points and the duration of the signals; and control speed is calculated based on the deviation distances of the center of the navigation sensor and the centers of the magnetic tapes through using the fuzzy self-tuning PD control law, and the control speed is provided for a motor, and therefore, the pose of the AGV is adjusted. The method of the invention has the advantages of reliable signal sampling, effective and robust controller and good navigation control effect.

The present invention relates to the technical field of ship equipment, in particular to a welding robot for ship erecting plates based on remote correction, including a follow-up welding robot, an active robot, a control system and a human-computer interaction system; the end of the follow-up welding robot is equipped with structured light vision scanning Device, welding torch, welding robot controller is installed on the follow-up welding robot, welding torch model and force application handle are installed on the end of the active robot, active robot controller is installed on the top of the active robot, and a force sensor is installed on the bottom of the force application handle; Robot controllers include impedance controllers, fuzzy self-tuning controllers, and inverse dynamic models. The follow-up welding robot of the present invention is controlled by the follow-up of the active robot, and by applying external force to the force-applying handle, the position and force compliance control of the end of the active robot can be realized, so that the welding track of the follow-up welding robot returns to the autonomous scanning range. , to achieve remote calibration.