5 results about "Good control" patented technology

The application discloses a vehicle control method and a driving direction control system, which acquires the lateral deviation of a vehicle from a lane center line in real time, and when a preset compensation condition is met, dynamically compensates a proportional integral differential controller for lateral control according to the lateral deviation and its associated characteristic parameters, and then generates a direction correction instruction to adjust the driving direction of the vehicle. The method can adaptively match the PID control parameters to the current driving condition, effectively overcome the defects of response lag or control overshoot of fixed parameter control in complex scenes, significantly improve the accuracy and stability of the vehicle in the middle of the lane, and maintain good control performance under different conditions.

This invention discloses a lateral balance control method for unmanned bicycles based on adversarial imitation learning. The method uses the lateral tilt angle, handlebar angle, and angular velocity of the unmanned bicycle as the system state, and the handlebar control torque as the continuous control input. It combines expert demonstration data of the unmanned bicycle under stable lateral balance control conditions, collected or loaded, to initialize a policy network and a discriminant network, constructing an adversarial imitation learning framework. During training, the policy network interacts with the dynamic environment of the unmanned bicycle to generate state-action samples. These samples, along with the expert demonstration data, are simultaneously input into the discriminant network. An imitation reward signal is constructed based on the output of the discriminant network, and a policy gradient method with pruning constraints is used to alternately update the policy network and the discriminant network. This allows the control behavior generated by the policy network to gradually approximate the expert demonstration behavior in a distributional sense, thereby obtaining a stable lateral balance control strategy for the unmanned bicycle. By introducing an adversarial imitation learning mechanism, this invention achieves effective learning of the control strategy without explicitly designing complex artificial reward functions. Furthermore, under disturbance conditions, the method can still maintain the lateral balance of the unmanned bicycle, demonstrating good control stability and anti-interference ability, and has good engineering feasibility and application promotion value.

The application provides a gas turbine IGV opening degree control method and device based on generalized predictive control, which comprises the following steps: establishing a transfer function model between the gas turbine IGV opening degree and the exhaust temperature, and identifying initial parameters based on historical operation data; using the initial parameters to establish a prediction model of the gas turbine IGV opening degree, and predicting the object output under different control quantities; introducing a step factor and performing rolling optimization on the control quantity to obtain a target control quantity as an IGV opening degree control instruction; and correcting the parameters of the prediction model online through a recursive least square method to improve the robustness of the control system. The gas turbine IGV opening degree control method provided in the embodiment of the application can adjust the IGV opening degree to control the exhaust temperature by using the generalized predictive control principle, can quickly control the exhaust temperature near the temperature control line, and still has good control effect when the object characteristics change.

The present invention provides a control device and program that suppress increases in computational load, reduce the impact of model errors (the difference between the characteristics of the controlled object and the characteristics of the nominal model), and maintain good control performance by suppressing the occurrence of malfunctions in the controlled object even when the model error becomes large. [Solution] The control device 1 includes a nominal model 12 representing the characteristics of the controlled object 20, a controller 11 that performs model predictive control based on the nominal model 12, and a control input u to the controlled object 20 based on the difference between the output of the controlled object 20 and the output of the nominal model 12. c Compensation input u for adjusting d A model error suppression compensator 13 outputs a compensation input u d The system includes an identification unit 14 that, when the value exceeds a predetermined threshold, identifies the controlled object 20, modifies the nominal model 12, and applies the modified nominal model 12 to the internal model of the controller 11.

The application discloses a kind of based on model predictive control algorithm's pneumatic system positioning control method, comprising: the hardware composition and action principle of pneumatic system are analyzed, the mathematical model of pneumatic system is divided into the mass flow equation of gas, the mathematical equation of slide valve, piston force balance equation, based on above-mentioned three equations construction pneumatic system slide valve opening and system output mathematical model;Valve core is analyzed to find the midpoint position of making the stable inaction of both sides of cylinder, design pneumatic system setting process, according to setting process determines the various parameters of pneumatic system slide valve opening and system output mathematical model;Based on the setting process of design, design pneumatic system model predictive controller, this method designs pneumatic system model predictive controller, suppresses each kind of disturbance in system, inside and outside, realizes to pneumatic system and carries out good control.