58 results about "Integral action" patented technology

The invention provides an advanced control method for a coordination system of a boiler and a steam turbine of a thermal power unit, which applies advanced dynamic feedforward technology to the feedforward design of a main control system of the boiler so as to effectively accelerate governing speed of a boiler load command in a load varying process of the unit. In the load varying process of the unit, oscillation tendency of the main control system of the boiler can be inhibited through reducing integral action of a regulator. In the main control system of the steam turbine, a unit load command N0 is subjected to inertia LAG time-delay, and protection design is carried out on main steam pressure. The method ensures that the boiler and the steam turbine can operate under a more coordinated mode and ensures that the thermal power unit has faster ascending and descending speed of load and more stable variation of the main steam pressure, wherein the ascending and descending speed of the load of the unit reaches 3.0 percent Pe/min in actual application, the main steam pressure is stable without overshoot, and the pressure deviation is in an acceptable range.

The invention discloses an intelligent integration method for anti-integral windup and overshoot suppression of a PID (Proportional, Integral and Derivative) control system. The intelligent integration method comprises the following steps: according to a set input valve r(t) and an output value y(t) of the system, calculating an error signal value e(t); judging whether an actually input signal of a controlled object has a measured value v(t) or not: when the actually input signal of the controlled object has the measured value v(t), calculating an executor over-limit signal x(t) according to a control signal u(t) output by a controller and the measured value v(t), and when the actually input signal of the controlled object does not have the measured value v(t), setting an executor limit value; setting an anti-integral windup parameter alpha for an integral error signal to eliminate system oscillation caused by executor over-limit; setting an overshoot suppression parameter beta for the integral error signal to suppress system step response overshoot caused by an integral action. The intelligent integration method for anti-integral windup and overshoot suppression of the PID control system not only can resist windup and suppress overshoot, but also does not change the original system stability, and has the advantages that the parameters are simple to set and the real-time high-accuracy quick control of the control system is easy to realize.

The invention relates to a method for controlling vehicle spacing in a self-adapting variable-speed cruise process of a vehicle. The method comprises the following steps of in accordance with continuously improved real-time accurate control requirements for the vehicle spacing in the self-adapting variable-speed cruise process of the vehicle, establishing a three-step continuous time dynamic model of the vehicle self-adapting variable-speed cruise process, and introducing an integral action signal relative to a vehicle spacing control error; establishing a four-step state space perturbation expansion mathematical model of the vehicle self-adapting variable-speed cruise process; then calculating the gain vector of a vehicle spacing controller through ordering an lqr function by MatLab to calculate the vehicle spacing control capacity in the self-adapting variable-speed cruise process in a real-time manner, so that the high-rear-time accurate self-adapting variable-speed cruise control of the current vehicle is realized. The method disclosed by the invention has the advantages of being easy to understand, small in the number of set parameters, high in generality, and free from on-line calculation, and the high-rear-time accurate control requirements for the vehicle spacing in the self-adapting variable-speed cruise process of the vehicle are met.

The invention discloses a temperature adjusting method which comprises the following steps that: current temperature value is measured and deviation e is obtained according to the current temperature value; when the absolute value of e is more than a second deviation threshold and is less than or equal to a first deviation threshold, P, I and D is adjusted and the proportional action and integral action in control is increased while derivative action is weakened; when the absolute value e is more than or equal to zero and is less than or equal to the second deviation threshold, P, I and D is adjusted and the proportional action, integral action and derivative action in control is weakened; according to a third deviation threshold A and the deviation e, integral action intensity factor is adjusted; according to the adjusted P, I, D and integral action intensity factor, the increment of control quantity is obtained; moreover, temperature is adjusted according to the increment of control quantity. The invention also discloses a temperature adjusting device. In addition, the invention can effectively reduce the overshoot and oscillation phenomena during temperature control.

The invention discloses a laser projection system, comprising a laser light source which is used for emitting laser beams of at least one color; a light homogenization component which is used for receiving and homogenizing the laser beams; a light valve which is used for receiving the laser beams homogenized by the light homogenization component and modulating the laser beams; a vibrating reflection-type phase plate which is arranged on a light incident surface side of the light homogenization component; and a motion diffuser which is arranged on a light emergent surface side of the light homogenization component. A position at which the motion diffuser is located is an object plane position of the light valve. The number of produced random phases can be greatly increased, according to the random phases, through integral action of human eyes, the speckle effect of a projection image can be reduced or eliminated to the greatest extent, and the speckle eliminating effect and the display quality of the projection image can be greatly improved.

The invention relates to the research field of traditional Chinese medicine effect material basis, particularly relating to a method for evaluating traditional Chinese medicine activity and mechanism based on holistic approach, which is characterized by comprising the following steps: passing traditional Chinese medicine extract through high efficient liquid to acquire a traditional Chinese medicine finger print; determining target peaks in the finger print; connecting the outlet pipeline of a high performance liquid chromatography detector with a six-way switch valve, and collecting single target peaks, target peak groups at random combination and residue component bundles after knockout of target peak groups by the switch valve; and performing pharmacodynamic evaluation on a collected sample to obtain the activity sequence of the whole activity of the target peak groups and single target peaks, contribution of each single target peak in the traditional Chinese medicine extract and mutual interaction relationship between components. The invention broadens the research direction of the traditional Chinese medicine effect material basis, and provides a research method of traditional Chinese medicine integral action mechanism with simple operation and low cost.

The invention prevents overshoot from occurring in flow rate on the output side of a flow rate regulator when output flow rate is changed or the gas type distributed is changed. Thus, an automatic pressure regulator is provided to supply gas pressure to a flow rate regulator that includes a piezoelectric element driving type pressure regulating valve, a control pressure detector provided on the output side of the pressure regulating valve, and a controller to which a detected value P₂ of the control pressure detector and a set value Pst for control pressure are input, wherein the controller supplies a control signal to a piezoelectric element driving unit of the pressure regulating valve using a proportional control system to perform valve opening regulation, in which the proportional control system of the controller is set to control to bring about a residual deviation in control pressure by disabling an integral action.

A conventional carrier detecting circuit which generates a carrier detection level by integral action based on a reception signal and detects using the carrier detection level whether a carrier exists is arranged to charge and discharge in the following manner, an integration capacitor in an integrator that performs the integral action. Namely, the integration capacitor is (i) either charged or discharged in accordance with a result of the discrimination of the reception signal at the carrier detection level, or (ii) charged in accordance with the result of the discrimination while the integration capacitor is constantly discharged at a constant level. In contrast, a carrier detecting circuit of the present invention is arranged so that the integration capacitor is both charged and discharged constantly at a level that varies in accordance with the result of the discrimination. In other words, the integration capacitor is charged and discharged using a difference current between a current charged from a charging circuit and a current discharged to a discharging circuit. With this, it is possible to reduce the chip area without causing problems due to the reduction of the currents flowing through the transistors.

The invention relates to a double-closed-loop feedback-control module, wherein two closed-loop control loops are formed in the starting process and the holding stage of a contactor to directly and accurately control the coil current of the contactor, so that the optimizing control for the integral action characteristic of the contactor can be carried out, and the integral performance index of the contactor is comprehensively improved. The double-closed-loop feedback-control module has low hardware cost, the voltage-adjusting rate of a system can be improved, the transient response speed of the system is increased, and the stability of the system is enhanced.

The invention discloses a smooth nonsingular terminal sliding-mode control method suitable for a control system with a relative degree of 1, relates to a nonsingular terminal sliding-mode control method, and solves the problems that the existing nonsingular terminal sliding-mode control method exists buffeting to cause a controller not to output continuous smooth control signals and not be applied to the control system with the relative degree of 1. The smooth nonsingular terminal sliding-mode control method comprises the following steps: if the controlled system serves as a single-input single-output control system with the relative degree of 1, then acquiring the system state differential in real time, designing a nonsingular terminal sliding mode, introducing a virtual controlled quantity and utilizing an integral action to enable the actual output controlled quantity to be smooth and continuous; if the controlled system serves as a matched multi-input multi-output control system, then converting a scalar realization form of the control system to a matrix vector realization form; if the controlled system serves as a non-matching indeterminate multi-input multi-output control system, then conducting nonsingular state change for two times according to the controllability index r to resolve the system into r subsystems, introducing a reference model to eliminate time-varying uncertainty of input channels of the subsystems, and further designing a control law and a minor control law. The smooth nonsingular terminal sliding-mode control method disclosed by the invention can be applied to smooth nonsingular terminal sliding-mode control of the control system with the relative degree of 1.

The invention discloses a uniaxial rotational modulation based inertial and celestial combined navigation system and a calculation method. The system comprises a uniaxial rotational modulation strap-down inertial navigation system, a celestial navigation system and a horizontal rotating table. A rotational modulation shaft of the uniaxial rotational modulation strap-down inertial navigation systemis coincided with a shaft, perpendicular to the horizontal rotating table, of the celestial navigation system so as to realize rotational modulation along with rotation of the rotational modulation shaft. By selection of a reasonable rotating mode, inertial device biases form periodic signals under a navigation coordinate system, and caused navigation errors are eliminated through the integral action. By combination of the uniaxial rotational modulation based inertial and celestial combined navigation system and the calculation method based on the same, high-precision high-reliability navigation information output is realized, and demands of current navigation users are met.

The invention provides a humanoid robot walking device, belongs to the technical field of robots, and particularly relates to a humanoid robot walking device. The problems are solved that joints of anexisting humanoid robot are low in freedom degree, the degree of personification is low, and integral actions are not harmonious. The humanoid robot walking device comprises an executing mechanism and a driving mechanism, the executing mechanism comprises a belly, hip parts, thighs, knee joint mechanisms, shanks, ankle parts, feet, ankle joint mechanisms and hip joint mechanisms, and the drivingmechanism comprises drive belt wheels, air core rotor motors, driven belt wheels and harmonic reducers. The humanoid robot walking device is mainly used for walking of a humanoid robot.

A CVTECU includes a secondary-pressure control section and a line-pressure control section that performs a same-pressure control to equalize a line pressure and a secondary pressure with each other if a predetermined start condition is satisfied. The line-pressure control section realizes a same-pressure state between the line pressure and the secondary pressure by lowering the line pressure below a target secondary pressure, and then controls the line pressure such that an actual secondary pressure is brought to the target secondary pressure by hydraulic feedback control while maintaining the same-pressure state. The secondary-pressure control section includes a restriction section that restricts an accumulation of integral term of an integral action for a duration between a time point at which the actual secondary pressure starts to be pushed down and a time point at which the same-pressure state between the line pressure and the secondary pressure is realized.

The present invention discloses an adjusting unit in a feedback loop for controlling a hydraulically operated-type load mechanism consists of two portions both adapted to effect proportional action and derivative action. Weights are applied to these two portions independently. Hence, an output y can be made to follow sudden changes in a target value r with fast response without the occurrence of overshoots, and the effect of a disturbance input w is alleviated to a maximum. In addition, since integral action is not effected in the adjusting portions, the term of 1/s<2 >is not included in transfer functions of inputs and outputs, thereby realizing stability of control.

The invention provides a motor control device which can suppress speed overshoot and output of an overlarge torque in deceleration of a motor. It's hard to cause offset of the motor, so that positioning of the motor can be easily carried out. The provided motor control device has a first torque instruction limiter (160) and a second torque instruction limiter (180). When the magnitude of the torque exceeds a set scope, the magnitude will be limited in the set scope and saturation detection can be output. A stop condition judging machine (190) monitors changing states of a position instruction. When the position instruction changes, an integral action of a speed integral controller is stopped according to the saturation detection of the first torque instruction limiter. When the position instruction does not change, the integral action of the speed integral controller is stopped according to the saturation detection of the second torque instruction limiter.

The invention provides a tandem type hybrid power variable wing type bionic mechanical fish underwater vehicle, and belongs to the technical field of underwater vehicles. The tandem type hybrid powervariable wing type bionic mechanical fish underwater vehicle aims to solve the problems that the efficiency is low, the underwater stability is poor, and the cruising capability is poor existing in the prior art. The tandem type hybrid power variable wing type bionic mechanical fish underwater vehicle comprises a vehicle frame, a vehicle frame connection frame, a shell, ten flap type fish wings, aswing type fish tail and an electronic control system, wherein the connection frame comprises a fish wing connection frame and a fish tail connection frame which are connected in proper sequence; thefish wing connection frame is located in the shell, and the fish tail connection frame extends out from the tail end of the shell. The ten flap type fish wings are connected with the fish wing connection frame and extend out from the shell, and the ten fish wings are distributed on the same oval, and are symmetrical about the common axis of the fish wing connection frame and the fish tail connection frame. The opening angles of the fish wings can be adjusted, and the fish wings can be retracted back or extend out backwards. The swing type fish tail is connected with the end of the fish tail connection frame, and the electronic control system supplies power to the whole vehicle and controls whole actions.

The invention belongs to the technical field of automatic control and discloses an online dynamic real-time automatic optimizing control method and device for integral parameters. The method comprisesthe following steps of: detecting whether the measured value of a current operating parameter of a unit is a zero crossing point or not; if the measured value of the current operating parameter of the unit is a zero crossing point, continuously obtaining output values of a PID (Proportion Integration Differentiation) controller before detecting the next zero crossing point, calculating differencevalues between the output values of the PID controller and an initial output value and recording the maximum difference value m3 and the minimum difference value m1; and when detecting the next zerocrossing point, calculating the ratio K of the proportional action to the integral action and adjusting preset integral parameters of the PID controller according to the value of the K. The method disclosed by the invention has the beneficial effects that the integral action on the PID controller can be dynamically adjusted and optimized on line and in real time and the optimal control parametersare automatically found, thereby improving the adjustment quality of the controller and enhancing the automatic control level of the unit.

The invention discloses a bionic snake-shaped robot which comprises a power box, a base body fixedly connected with the power box, a supporting arm with one end arranged on the base body, a valve body arranged at the other end of the supporting arm, a bent shaft which is arranged in the base body, connected with the power box in a transmission manner and used for driving the supporting arm to rotate, and a power source arranged in the supporting arm. The bionic snake-shaped robot can reach an appointed working point in a bent manner at any all-round degree of freedom and can freely extend without any external interference; the problems, such as operation in a narrow space, collision avoiding operation under a complicated environment and the like, of any degree of freedom of the integrated action of the conventional robot are solved, and the defects that most of the existing industrial robots have a single working environment and dead corners and cannot meet the operation of some types of special work.

The invention belongs to the field of automobile steering control, in particular to a platform frame used for steering-by-wire experiments, which comprises simulation loads used for simulating ground lateral resistance received by an automobile when the automobile changes direction. The platform frame for experiments further comprises a steering action input end used for placing a steering assembly and a transmission unit used for connecting the steering action input end and the simulation loads. The two simulation loads are coaxially arranged on two sides of the output end of the transmission unit. The platform frame for experiments further comprises a sensor, the transmission unit drives the simulation loads to generate axial movement along a transmission shaft of the simulation loads, and the sensor acquires force and/or displacement information at the position of the simulation loads. The parts are integrated on the same platform frame, and the parts are compact in arrangement, simple in structure and easy to process. After set information is input into the steering action input end, axial movement is generated at the simulation loads, and simultaneously the sensor records the movement displacement and stressed information in proper time. The platform frame is sensitive and reliable in integral action and convenient to use.