211 results about "Integral coefficient" patented technology

The present invention provides a filtering method for IMU multi sensor data fusion, firstly data is collected, aircraft attitude data can be acquired by an IMU inertial measurement unit comprising a gyroscope, an accelerometer and other multiple sensors, and a sensor output information mathematical model expression formula can be established; output data processing is performed, and the output data processing mainly includes removal of interference information and noises by use of slide average filter and resolution of the rotation angle of each sensor based on a four element method; a high-pass filter and a low-pass filter are combined, PI control parameters are added into a low-pass filtering part, proportionality coefficient variable Kp and integral coefficient variable KI are introduced for design of an error correction negative feedback of a second order complementary filter so as to realize the data fusion of each sensor, and finally attitude angles are outputted. By introduction and setting of the PI control parameters, a negative-feedback-containing second order complementary filter algorithm is designed to fuse the information of each sensor to improve the measurement accuracy and dynamic performance of the system.

The invention provides a method and a system for self-adjusting fuzzy PID (Proportion Integration Differentiation) parameters in a furnace temperature control system. The method comprises the following steps: selecting and quantifying variables in a PID controller and finding out a fuzzy relation of three PID control parameters including a proportionality coefficient KP, an integral coefficient KI and a differential coefficient KD , and system deviation e and a deviation varying rate ec; establishing a fuzzy relation table; and carrying out online modification on the three parameters by a fuzzy control method. The system corresponds to the method. After PID parameter online fuzzy self-adjustment is carried out, a normal working state is automatically switched, and a PID parameter adjusting process is automatically started when system performances are changed and the readjusted PID parameters so that the system has the better control quality.

The invention provides a d-q axis parameter identification method for a grid-connected inverter of a photovoltaic power generation system. The d-q axis parameter identification method includes: an inverter control reference value Udc-ref and Qref jump are arranged on the grid-connected inverter of the photovoltaic power generation system, or a three-phase short circuit fault is manufactured on the side of a power grid so as to collect disturbance data required by parameter identification; d axis parameters of the grid-connected converter are calculated according to the collected data, and the d axis parameters comprise filter inductance, d axis inner ring current control ring proportionality coefficients, inner ring current control ring integral coefficients, outer ring active power control ring proportionality coefficients and outer ring active power control ring integral coefficients; and a filter inductance parameter is fixed to be a d axis identification result, q axis parameters of the grid-connected inverter are calculated according to the collected data, and the q axis parameters comprise q axis inner ring current control ring proportionality coefficients, inner ring current control ring integral coefficients, outer ring reactive power control ring proportionality coefficients and outer ring active power control ring integral coefficients. The d-q axis parameter identification method for the grid-connected inverter of the photovoltaic power generation system reduces order and identification difficulty of a model to be recognized and improves identification accuracy.

A quasi-proportional resonance control-based permanent magnet synchronous motor parameter identification system and method belongs to the field of motor control. The quasi-proportional resonance control-based permanent magnet synchronous motor parameter identification system and method solves the problem of overcurrent existing a voltage injection method. According to the quasi-proportional resonance control-based permanent magnet synchronous motor parameter identification system and method, by designing the parameters of a proportional coefficient Kp2 and an integral coefficient KI of a proportional-integral link, closed-loop control of DC (direct current) components of injected composite signals can be achieved; by reasonably designing the quasi-proportional gain coefficient Kp1, the integral gain coefficient KR and the cut-off frequency omega c of a quasi-proportional resonance controller, the quasi-proportional resonance controller can achieve floating control of high-frequency sinusoidal signals in the injected composite signals nearby the resonant frequency omega 0; a proportional-integral-quasi-proportional resonance controller can accurately control the value of the injected composite current signals, reduce the harmonic content of current and meanwhile avoid the problem of overcurrent possibly occurring during inductance parameter identification experiments through the voltage injection method, thereby being applicable to different types of motors and high in universality.

The invention discloses an impedance self-adapting motion control method based on a rehabilitation training robot. The method is characterized in that: an online recognizer calculates an equivalent quality parameter Mh, an equivalent damping parameter Bh and an equivalent rigidity parameter Kh of a limb according to acting force and position of the limb collected by a force sensor and a position sensor, and corrects a proportional factor KP, an integral coefficient KI and a differential coefficient KD of a proportional-differential-integral controller according to the variation of the parameters; and a motor power signal output by the proportional-differential-integral controller is converted into a driving signal of a torque motor for controlling the work of the torque motor. According to the control method, the control flexibility and safety of the rehabilitation training robot can be improved.

The invention provides an automatic shockable rhythm identification and classification method combined with electrocardio time-frequency domain feature analysis. The method comprises specific steps as follows: S1, pretreating electrocardio signals; S2, automatically identifying cardiac arrest rhythms, and if discrimination conditions are not met, implementing S3; S3, on the basis of an integral coefficient band-pass filter, calculating the maximum amplitude proportion value (Pa), the average amplitude proportion value (Pb) and the average deviation proportion value (Pc) of output signals; S4, S5, S6 and S7, discriminating shockable rhythms and non-shockable rhythms according to frequency domain feature values such as the Pa, the Pb, the Pc and the like, and implementing S8 in case of failure; S8, calculating an electrocardio standard grid bar projection standard deviation; S9, discriminating the shockable rhythms and the non-shockable rhythms according to the standard deviation. The method can be applied to instruments and equipment which automatically identify and classify the shockable rhythms according to body surface electrocardiograms, the shockable rhythm identification sensitivity and the non-shockable rhythm specificity are improved, and the algorithm operating efficiency is improved.

The invention provides a method for combining a tri-band code wave pseudorange with a carrier phase in satellite navigation and positioning, relating to the technology of the satellite navigation and positioning. The method comprises the following steps of: using terminal equipment to receive the satellite downlink three code wave pseudoranges and the carrier phase; obtaining a code wave combined pseudorange and a carrier combined phase according to an integral coefficient combination, selecting a positive combination coefficient or a negative combination coefficient according to the principle that the time which is influenced by an ionosphere for closing to and solving ambiguity is short, and fast solving the ambiguity by the positive combination or the negative combination; and according to the principle that an ionosphere influence in a satellite-ground distance can be fast removed, selecting the combination coefficient to set up a double positive combination carrier wave which is used for removing the ionosphere influence in the satellite-ground distance, and using more than four (including four) pseudorange observation equations to solve the real position of the receiving terminal. The invention can set up a new system which not only can realize the high dynamic state of the code wave but also has the high precision of the carrier wave.

It is a challenge to make it possible to produce a resonance suppression effect, and perform a stable control even in a case where a spring rigidity of a shaft significantly varies. The challenge is achieved as follows. In an engine bench system in which an engine 1 to be tested and a dynamometer 2 are coupled together by a coupling shaft 3, and a shaft torque control of the dynamometer is performed, a controller 5 includes: an integral element having an integral coefficient K_I for a deviation (T12r−T12) between a shaft torque command T12r and a measured shaft torque T12; a differential element having a differential coefficient K_D for the measured shaft torque T12; and a proportional element K_P for the measured shaft torque T12. The controller 5 obtains a torque control signal T2 by subtracting the differential element and the proportional element from the integral element. Control parameters (K_I, K_P, K_D, f₁) are determined according to control characteristic parameters (a4, a3, a2, a1) set in a function calculation section 6, inertia moments J1, J2 of the engine and the dynamometer, and spring rigidity K12 of the coupling shaft.

The invention discloses an electric automobile and an electric current loop control method and device for a permanent magnet synchronous motor of the electric automobile. The method includes the following steps that traveling working condition information of the electric automobile, the d-axis given current and the q-axis given current of the permanent magnet synchronous motor and the d-axis actual current and the q-axis actual current of the permanent magnet synchronous motor are obtained; according to traveling working condition information and a preset neural network algorithm, a d-axis proportionality coefficient, a d-axis integral coefficient, a q-axis proportionality coefficient, a q-axis integral coefficient and the PWM switching frequency are calculated; and the d-axis voltage is calculated according to the d-axis given current, the d-axis actual current, the d-axis proportionality coefficient, the d-axis integral coefficient and a d-axis current PI control algorithm, the q-axis voltage is calculated according to the q-axis given current, the q-axis actual current, the q-axis proportionality coefficient, the q-axis integral coefficient and a q-axis current PI control algorithm, and therefore vector control can be conducted on the permanent magnet synchronous motor according to the d-axis voltage, the q-axis voltage and the PWM switching frequency. Therefore, through setting of control parameters matched with the traveling working condition, the better rapid respond capacity is achieved, and overshooting is reduced.

The invention discloses a PID controller parameter optimal setting method relating to the field of automatic control and based on swarm intelligence optimization searching technology. Integral performance indexes which can comprehensively measure stability, rapidness and accuracy of an automatic control system are adopted as fitness functions. Through utilization of a global optimization function of a differential evolution algorithm, a proportionality coefficient K[p], an integral coefficient K[I] and a differential coefficient K[D] which can realize global minimization of the performance index function values of a PID control system are searched to be regarded as optimal setting parameters of the PID controller. The PID controller parameter optimal setting method based on the differential evolution method is utilized to carry out simulation experiment direct current motor rotating speed closed loop control system. The experiment result shows that a PID control system obtained after undergoing setting by the method has outstanding advantages of a fast adjusting speed and small overshoot compared with control systems set obtained through a common setting method. The PID controller parameter optimal setting method is a PID controller parameter setting method having a popularization value.

The invention provides a multi-loop fuzzy coupling temperature and humidity controller suitable for a constant temperature and humidity experiment box. Compared with the traditional temperature and humidity controller for the constant temperature and humidity experiment box, the controller has a distributed structure mode; independent acquisition circuits are adopted in temperature and humidity control respectively; coupled calculation of temperature and humidity parameters is performed in a bus communication-based mode; algorithms and realization modes of fuzzy rules comprising parameter fuzzification, fuzzy rule reasoning, parameter defuzzification and the like are introduced; membership degrees of transition temperature and humidity input values are calculated according to temperature and humidity reference input and feedback signals and a membership function of a temperature and humidity input fuzzy set; and meanwhile, a compounding proportion integration differentiation (PID) control function of temperature and humidity is called on the basis of a coupling model of temperature and humidity, and the proportion coefficient, the integration coefficient and the differentiation coefficient of a temperature and humidity PID controller are calculated and used as references of the current controller for controlling the temperature and the humidity. By practical application of the multi-loop fuzzy coupling temperature and humidity controller for the constant temperature and humidity experiment box, the control effect on the temperature and the humidity of the constant temperature and humidity experiment box can be effectively realized, the constant temperature and humidity requirements of the experiment box are met, the stabilities of the temperature and the humidity are higher than those of the traditional temperature and humidity controller, and the temperature index and the quality of the constant temperature and humidity experiment box are improved.

The invention discloses a performance-controllable PID controller parameter optimization and tuning method. The method comprises steps: firstly, according to a transfer function of a controlled process, the traditional critical proportional band method is adopted to tune three parameters of a proportion coefficient KP, an integral coefficient KI and a differential coefficient KD of the PID controller, and according to tuning results, an optimal value searching range of KP, KI and KD parameters are determined; and then, based on a novel optimization performance index formed by deviation and a deviation change rate and a corresponding fitness function, a genetic algorithm is adopted to optimize the three parameters of KP, KI and KD of the PID controller. Through changing the weight of the deviation change rate in the optimization performance index, the optimization effects can be adjusted conveniently and effectively, and the final PID controller control performance is optimized.

The invention discloses a method for controlling an electronic expansion valve of an air conditioner. The method includes the steps that the real-time operation frequency and the real-time exhaust temperature of a compressor are obtained, and the real-time operation frequency is compared with the first set frequency; if the real-time operation frequency is not larger than the first set frequency, the integral coefficients of the PID algorithm are obtained according to a first set rule, the temperature which is larger than the reference target exhaust temperature obtained according to the first positive correlation between the target exhaust temperature and the compressor operation frequency is used as the first set target exhaust temperature; if the real-time operation frequency is larger than the first set frequency, the integral coefficients of the PID algorithm are obtained according to a second set rule, and the second set target exhaust temperature is obtained according to the first positive correlation; and the difference value between the real-time exhaust temperature and the first or second set target exhaust temperature serves as the deviation for conducting PID control over the opening degree of the electronic expansion valve. By the adoption of the method, the opening degree of the electronic expansion valve is accurately and stably adjusted.

The invention discloses an efficient and accurate signal preprocessing method and a signal wave crest detecting method. The signal preprocessing method comprises the following steps: the step of eliminating baseline drift, namely, enabling original signals to pass through an integral coefficient filter realizing subtraction of low pass from all pass, so that the influences of the baseline drift are eliminated; and the step of eliminating influences, namely, enabling the signals processed by the integral coefficient filter realizing subtraction of low pass from all pass to pass through an integral coefficient low-pass filter, so that the influences of the electromyographical interference and power frequency interference are eliminated. For the signal preprocessing method provided by the invention, the signals can be preprocessed in real time, the signal preprocessing method has the advantages that the speed is high, the instantaneity is good, the realization is easy, and the complexity of the filtering algorithm is reduced; for the signal wave crest detecting method provided by the invention, the wave crest detecting efficiency and accuracy are improved, the realizing complexity of the algorithm is reduced, and the resource consumption for realizing algorithm hardware is greatly saved.

The invention discloses a grid connection current soft start and soft stop method and system for a photovoltaic grid-connected inverter. The method mainly includes the steps of increasing an output current of the photovoltaic grid-connected inverter from zero step by step in the soft start process through a voltage outer loop control method where a slope reference voltage link unit and a variable-proportion integral coefficient are combined, and judging whether the soft start process is terminated or not by detecting whether output of a photovoltaic cell array reaches the largest power point or not in real time, and/or includes the steps of decreasing the output current of the photovoltaic grid-connected inverter from the largest value step by step in the soft stop process, and judging whether the soft stop process is terminated or not by detecting whether output of the photovoltaic cell array reaches the set smallest power value or not in real time. By means of the grid connection current soft start and soft stop method and system for the photovoltaic grid-connected inverter, the defects that in the prior art, hardware cost is high and power consumption is large can be overcome, and the advantages of being low in hardware cost and small in power consumption are achieved.

The invention discloses a parameter setting method for a double-closed-loop vector control PI regulator of a permanent magnet synchronous motor. A current inner loop system is corrected into a first-order system by utilizing a pole-zero cancellation principle in a current loop closed-loop transfer function; a proportional coefficient and an integral coefficient of a current loop PI regulator are obtained through the current loop closed-loop transfer function; when two constraint conditions of enabling the slope at a cut-off frequency of a speed loop open-loop transfer function to be -20 dB/decand obtaining the maximum phase angle margin are met, a proportional coefficient and an integral coefficient of a speed loop PI regulator are determined; and parameters of the speed loop PI regulatorare obtained. An automatic control related theory is combined, and a theoretical basis is provided for setting the PI parameters; change relations between the PI parameters, and a motor parameter-current loop bandwidth and a system performance index-damping factor are revealed; the PI parameters can be set for different motor systems more flexibly and accurately; and therefore, the universality is high.

The invention discloses a feed-type electromagnetic damping vibration attenuation control method for a vehicle suspension. The method is applicable to an electromagnetic damping vibration attenuation device formed by a cylindrical fault-tolerant permanent-magnet linear motor, a motor controller, a speed sensor and a storage battery. Since the motor controller figures out the speed and the acceleration of the cylindrical fault-tolerant permanent-magnet linear motor according to the signal of the speed sensor, calculates the proportionality coefficient Kp and the integral coefficient Ki of a variable parameter PI based on the absolute value of the acceleration in real time and controls the cylindrical fault-tolerant permanent-magnet linear motor to run by adopting a speed closed-loop vector control strategy, the electromagnetic vibration attenuation function is realized, the vibration energy is recovered, the electromagnetic damping coefficient can be adjusted in real time according to the actual situation, the vibration attenuation performance of the suspension and the smoothness of a 'man-vehicle' system are improved and the energy is saved.

The invention relates to the technical field of PID control, in particular to a control method and a control system thereof using a PID algorithm. In the improved PID algorithm, besides four basic peripheral parameters, such as a sampling period, a proportionality factor, an integral coefficient and a differential coefficient, six peripheral parameters such as an initial difference, a dead zone difference, a dead zone integral value, a differential period, an integral weighting coefficient and an integral value upper limit are added, and a method for calculating the integral value is also changed, so that through the control method and the control system, intensity reaction can be more reasonably performed and ideal control accuracy can be obtained by more methods.

Embodiments of the invention relate to a current feedforward control method and device based on proportional integral coefficient adjustment for improving the response speed of a speed ring of an AC servo drive control system. The current feedforward structure can realize the independent calculation of a current feedforward instruction without being affected by the external disturbance, referenceis made to a feedback control system model in the establishment of a current feedforward model, the calculation accuracy of the current feedforward instruction of the control system is improved, and compared with the traditional current feedforward system based on flow pass filtering, the novel current feedforward system has better instruction tracking capability, eliminates the distortion causedby the low pass filtering feedforward to the instruction filtering and effectively improves the response speed tracking capability of the control system.

The invention provides a novel PI controller structure. Based on a traditional PI controller, the novel PI controller structure is provided with a differentiator link which is called as a given differential feedforward link and a control gain link. The given differential feedforward link is used for compensating modeling errors, and the control gain link is used for allowing independence between the proportionality coefficient and integral coefficient of an PI controller and motor parameters, and facilitating setting. The invention also provides a parameter setting method of a novel PI controller, comprising: calculating control gains; calculating a damping ratio in dependence on overshoot; adjusting an undamped natural frequency in dependence on noise; and calculating the proportionality coefficient and integral coefficient of the PI controller. Control parameters of the novel PI controller structure are easy to set, and given data continuously changing can be well tracked.

The invention relates to a molding system and method of a pump storage group speed regulating system. The molding method comprises the following steps of: identifying a PID link proportionality coefficient and integral coefficient based on pure proportion and pure integral measured data; identifying an integral time constant and a feedback time constant of a main distributing valve based on measured data of the main distributing valve; identifying an integral time constant, a feedback time constant and an amplification coefficient of a main servomotor based on measured data of the main servomotor ; identifying a linear relationship coefficient between a power and an aperture based on power-aperture measured data; identifying a prime mover parameter based on measured data of an open-loop disturbance power; identifying a generator set parameter based on measured data of closed-loop power disturbance; optimizing the obtained parameters and returning the parameters to each sub-link parameter identification module, calculating model response, and carrying on iterative optimization of the parameters if a difference between the model response and the measured response is beyond the limitation; otherwise, outputting a result.