101 results about "Internal model" patented technology

A simple yet effective and robust identification method is presented using process step responses for process identification that can provide a continuous transfer function with time-delay without iteration. A cascade relay provides accurate and reliable more points on the process frequency response. The internal model principle is employed to design single-loop controller of PID or high-order types with best achievable control performance for controller tuning, e.g. both single and multivariable cases are covered. The process identification and control design portions can be easily integrated into a control system auto-tuning package. Further, a general control scheme for disturbance rejection is given which can significantly improve disturbance rejection performance over conventional feedback systems with time delays. Practical issues such as noises, real-time implementation and tuning guidelines are also provided. The present invention provide general, systematic, effective, and applicable methods for process identification and control for a wide range of industries such as process and chemical plants, food processing, waste water treatment and environmental systems, oil refinery, servo and mechatronic systems, where a system model is needed for analysis, prediction, filtering, optimization and management, and / or where control or better control is required for their systems.

The invention discloses a bearing-free asynchronous motor control method based on a neural network inverse system theory. A composite controlled object is composed of two sets of Park inverse transformation, two sets of Clark inverse transformation, two sets of current regulating inverters, a flux linkage observer, and a bearing-free asynchronous motor; a fuzzy neural network and integrators form a fuzzy neural network inverse system; and the fuzzy neural network inverse system is in series connection with the composite controlled object; besides, the bearing-free asynchronous motor is decoupled into a pseudo linear system comprising two displacement subsystems, a rotating speed subsystem and a rotor flux linkage subsystem; and the obtained pseudo linear system is introduced into internal model control to form closed-loop control. According to the invention, the control precision is high and there is high robustness on an external disturbance, a parameter change and a modeling error, thereby realizing high-performance control on a bearing-free asynchronous motor.

The invention provides a control method for a photoelectric tracking and stabilization platform of a moving carrier. An integral stabilization mode is adopted, and the method comprises the following steps of: designing a high-bandwidth current loop; establishing a mathematical object model, testing the frequency characteristics of an object by using a dynamic signal analyzer, and performing fitting to obtain an object transmission function Gm(s); designing an internal model controller Gimc(s) according to the established object model by adopting a two-step method, and regulating a parameter epsilon of the internal model controller Gimc(s) to obtain the high robustness of a system; and adding a parallel control loop on the basis of internal model control to realize two-port internal model control, and improving the low-frequency gain of the system to improve the accuracy of the system by designing a second control port. An additional sensor is not required, and equivalent complex control is realized by improving a control algorithm. The method is simple in control structure, engineering implementation is facilitated, and the stabilization accuracy of the photoelectric tracking and stabilization platform is greatly improved.

The invention discloses a permanent magnet synchronous motor speed adjusting system based on internal model control and a design method thereof. The method includes the steps of designing a standard speed internal model controller, designing a dual-port speed internal model controller, designing a fuzzy self-adaptive speed internal model controller, and determining a final q-axis current referencevalue according to the designed fuzzy self-adaptive speed internal model controller to realize the dual-closed-loop vector control of a motor. The influences caused by motor model mismatch and external interference on motor operation are solved, the motor control effects of enhancing the control system speed tracking performance and anti-interference performance are realized, and speed tracking and load disturbing can be well realized. The influences caused by model mismatch and external interference on motor operation can be overcome, and therefore the robustness and stability of the systemare improved.

Provided is a control method of a mechanical elastic energy storing permanent magnet motor group under various external disturbances. The permanent magnet motor group comprises a permanent magnet synchronous motor, a gear gearbox and a volute spring box used for mechanical elastic energy storing. The control method includes that a full system mathematical model including the permanent magnet synchronous motor, the gear gearbox and the volute spring box is constructed, and then non-linear internal model equations and a state feedback controller are designed aiming at various different an-harmonic cycle-bounded nonlinear external disturbances. According to the control method, the different non-linear internal model equations are designed, and the state feedback controller is designed on the basis of a nominal system control law. Test results prove that different nonlinear disturbance inputs can be completely restrained, the designed state feedback controller enables a closed loop system to fast track reference signals, angular velocity output by the permanent magnet motor group under various external disturbances is ensured to be basically stable, and high-accuracy servo control of the motor group is achieved.

The invention discloses a heating furnace temperature control method based on a novel two-degree-of-freedom internal mold PID. The method comprises the following steps of: step 1, designing an internal model control structure; step 2, designing an improved two-degree-of-freedom internal mold control structure; and step 3, designing and tuning a controller for a stabilization process. The method improves the two-degree-of-freedom internal mold control structure, and adds a weighting factor to the parameters of a set point tracking controller, which facilitates on-line tuning and achieves good set point tracking. The equivalent design of the controller is adopted in the form of different PID controllers for a first-order time-delay process and a second-order time-delay process, so that eachtuning parameter of the controller is obtained simply and conveniently. Moreover, a system can meet both good tracking performance and interference suppression performance, and the control requirements of the system also can be guaranteed.

The invention discloses a customized harmonic repetitive controller and a control method, which belong to the field of repetitive controllers for industrial control. According to the repetitive controller, a periodic signal generator formed by three time delay modules and a positive feedforward gain module is used as a whole to form a forward path; the internal model of the periodic signal is constructed in an output positive feedback form, so that the structure meets the standard internal model construction method. The capability of order expansion is achieved, the flexibility of the controller is greatly improved, the disturbance elimination speed of the controller is improved, the structure is simple, and the design is convenient. The further expanded h-order (nk + / - m) harmonic repetitive controller (h is greater than or equal to 2) covers a plurality of existing high-order repetitive controllers, and a unified form is provided, so that the controller has universality.

The invention discloses a robust feedforward controller and high-frequency gain compensator optimization method. The method comprises the steps that an EPS system mathematical model is established, and system transfer characteristics are obtained; a torque control loop control strategy is established, and a transfer function which has significant influence on the steering feeling of a driver is obtained through the system mathematical model and a basic control strategy; the change of a torque sensor signal is used as the main disturbance of an EPS system, a torque control loop uses a second-order feedforward controller to carry out disturbance compensation, the change of the EPS system transfer characteristics caused by the main disturbance is regarded as the uncertainty of the system, andan internal model control structure is established; a robust control theory is used to establish the design target of the robust feedforward controller, and the robust second-order feedforward controller is obtained by solving an optimal algorithm; and a high-frequency gain compensator is added to improve the control effect of the second-order feedforward controller in a high frequency band. According to the invention, the parameter acquisition of the robust controller is facilitated, and the controller can be adjusted more simply.

The invention relates to a global small-signal mathematic model and an internal model controller for a VSC converter station for supplying power for a passive network. The global small-signal mathematic model comprises three parts such as a VSC converter small-signal mathematic model, a coupling electric reactor and converter transformer equivalent small-signal model and a passive network small-signal model. Then, control system dynamic performance index ISE and robust performance index M value function are comprehensively considered, and appropriate low-pass filter bandwidth is selected. Finally, according to an internal model principle, the structure and parameters of the internal model controller for the VSC converter station are deduced, and controlled volumes are common node voltage dand q axis components on the alternating current side of the VSC converter station. Above all, the designed internal model controller for the VSC converter station can realize alternating current voltage control, stable alternating current voltage and good quality of electric energy can be provided for the passive network under the working conditions such as load fluctuation, controlled volume set value change and parameter perturbation.

The invention discloses a closed-loop control method and system of a rear oxygen sensor of a natural gas engine. The closed-loop control method comprises the steps that a response model of the rear oxygen sensor is constructed, and the response time of the sensor is calculated through the response model of the rear oxygen sensor; according to the response time of the sensor and the output correction amount of a PID controller, the undelayed air-fuel ratio is calculated; a pure lag time model of a catalyst is constructed, the pure lag time is calculated through the pure lag time model of the catalyst; a model of a Simth predictive controller or an internal model controller is constructed, the model of the Simth predictive controller or the internal model controller calculates the delayed air-fuel ratio according to the undelayed air-fuel ratio and the pure lag time; and the difference between the undelayed air-fuel ratio and the delayed air-fuel ratio is fed back to the input end of thePID controller of a PID closed-loop control loop, namely the pure lag of the oxygen storage capacity of the catalyst and the response lag of the rear oxygen sensor are introduced into the closed-loopcontrol loop, the time-lag link of the closed-loop control loop of the rear oxygen sensor is eliminated, and the stability and emission consistency of the closed-loop control are improved.

The invention belongs to the technical field of protection circuits, and relates to a ship direct-current grid-connected system and a short-circuit protection simulation method thereof, and the methodcomprises the steps: analyzing a main circuit of a system at a short-circuit fault moment, and building an equivalent circuit model thereof; building an internal model of each functional module in the equivalent circuit model; establishing an overall simulation model of the system, and setting simulation environment parameters; and simulating each short-circuit fault point of the system in sequence, analyzing the fusing time sequence of each fuse, and adjusting the parameters of the fuses to meet the short-circuit protection design requirements of the system. Based on the simulation method, the transient change and the fusing time sequence of the system can be accurately and visually reflected when each branch has a fault, the design scheme of short-circuit protection and coordination protection of the system is checked and corrected, a theoretical basis and support are provided for a short-circuit test of a real object, and the accuracy of a simulation result is ensured.

The invention belongs to the technical field of building heat supply, and provides an electric heating control system, a fault detection method and a fault tolerance control method. Step response-based internal models of all rooms are acquired based on the prediction control thought or through an on-line or off-line method; then a prediction model is established; the difference between an output variation and an actual output variation of the prediction model is calculated and is compared with a threshold value to determine the working state of the system; then, the fault type is determined based on comprehensive analysis on other fault information; and finally, different control strategies are adopted according to the fault type, wherein a management layer open-loop prediction control method is adopted if a channel fault is detected, a field control layer closed-loop prediction control method is adopted when a communication channel fault is detected, and an environment temperature optimization-based control method is adopted when an actuator and execution channel fault is detected, so that fault diagnosis and fault tolerance control are achieved, and the heating reliability and economical efficiency are improved through software without adding any hardware resources.

The method is based on a small signal mathematical model of a double-end VSC-HVDC system. A transfer function matrix of the object model is derived, a method for judging whether electrical coupling exists in a double-end converter station or not is given, and an inter-station internal model decoupling control method for a flexible direct-current power transmission system is provided according to an internal model control principle, so as to weaken the coupling relationship between two converter stations and improve the independent operation capability of a VSC-HVDC converter station.

Provided is a control method of a mechanical elastic energy storing permanent magnet motor group under non-harmonic disturbances. The permanent magnet motor group comprises a permanent magnet synchronous motor, a gear gearbox and a volute spring box used for mechanical elastic energy storing. The control method includes that a full system mathematical model including the permanent magnet synchronous motor, the gear gearbox and the volute spring box is constructed, and then non-linear internal model equations and a state feedback controller are designed aiming at nonlinear disturbances generated by a nonlinear external system. According to the control method, the different non-linear internal model equations are designed on the basis of type features of external disturbances, and the state feedback controller is designed on the basis of a nominal system control law. Test results prove that the designed state feedback controller can ensure that angular velocity output by the permanent magnet motor group under various external disturbances is basically stable and enables a closed loop system to fast track reference signals, and high-accuracy servo control of the motor group is achieved.

The invention relates to a grid-connection control policy for a motor train unit grid-side converter under a network voltage fluctuation working condition. A single-phase VSR rotary coordinate system mathematical model is established based on three-phase VSR rotary coordinate system theoretical basis; the problem of delay of a current control internal model is relieved by adopting a rapid virtual axis algorithm; independent regulation on the active power and the reactive power is carried out separately; the mutual coupling problem of the VSR and d and q components is solved by the design of the current inner loop decoupling control; and the harmonic component in the grid-side current is restrained by adopting a carrier phase-shifting technology. According to the grid-connection control policy provided by the invention, the rotary coordinate system based control method and the rapid virtual axis algorithm are adopted, so that static-error-free tracking for the grid current as well as the independent control on the active power and the reactive power can be realized; the problem of delay of the current loop control existing in the pure virtual axis control method is also solved; the dynamic performance of the system is greatly improved; and the harmonic component in the grid-side current is restrained by adopting the carrier phase-shifting technology.

The invention discloses a wind turbine generator active power control optimization method and system based on internal model control. The method comprises the steps: collecting the real-time mechanical power PM of a fan, and taking the mechanical power PM as the input of a preset nonlinear built-in model GIMC (s) to form a feedback compensation signal delta PE; adding the feedback compensation signal delta PE and the fan active power demand Pord to serve as a feedback signal, and inputting the difference between the feedback signal and a preset active power set value Ptate into a pitch compensation control PID (Proportion Integration Differentiation) controller to calculate to obtain a pitch angle control compensation amount; and superposing the pitch angle control compensation amount to the pitch control amount to obtain a pitch angle control instruction of the next period. According to the method, the primary frequency modulation control performance of a wind turbine generator can be improved, the fluctuation amplitude of power along with wind speed disturbance is reduced, and the robustness and the anti-interference capability of fan power control are improved.

The invention provides an autonomous vehicle queuing distance control method. The method comprises the following steps of establishing a bicycle constant speed control system; obtaining a multi-vehicle spacing control system through a multi-agent theory according to the single-vehicle constant-speed control system; designing the parameters of an internal model compensator, and analyzing the robustness of the multi-vehicle-to-vehicle distance control system; according to the multi-vehicle-to-vehicle distance control system and the analyzed robustness, simulating a vehicle; and according to a simulation result, applying the internal model compensator of the control system to the vehicle. According to the autonomous vehicle queuing distance control method provided by the invention, one vehicle follows the other vehicle, a certain distance is kept between the vehicle and the vehicle in front of the vehicle, and the distance is almost constant; the vehicle collision is avoided by setting the parameters and the anti-collision of the internal model compensator, and the queuing problem of multiple vehicles is solved. The method is not limited by the vehicle types, the wind resistance is considered, and braking, interference and uncertainty of vehicles are not involved.

The invention discloses a two-degree-of-freedom internal model control analysis method for an industrial heating furnace. The method includes the following steps that: step 1, the process model of a controlled object is established; step 2, a two-degree-of-freedom internal model PID controller is designed; and step 3, stability analysis is performed on the designed controller. With the two-degree-of-freedom internal model control analysis method for the industrial heating furnace of the invention adopted, a two-degree-of-freedom internal model PID control method is improved; transient responseis improved through the external PD controller; and therefore, a system can achieve both good tracking performance and interference suppression performance, and the control requirements of the systemcan be guaranteed.

The invention discloses a PLC-based generalized neural network inverse internal model implementation method for a multi-motor speed regulating system. The method comprises the steps as follows: three siemens M440 converters drive three three-phase induction motors to drive loads to form the three-motor speed regulating system respectively; a mathematical model of a generalized right inverse system is deduced according to the mathematical model of the three-motor speed regulating system; three PID controllers are designed through an S7-300PLC to stabilize a three-motor drive system and to collect samples; data collected in the previous step is processed through a Wavelet Toolbox; characteristic signals are extracted; a neural network is trained offline; and finally closed-loop internal model controllers are designed for a sub-system for a rotating speed omega<r2> of the 2#motor, the sub-system for tension F<12> between belts and the sub-system for the tension F<23> between the belts in the siemens S7-300PLC respectively. The method disclosed by the invention eliminates a steady-state error of a generalized neural network inverse open-loop system and strengthens the system robustness.

The invention provides a wheeled robot trajectory tracking optimal control method. The method comprises the following steps of: establishing kinematic models of an actual wheeled robot and a virtual wheeled robot to obtain trajectory tracking error models of the actual wheeled robot and the virtual wheeled robot; designing sliding mode surfaces of the trajectory tracking error models of the actual wheeled robot and the virtual wheeled robot, and designing a kinematics controller according to an integral sliding mode control theory, so as to make the position error of the wheeled robot asymptotically converge; with external interference and uncertainty of an internal model of the wheeled robot comprehensively considered, establishing a dynamical model of the wheeled robot; designing a fixed-time nonlinear expansion state observer, observing the speed of the wheeled robot and estimating external interference and internal uncertainty, and ensuring that observation errors converge to zero within fixed time; and designing a dynamic controller based on a linear quadratic optimal control theory, so as to make the wheeled robot follow a given reference speed, anda given performance index minimum.

The invention discloses a double-buoy direct-drive type wave power generation control method. According to the method, according to a wave mechanics theory, under the condition that an inner buoy in adouble-buoy direct-drive type wave power generation device is kept in a static state, the vertical movement speed of a movable buoy and the vertical movement speed of waves to achieve resonance; andthe method comprises the following steps of 1, according to the wave mechanics theory, calculating the operation characteristics of the movable buoys of a double-buoy direct-drive type wave power generation device under natural conditions; 2, establishing a controller model by adopting an internal model control method; and 3, verifying the model obtained in the step 2 through experimental simulation, determining a final controller, and enabling the vertical movement speed of the movable buoy and the vertical movement speed of the wave form resonance. According to the method, aiming at the real-time changes of ocean wave frequency, wave height and period, PID control algorithm is adopted for the offshore wave power generation device, so that the vertical movement speed of the movable buoy and the vertical movement speed of waves achieve resonance, and the problem that the wave energy conversion efficiency of an existing wave power generation device is low is solved.

The invention discloses an electric vehicle speed tracking control method based on an internal model. The method comprises the following steps: 1, selecting a permanent magnet synchronous motor as a drive motor, enabling a motor model to be integrated with an electric vehicle transmission system, and building a nonlinear mathematic model of an overall system; 2, describing a speed tracking and interference suppression problem of the electric vehicle as a global robust servo control problem; 3, designing the internal model, and converting the global robust servo control problem of the whole system into a global robust stabilization problem of an augmentation system composed of the whole system and the internal model; and 4, designing a state feedback controller by adopting a backstepping technology to solve the global robustness stabilization problem of the augmentation system. A state feedback controller based on the internal model is designed for the phenomena of system parameter change and system external interference introduction caused by the running environment in the running process of the electric automobile, and the speed tracking control of the electric automobile is realized.

Belonging to the technical field of air conditioner control, the invention discloses an internal model decoupling control method and control system of a variable air volume air conditioner. The methodincludes: building a three-input three-output model adopting air volume, cold supply water flow and fan rotating speed as the input variables and taking room temperature, supply air temperature and static pressure as the output variables; constructing an internal model control structure; and constructing a decoupling network model, which adopts a multiple-input multiple-output internal model decoupling control method for decoupling, and realizes single-input single-output control of the air volume-room temperature, chilled water flow-supply air temperature and draught fan rotating speed-static pressure. According to the invention, internal model decoupling control is adopted to weaken the coupling performance of the control loop with strong coupling performance, namely the air volume-roomtemperature, chilled water temperature-supply air temperature and fan rotating speed-static pressure, to negligible, and when any control variable changes, the influence caused by the coupling loop can be negligible, and the overall stability and robustness of the variable-air volume air conditioning system are improved.

A high-precision control method for a three-axis inertially stabilized platform based on an internal model principle and a self-adaptive time-varying bandwidth observer relates to the design of a composite controller of the internal model principle and the self-adaptive time-varying bandwidth observer. The method comprises the following steps: firstly, designing a servo compensator and a stability compensator according to a common instability model of reference input and disturbance signals of the triaxial inertially stabilized platform, and realizing suppression of constant values with known structural characteristics and frequencies and harmonic interference, so as to achieve zero-static-error control; and secondly, according to the state equation of the three-axis inertially stabilized platform, constructing the self-adaptive time-varying bandwidth observer, estimating residual structural characteristics, interference with unknown frequency and random interference in real time, and realizing high-precision control of the three-axis inertially stabilized platform in a complex environment while ensuring rapidity and small overshoot. The method has the advantages of being good in real-time performance, fast in dynamic parameter response, high in multi-source interference adaptability and the like, and can be used for high-precision control and the like of the three-axis inertially stabilized platform in the complex multi-source interference environment.

The invention provides a distributed multi-unmanned ship adaptive neural network formation control method considering input quantization. The method comprises the following steps of: constructing an unmanned ship kinematic model; considering a quantitative input problem, and constructing an unmanned ship dynamics model; designing a kinematics controller; based on the kinematics controller, designing a distributed formation control law, and designing a dynamics controller; and designing a dynamics control law based on the dynamics controller. In the kinematics subsystem, a distributed guidance law is designed based on an extended state observer, a time-varying trajectory is tracked, and an unknown state of an adjacent ship is estimated by using the observer; in a dynamics subsystem, a linear time-varying model is used to describe a quantization process, a radial basis function neural network is used to identify unmodeled dynamic and system uncertain items, and a quantizer-free parameter information adaptive neural network quantization control law is designed; and an unknown dynamics problem caused by external ocean disturbance and internal model uncertainty is considered, and effective control of the distributed multi-unmanned ship formation considering an input quantization problem is realized.

The invention discloses a novel disturbance observation compensation controller and an implementation method of the novel disturbance observation compensation controller. Different from an internal model disturbance observation compensation and state space observer which is widely adopted in the current disturbance observation and compensation technology, the method of combining the active disturbance rejection technology and the internal model control technology is introduced, and the disturbance observation compensation controller is analyzed and designed in an auxiliary mode. The novel disturbance observation compensation controller comprises a system controller, an extended state observer (ESO), a controlled object closed-loop modeling module and an internal model controller. According to the invention, the disturbance observation error caused by the uncertainty of the controlled object model is solved, the contradiction between the disturbance observation precision and the modeling precision is relieved, the disturbance observation and compensation precision is greatly improved, and the design steps of the novel disturbance observation compensation controller are simplified. The controller is high in disturbance observation precision, good in disturbance compensation effect, simple in design step and convenient for engineering realization.

A method for setting a throttle valve that includes feedback control of a throttle position of the throttle valve in the entire operating range of an internal combustion engine, wherein the feedback control is based on an internal model control principle.

The invention discloses a permanent magnet synchronous motor periodic disturbance suppression method for internal model equivalent input interference, and the method comprises the following steps: performing mathematical modeling on a permanent magnet synchronous motor to obtain a control system state equation with disturbance; designing a proportional-integral controller according to the control system state equation, and tracking reference input according to the proportional-integral controller; designing an inner model equivalent input interference suppressor according to the control system state equation, and suppressing periodic disturbance of the permanent magnet synchronous motor through the torque disturbance suppressor. According to the method, the internal model of the periodic signal is added into the disturbance compensator of the equivalent input interference method, so periodic interference can be completely suppressed in real time, the structure of a control system is simplified, and an expected suppression effect is achieved.

The invention provides an unmanned aerial vehicle anti-interference control method based on an internal model control principle. A physical system of an unmanned aerial vehicle is considered. The intelligent control method comprises the steps of establishing an unmanned aerial vehicle dynamics model with external disturbance, building an external disturbance system, designing an unmanned aerial vehicle distributed control algorithm with external disturbance based on theoretical knowledge such as graph theory and convex analysis, further designing a Lyapunov function. The convergence of the designed algorithm is proved through the Lyapunov theorem, it is guaranteed that the state variables of the unmanned aerial vehicle converge to the target, finally the effectiveness and feasibility of the method are verified again through a numerical simulation example, and dynamic tracking of the unmanned aerial vehicle and formation of the unmanned aerial vehicle can be well achieved under the disturbance condition. The control precision of the unmanned aerial vehicle system is improved, and the method has certain practical value in both civil and military aspects.

The invention discloses a method for improving robustness and contour performance of a double-axis or three-axis feed driving system. The method comprises the steps: taking a movement mechanism and a plurality of motors as a whole for unified modeling, and restraining the non-linear friction and slow time-varying disturbance which are not modeled by combining the internal model principle; designing a double-axis or three-axis position-current prediction controller through a model prediction control method based on a state space, taking contour errors and tracking errors as internal variables of a double-axis or three-axis feed driving system and are added into a value function, and then acquiring the value function of the double-axis or three-axis feed driving system through the thoughts of multi-step prediction, rolling optimization and feedback correction in model prediction control; performing optimization to obtain a control input signal which enables the tracking precision and the contour precision to be coordinated optimally; according to actual requirements, considering constraint conditions, and establishing a posteriori constraint limiting network of current increment; and finally, achieving the purpose of improving the tracking and contour control performance of the double-shaft or three-shaft feed driving system.