543 results about "Linear control" patented technology

The embodiment of the invention provides a filling production line control method and system based on a virtual reality technology. According to the embodiment of the invention, the method comprises the steps: synchronously collecting a real-time dynamic parameter set of a fluid medium, constructing a dynamic coupling factor, generating a dynamic response coefficient matrix through a fluid coupling identification model, generating a nonlinear control parameter combination according to the dynamic response coefficient matrix, and inputting the nonlinear control parameter combination into a motion trail planner. Generating an optimized motion track instruction, driving an execution mechanism to execute filling operation according to the optimized motion track instruction through a servo controller, monitoring the deviation degree in real time, reconstructing the fluid coupling identification model when the deviation degree exceeds a preset threshold value, and updating a dynamic coupling factor; the nonlinear control parameter combination is corrected through the updated dynamic coupling factor, a closed-loop interlocking control mechanism is generated, and the technical scheme provided by the embodiment of the invention not only improves the intelligent level of a filling production line, but also improves the precision and stability in the filling process.

The present invention relates to a large-span venue steel structure, which is characterized in that: the large-span venue steel structure comprises standard exhibition halls and an entrance hall; there are a pair of standard exhibition halls; the entrance hall presents a T-shaped structure, and the standard exhibition halls are arranged on both sides of the entrance hall respectively; and the standard exhibition halls are symmetrically arranged with respect to the entrance hall. A latticed shell structure is optimized to form hub joints, and a machining process is simple, so as to achieve batch production in a factory; compared with a latticed shell structure formed by weld joints, this method greatly reduces the appearance treatment difficulty of the latticed shell; in addition, latticed shell rod members and the hub joints are welded in an intersecting mode, such that positioning is simple, thus better facilitating control of the overall structure quality and linear control; a special hoisting structure is designed, and proper hoisting points are selected, thereby providing hoisting data support theoretically; using a specially designed jig reduces hoisting installation risks, and also solves the hoisting precision control problem; said improvement points ensure the hoisting installation performance, and an assembly profile contour of the structure meets design requirements, thereby reducing the rework frequency.

The invention discloses a multi-target dynamic optimization hydrogen energy unmanned aerial vehicle energy management method and system under an MPC framework, belongs to the technical field of energy management, comprehensively considers factors such as energy consumption, battery degradation and output fluctuation, and realizes safe and efficient operation of a hybrid power system based on a predictive control idea. The management system comprises a sensing subsystem, a control subsystem, an interaction subsystem and a power supply subsystem. The management method comprises the following specific steps: adjusting a predictive control time domain according to a historical demand power sequence; updating the aging parameter of the hydrogen fuel cell, and fixing the weight coefficient of the cost function; through a multi-target online optimization algorithm, obtaining an optimal SOC change curve under a prediction time domain; and outputting the reference power of the fuel cell through linear MPC control according to the reference change curve.

A system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor and a device associated with the actuator over in-building or in-vehicle networks, and an external Internet-connected control server associated with the control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon. The sensor may be a microphone or a camera, and the system may include voice or image processing as part of the control logic. A redundancy is used by using multiple sensors or actuators, or by using multiple data paths over the building or vehicle internal or external communication. The networks may be wired or wireless, and may be BAN, PAN, LAN, WAN, or home networks.

The invention discloses a vehicle dynamics Kupman modeling and predictive stability expansion control method, and belongs to the technical field of vehicle dynamics modeling and safety technology control. The invention aims to provide a vehicle dynamics Kupman modeling and predictive stability expansion control method designed by combining a model predictive control method based on a closed-loop data promoted Kupman operator modeling method. According to the method, firstly, a linear two-degree-of-freedom reference model of the vehicle is designed, then a nonlinear closed-loop control system is established, Kupman lifting is carried out, a high-dimensional observation function is constructed, and finally, a linear MPC controller is designed. According to the method, linearization of vehicle dynamics is achieved through the Kupman model, the calculation complexity is remarkably reduced, the real-time performance of the controller is greatly improved, and a control system can rapidly respond under the dynamic working condition.

The invention discloses a wind power operation and maintenance ship embarkation system compensation control method based on active disturbance rejection control and related equipment. The method comprises the following steps: predicting a system external wave disturbance variable of a six-degree-of-freedom embarkation compensation platform according to environmental parameters through a wave disturbance prediction model; the total disturbance quantity in the system is predicted through the extended state observer according to the real-time attitude information and the electric cylinder control signal, and then the total disturbance of the system is obtained; a nonlinear control quantity is calculated through an active disturbance rejection controller according to real-time attitude information, expected attitude information and a preset decoupling matrix, a feed-forward compensation quantity is calculated according to total disturbance of a system, then an output instruction of the controller is calculated, and compensation control is achieved. According to the embodiment of the invention, compensation control can be realized through the wave interference prediction model, the state expansion observer and the active disturbance rejection controller, and high precision and response speed are achieved. The method can be widely applied to the technical field of automation control.

The invention relates to the technical field of intelligent traffic systems, in particular to a linear intelligent monitoring system for a bridge fabrication machine, which comprises a multi-source sensing module, a data processing module, a data processing module, a data processing module, a data processing module, a data processing module and a data processing module, and is characterized in that the multi-source sensing module comprises strain sensors, inclinometers, GPS positioning units and machine vision units; the edge computing node is internally provided with a self-adaptive data fusion algorithm and is used for denoising sensor data in real time; the cloud digital twin platform is used for synchronizing the BIM design model and generating a millimeter-level linear deviation early warning signal; the PLC control interface is used for receiving the early warning signal and automatically adjusting parameters of the template system and the walking mechanism; according to the method, environmental noise interference is effectively eliminated through multi-source sensor fusion and a self-adaptive data filtering technology, the monitoring precision is improved to a millimeter level, real-time comparison of construction data and a design model is realized based on a BIM and digital twinning dynamic interaction system, and the timeliness and accuracy of linear control are remarkably improved.

A system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor and a device associated with the actuator over in-building or in-vehicle networks, and an external Internet-connected control server associated with the control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon. The sensor may be a microphone or a camera, and the system may include voice or image processing as part of the control logic. A redundancy is used by using multiple sensors or actuators, or by using multiple data paths over the building or vehicle internal or external communication. The networks may be wired or wireless, and may be BAN, PAN, LAN, WAN, or home networks.

The utility model belongs to the technical field of hybrid power assemblies, and particularly relates to a pressure-controllable hybrid power gearbox hydraulic control system which comprises a lubrication cooling subsystem and an oil supply subsystem, and further comprises a main oil pressure adjusting subsystem and a clutch control subsystem, and the oil supply subsystem comprises a first mechanical pump, a second mechanical pump, a suction filter and an oil tank. The first mechanical pump is connected with the suction filter which is connected with the oil tank; the lubrication cooling subsystem comprises an oil cooler and a filter, the first mechanical pump is connected with the oil cooler and the filter through oil ways, the filter is connected with an LUB oil way, and the oil cooler is connected with an EM1 oil way, an EM2 oil way and a C1 oil way; according to the clutch control sliding valve element, the feedback oil way is arranged at the spring end, so that spring force, feedback pressure and pilot hydraulic pressure form dynamic balance, smooth curve linear control over clutch pressure can be achieved, and control smoothness is improved.

The invention relates to a long-pressure short-pumping dust removal system for a fully-mechanized excavation face of a coal mine with self-adaptive matching parameters, and belongs to the technical field of coal mine dust prevention. In order to solve the problems of parameter matching lag, air duct positioning misalignment and emergency response delay of an existing dust removal system, a dust concentration sensor, a gas sensor, a laser distance measuring sensor and an area controller cooperate to construct a dynamic matching model of the press-in air volume, the dust suction air volume and the wall-attached air duct distance; + / -0.2 m high-precision positioning is realized by adopting a servo traction mechanism, and air distribution is adjusted in real time in combination with a nonlinear control algorithm. According to the system, the dust removal efficiency is improved to 85% or above, the gas standard exceeding response time is shortened to be within 90 seconds, the positioning error is reduced by 80%, the fan energy consumption is reduced by 18%-22%, and efficient and safe production of a coal mine is effectively guaranteed.

A system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor and a device associated with the actuator over in-building or in-vehicle networks, and an external Internet-connected control server associated with the control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon. The sensor may be a microphone or a camera, and the system may include voice or image processing as part of the control logic. A redundancy is used by using multiple sensors or actuators, or by using multiple data paths over the building or vehicle internal or external communication. The networks may be wired or wireless, and may be BAN, PAN, LAN, WAN, or home networks.

The invention provides a non-linear flight control method and system for an anti-wind disturbance unmanned aerial vehicle. The method comprises the following steps: acquiring wind field disturbance characteristics in real time by using a preset meteorological radar; inputting the wind field disturbance characteristics into a preset aerodynamic disturbance prediction model to generate an aerodynamic torque fluctuation prediction value; preset dynamic filtering processing is applied to the amplitude characteristic of the aerodynamic torque fluctuation predicted value so as to generate a control instruction correction signal; and the control instruction correction signal is coupled with a preset nonlinear control law of an unmanned aerial vehicle flight control system, so that unmanned aerial vehicle attitude offset caused by wind disturbance is inhibited in real time, and unmanned aerial vehicle nonlinear flight control is carried out. According to the method, the composite defect of hysteresis and filtering mismatch of traditional linear control in a strong wind sudden change scene is overcome, stable attitude control of the unmanned aerial vehicle in low-altitude wind shear and gust sudden attack is realized, the anti-interference response speed of the unmanned aerial vehicle is remarkably improved, and the out-of-control risk of the unmanned aerial vehicle is greatly reduced.

The invention discloses a method for manufacturing an arched girder combined section of a super-large-section steel box arch bridge suitable for highway transportation. Comprising a manufacturing process method of an oversized arch foot steel straining beam rod piece of a parallelogram structure and an oversized arch foot steel arch rib rod piece of an octagonal structure and a process method for controlling the assembly size and the linear shape of an overall space structure of an arch foot steel straining beam and an arch foot steel arch rib. The arch foot steel straining beams of the parallelogram box type structures and the octagonal arch foot arch ribs are integrally manufactured, and the arch foot arch ribs and the arch foot straining beams are connected in a welded mode. According to the method, the complex structural characteristics of octagonal arch springing arch ribs and parallelogram irregular arch springing straining beams of the steel box arch bridge arch beam combination section are combined, the method that the plate units are manufactured firstly and then the box body is assembled is adopted, the tailor-welding size of each plate unit is controlled, and control over welding deformation and the overall size of the subsequent box body is facilitated; an integral horizontal pre-splicing method is adopted, and a matching piece welding method is adopted, so that the aim of controlling the spatial relationship between the arch springing, the arch rib and the straining beam is achieved.

The invention relates to a bearing fault classification and identification method and device and computer equipment. An improved crayfish optimization algorithm is adopted to optimize parameters of variational mode decomposition to extract a more effective intrinsic mode function, so that the feature extraction precision is enhanced, spatial-temporal features, a time dependency relationship and attention to key features are comprehensively considered, and a more accurate and reliable solution is provided for bearing fault diagnosis. Meanwhile, based on a traditional crayfish optimization algorithm, the improved crayfish optimization algorithm is combined with gravity center reverse learning, non-linear control and sparrow warning mechanism strategies, more excellent optimization searching precision and robustness are shown, meanwhile, the convergence speed is higher, parameter optimization of variational mode decomposition is more accurate and reliable, and the method is suitable for large-scale popularization and application. Therefore, the accuracy of feature extraction is improved, and reliable data guarantee is provided for obtaining the accuracy of a fault classification result subsequently.

The invention discloses a control method for ultra-low-altitude flight of a large unmanned aerial vehicle, and the method comprises the following steps: building a kinetic model of the unmanned aerial vehicle, the kinetic model comprising dynamic equations of position, speed, attitude control and control input; performing error tracking control on the attitude and the speed of the unmanned aerial vehicle by adopting a Backstepping nonlinear control method based on the dynamic model; estimating external disturbance and dynamic parameters of the unmanned aerial vehicle in real time by combining an L1 adaptive control method, and adaptively adjusting control input to compensate wind speed change; predicting a future flight state by using a model prediction control algorithm, optimizing a flight path and compensating wind speed disturbance; a safe trajectory is planned in real time through a dynamic window method, and obstacles are avoided in combination with dynamic constraints. According to the invention, through organic combination of Backstepping control, L1 adaptive control, MPC and DWA algorithms, the complex problems of wind speed disturbance, obstacle avoidance, high-precision operation and the like in ultra-low-altitude flight can be solved.

The invention provides a magnetic suspension underwater robot path following control method, a magnetic suspension underwater robot path following control device, magnetic suspension underwater robot path following control equipment and a medium, and relates to the field of underwater robot path following control. The motion control bottleneck of a traditional underwater robot in a complex environment is broken through. In the aspect of dynamic modeling, interaction between magnetic force and fluid resistance is considered, and underwater motion characteristics of the robot are accurately described. A nonlinear control strategy combining the Lyapunov stability theory and sliding mode control is adopted, and a trajectory tracking controller with high robustness is designed to ensure that the robot can stably and efficiently operate along a predetermined trajectory in a complex underwater environment. The maneuverability and the operation precision of the underwater robot are remarkably improved, a more reliable solution is provided for the fields of ocean exploration, resource development, environment monitoring and the like, and huge application potential and market value are shown.

The invention discloses a high-speed stable flight control method for a long-endurance variant unmanned aerial vehicle, and relates to the field of unmanned aerial vehicle control. According to the method, a longitudinal nonlinear kinetic equation after deformation of the variant unmanned aerial vehicle is firstly established, then the longitudinal nonlinear kinetic equation is represented in a nonlinear system form, and then speed and attitude decoupling is performed on a nonlinear control model of the variant unmanned aerial vehicle represented in the nonlinear system form based on a superhelix algorithm. And controlling the deformed variant unmanned aerial vehicle by using the speed control sub-model and the attitude control sub-model obtained by decoupling. According to the method, the aerodynamic performance change after the deformation of the variant unmanned aerial vehicle is accurately described by establishing the longitudinal nonlinear kinetic equation, and the high-speed stable control problem after the deformation of the variant unmanned aerial vehicle is solved through the speed control sub-model and the attitude control sub-model based on the superhelix algorithm; according to the invention, high-speed stable control after deformation of the variant unmanned aerial vehicle is realized.

The invention discloses an AI-based multi-vehicle driving control method and system, and the method comprises the steps: building a two-way communication topological structure for a motorcade, and collecting the state information of each vehicle in the motorcade; a linear superposition strategy is adopted, and coordinated control over the speed and the position of each vehicle in the vehicle team is carried out; a distributed control strategy is adopted, and cooperative collision avoidance control between vehicles is carried out; establishing an AI-based decision model, performing real-time analysis on a motorcade state through a machine learning algorithm, and setting a reward function for optimizing vehicle control; multi-vehicle cooperative lane changing control is carried out under the emergency situation, and the vehicles are made to run along the planned track; and carrying out trajectory tracking on each vehicle by adopting a model prediction control strategy. The system comprises a communication module, a linear control module, a distributed control module, a decision module, a lane changing control module and a trajectory tracking module. According to the invention, the control strategy can be optimized, the multi-vehicle cooperation capability is enhanced, and the formation safety and efficiency are improved.

The invention discloses a switching control method based on SPWM soft start and a pulse type load LLC resonant converter. The converter mainly comprises an LLC resonant converter, an H-bridge inverter circuit and a load of the H-bridge inverter circuit, and the control method comprises the following steps: setting k-level SPWM modulation in a starting stage to realize smooth soft start of output voltage (k is any positive integer); the load state is accurately judged through an H-bridge switching logic unit, and Burst intermittent control and linear frequency control are adopted for no-load and full-load in a steady state respectively; during load switching, a nonlinear SOTC optimal trajectory controller is adopted to perform two-pulse optimal control, so that the state is transited to a new mode along the shortest trajectory, and a dynamic response optimizer is introduced to compensate the switched frequency according to the state radius error so as to suppress secondary voltage fluctuation. The problems of slow dynamic response, large output voltage fluctuation and the like when traditional linear control faces a pulse type load LLC resonant converter are solved, and the stability and the anti-interference capability of the output voltage of the system are improved.

The invention discloses a cross-domain motion planning method and system for an air-ground amphibious robot, and relates to the technical field of robot control. The method comprises the following steps: acquiring operation constraints of the air-ground amphibious robot in a working space; performing path planning according to the operation constraint by using a particle swarm optimization algorithm; constructing a kinetic model, and constructing a wing folding angle smooth switching track by using a Gaussian pseudo-spectrum method and taking the minimum flight height decrease in the modal switching process as a target; and setting a nonlinear controller according to the kinetic model and a fuzzy algorithm, controlling the air-ground amphibious robot by using the nonlinear controller according to the optimal air-ground cross-domain path, and in addition, performing smooth switching in the flight process according to the wing folding angle smooth switching track. According to the method, an adaptive fuzzy position controller is designed to process nonlinear uncertainty in a dynamic model, and cross-domain motion planning is performed based on an energy optimal path and smooth mode switching control, so that the air-ground amphibious robot can realize stable motion and reliable operation in a cross-domain manner.

The invention discloses a power line tension testing machine, and relates to the field of wire harness testing, the power line tension testing machine comprises two terminals used for connecting two ends of a wire harness, and further comprises a carrying table, an annular rotating table is arranged on the carrying table, a traction mechanism comprises a traction ring and a traction seat, and a force application assembly comprises an annular platform coaxially arranged with the annular rotating table. An annular cam guide groove is formed in the annular platform, a guide wheel is slidably connected into the cam guide groove, and when the annular rotating table rotates, the traction ring applies constant or periodically changing side pulling force to the middle of the wire harness; a cam guide groove of a force application assembly is matched with a guide wheel, so that a first spring is compressed when a sliding base moves in the radial direction, linear control over side tension is achieved, pre-tightening force fine adjustment can be achieved through a nut in threaded connection, the compression force of the first spring can be monitored in real time through a force sensor, and the rotating speed of an annular rotating table is controlled; feedback adjustment of side tension is realized, and test errors caused by mechanism fatigue are avoided.

The invention relates to a primary frequency modulation control method for a pumped storage coupled compressed air energy storage system, and the method comprises the steps: building a frequency modulation control model based on the core component information and operation constraints of the pumped storage coupled compressed air energy storage frequency modulation system, building a state space model, and building a discretization state equation, establishing a comprehensive optimization model by taking the minimum power grid frequency deviation and the system operation cost as targets; and establishing a multi-parameter planning model based on the reservoir level, the gas storage pressure, the frequency deviation and the comprehensive optimization model, and converting a hierarchical model prediction control problem into multi-parameter quadratic programming to form a self-healing frequency modulation strategy to perform power output tracking control. Therefore, the problem that the frequency modulation performance is limited due to the fact that a water pressure system and an air pressure system in the hybrid power station are complex in coupling and large in response difference, and a related linear control strategy or a single control framework is difficult to achieve rapid response and accurate coordination of the hybrid system in the primary frequency modulation process is solved.

The invention discloses a method for setting and controlling a buckle cable adjustment threshold value in large-span arch bridge hoisting construction, which comprises the following steps of: acquiring construction parameters of a current buckle section, and acquiring a corresponding cable adjustment target value; constructing a structural mechanics finite element model of the target buckle cable based on the construction parameters, and introducing a buckle cable multi-harness nonlinear stress mechanism into the model to calculate upper and lower limit thresholds of cable force in the tensioning process; determining an elevation adjustment threshold according to the target axis, the target elevation, the accumulated deviation and the pre-deformation compensation amount in combination with a geometric linear control model; and generating an environmental influence correction coefficient by utilizing construction environmental parameters, and dynamically correcting the cable force and the elevation threshold value to realize real-time updating of the threshold value in the hoisting process. According to the method, the problems of nonlinearity of multiple wire harnesses of the large-span arch bridge buckle cable, high linear sensitivity of the arch rib, remarkable environmental influence and the like are solved, high-precision cooperation of cable force control and linear control is realized, and the safety, controllability and construction efficiency of hoisting construction are improved.

The invention discloses a suspended pouring construction method for a hanging basket of a cable-stayed bridge, belongs to the technical field of bridge construction, and aims to solve the problems of beam section linear deviation caused by deformation of a hanging basket system and bridge tower deviation caused by asynchronous tensioning of stay cables. Performing a staged loading preloading test to obtain elastic deformation data, calculating an anti-arch value based on the data, and dynamically adjusting the elevation of a bottom die platform; a layered pouring process is combined with a real-time deformation monitoring and compensation mechanism, and the accumulated deformation amount is controlled; the longitudinal prestressed steel beams are tensioned in stages, the symmetric tensioning process of the stay cables is synchronously implemented, and bridge tower deviation closed-loop correction is achieved through combination of a displacement sensor and a pressure sensor; in the moving process of the hanging basket, the gravity center offset is monitored, the balance weight is adjusted, and after full-bridge closure, the cable force of the stay cable is optimized in a staged mode to the design state. The method is suitable for large-span cable-stayed bridge girder construction, and high-precision linear control and stable structure forming are achieved.

The invention discloses a walking hanging basket linear control method and system based on visual feedback and application equipment, and relates to the technical field of hanging basket walking monitoring, and the method comprises the steps: obtaining the structural design information of a hanging basket, and obtaining the design information of a construction bridge body; according to the construction bridge body design information, walking route information of the hanging basket structure is formulated in advance; according to the construction bridge body design information, at least one image capturing area is arranged in the direction of the construction bridge body, and the image capturing area is used for collecting the connection state of the construction bridge body and the hanging basket structure. According to the construction real-time connection state of the hanging basket structure and the bridge body, the adjustment amount of the hanging basket structure and the bridge body can be determined; in addition, according to the scheme, the adjustment basis is quite scientific and effective, and the method does not depend on the professional level and adjustment experience of workers singly. The defect that in the prior art, the process for adjusting the position of a traditional hanging basket structure is complex and high in difficulty is effectively overcome.

The invention relates to the technical field of bridge construction, in particular to a bridge super-long stay cable penetrating construction method, which comprises the following steps of: presetting a monitoring point position at a super-long stay cable, installing a tilt angle sensor to obtain pitch and roll angles of a segment, and fixing a tension sensor to measure initial tension at a cable end. A pitch angle, a roll angle, a three-dimensional coordinate and initial tension data are collected in real time at a preset point position of the stay cable, a dynamic response cable body attitude and stress model is constructed in combination with a designed linear control point and an anchoring point space coordinate, traction force distribution and traction point position combination are optimized, synchronous or asynchronous cooperative loading of multiple traction forces is achieved, and the traction force distribution and the traction point position combination are optimized. And in the cable penetrating process, cable body posture control and mechanical response balance are kept. Sensing data and a target parameter interval are continuously compared, a stress closed-loop control mechanism is formed by adjusting a traction force value and a loading rate in real time, and the risks of stress concentration and linear deviation expansion are avoided.

The invention relates to the technical field of coating defect detection, in particular to a coating defect detection device which comprises a main working table, an auxiliary supporting table fixed to the main working table is arranged on one side of the main working table, and a visual detection system is arranged above the main working table. The visual detection system comprises a first detection module and a second detection module perpendicular to the first detection module, industrial detection cameras used for defect detection are arranged in the structures of the first detection module and the second detection module, and a carrying module used for hoisting and moving workpieces is installed above the auxiliary supporting table. The carrying module comprises a linear control module, a carrying plate moved by the linear control module and a workpiece fixing piece fixed below the carrying plate, the linear control module is composed of a servo motor and a lead screw, and a workpiece fixing hook is arranged in the workpiece fixing piece.

A system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor and a device associated with the actuator over in-building or in-vehicle networks, and an external Internet-connected control server associated with the control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon. The sensor may be a microphone or a camera, and the system may include voice or image processing as part of the control logic. A redundancy is used by using multiple sensors or actuators, or by using multiple data paths over the building or vehicle internal or external communication. The networks may be wired or wireless, and may be BAN, PAN, LAN, WAN, or home networks.

The invention belongs to the technical field of power electronics, and provides a nonlinear robust control method and device for a DC-DC converter. The method comprises the following steps: acquiring an output voltage of the DC-DC converter and feeding back the output voltage to a terminal sliding mode controller, calculating a voltage error between a reference voltage and the output voltage of the DC-DC converter by the terminal sliding mode controller, and calculating the voltage error of the DC-DC converter according to a relation among a preset fractional order nonlinear sliding mode surface, a linear sliding mode surface and the voltage error, generating a first control signal as a reference current of the linear controller to form a voltage loop; and the output current of the DC-DC converter is obtained and fed back to the linear controller, the linear controller generates a second control signal in combination with the reference current and acts on a set power switch tube of the DC-DC converter to form a current loop, and finally DC-DC converter double-loop nonlinear robust control based on cooperation of the reference voltage, the output voltage and the output current is achieved. And good transient response is ensured.

A system and method in a building or vehicle for an actuator operation in response to a sensor according to a control logic, the system comprising a router or a gateway communicating with a device associated with the sensor and a device associated with the actuator over in-building or in-vehicle networks, and an external Internet-connected control server associated with the control logic implementing a PID closed linear control loop and communicating with the router over external network for controlling the in-building or in-vehicle phenomenon. The sensor may be a microphone or a camera, and the system may include voice or image processing as part of the control logic. A redundancy is used by using multiple sensors or actuators, or by using multiple data paths over the building or vehicle internal or external communication. The networks may be wired or wireless, and may be BAN, PAN, LAN, WAN, or home networks.