16 results about "Loop performance" patented technology

The invention provides a joint robot singular system control method based on an interval type-2 fuzzy sliding mode, and the method comprises the steps: sensing and quantifying the dynamic drift of a singular region caused by the change of a tail end load in real time, and constructing a dynamic singular interval; inputting the dynamic singular interval into an interval type-2 fuzzy system, and outputting a disturbance prediction interval and a nominal disturbance prediction quantity; generating a dynamically adjusted sliding mode surface according to the uncertainty reflected by the disturbance prediction interval; fusing nominal dynamics feed-forward compensation, correction feedback based on a sliding mode surface and feed-forward disturbance compensation based on nominal disturbance predictive quantity to synthesize a final joint control moment; the final joint control torque is executed, the actual response is collected, closed-loop evaluation is formed, and online correction is conducted on the dynamic singular interval according to the closed-loop performance. The method can sense and actively adapt to dynamic drifting of the singular area in real time so that it can be guaranteed that when the robot passes through the time-varying singular area under the complex working condition, the dynamic drifting of the time-varying singular area can be accurately detected. And high-precision and high-stability trajectory tracking can still be realized.

This invention discloses an adaptive impedance control method and system for a robotic arm based on inner-loop performance feedback and an energy tank. It constructs a collaborative impedance control framework with inner and outer loops: the outer loop employs a reinforcement learning-based impedance controller, while the inner loop uses a sliding mode controller. The dynamic performance indicators of the inner-loop sliding mode controller are fed back to the outer-loop reinforcement learning agent in real time, guiding the adaptive adjustment of impedance parameters. Simultaneously, force / torque sensors detect the robotic arm's interactive power, and an energy tank mechanism is used to constrain the energy output of the reinforcement learning, preventing energy overshoot and system instability during training and execution. This method achieves force / position hybrid control performance while maintaining the robotic arm's compliance, safety, and energy stability in complex or unknown environments, improving the robustness and control accuracy of the robotic arm's interaction with the environment, and forming a comprehensive control closed loop with dynamic performance constraints, energy constraints, and adaptive learning.

The application relates to an event-triggered optimal line-of-sight (LOS) formation control method and system for an underactuated unmanned surface vehicle (USV) under unknown disturbance, and relates to the technical field of USV control. The application aims to solve the technical problem of realizing event-triggered optimal control while considering actuator saturation by establishing an RL-driven LOS guidance scheme, so as to achieve optimal state regulation and tracking control. The technical points are as follows: the application establishes an RL-driven LOS guidance scheme, decouples the trigger decision and the actuator allocation, and introduces a new event-triggered mechanism. The overall structure of the ETO-LOS control scheme proposed by the application is as follows: firstly, the expected trajectory and external disturbance are processed in the LOS guidance layer to generate a virtual control signal. Then, optimal control is realized through a DSC and a two-stage IAC network, and then an event-triggered mechanism is constructed in the actuator layer. The ETO-LOS scheme proposed by the application realizes stable learning and closed-loop performance while significantly reducing the control update frequency.

The application discloses a phase-locked loop performance optimization method and system based on a sliding average filter, and comprises the following steps: obtaining a relative reference phase change amount in real time through a phase-locked loop based on a sliding average filter; traversing each time, and predicting a power grid fundamental frequency positive sequence phase jump amount at a current traversal time according to the relative reference phase change amount at the current traversal time and the relative reference phase change amount at a first time before the current traversal time; in a time period after a response delay of the filter in a fault and a time period after the filter is removed from the fault and the system restores to a steady state, analyzing a phase compensation amount at each time according to the relative reference phase change amount and the power grid fundamental frequency positive sequence phase jump amount at each time, and compensating the phase of an output signal of the filter by using all the phase compensation amounts. The application considers the response delay of the filter in the case that the fault causes the power grid phase jump, so as to alleviate the problems of phase-locked loop disconnection and slow phase-locked speed.

The objective is to provide a slot machine that has been improved in terms of changing the probability of winning special roles by controlling the game state to multiple types of game states with different settable betting amounts. [Solution] In the non-internal state (normal 1), it is possible to play the game with a predetermined bet of 3. However, after the end of the BB1 ​​state, it is possible to play the game with a predetermined bet of 2, which is different from the non-internal state (normal 1), and the game is controlled to the non-internal state (normal 2), in which the special role (RB2) is won with a higher probability than in the non-internal state (normal 1). The performance control unit 151 then starts the BB loop performance after the execution of the BB winning performance, and then transitions to the RB2 state via the non-internal state (normal 2) after the end of the BB1 ​​state, and continues to execute the BB loop performance for the period until this RB2 state ends.

The invention discloses a composite coordination control system and method for new energy power generation, and relates to the technical field of power system control. The system comprises a multi-source heterogeneous data perception and fusion module, a multi-time scale collaborative optimization decision module, a self-adaptive hierarchical control instruction distribution and reconstruction module, a local quick response and virtual inertia simulation execution module and a closed-loop performance evaluation and parameter self-tuning module. The method comprises the following steps: collecting and fusing data to generate a data set; collaborative optimization calculation is executed, and a control instruction set is generated; dynamically selecting an instruction distribution strategy, and distributing an instruction; the control algorithm quickly responds to a power instruction and simulates and provides inertia support and damping characteristics; and continuously monitoring the actual response of the system, and adjusting key control parameters. According to the method, the dynamic stability and the adjustment precision of the system can be improved, the problem that the anti-disturbance capability of a high-proportion new energy power grid is reduced is solved, and the utilization efficiency of adjustable resources and the overall operation economy of the system are greatly improved.

The application relates to the technical field of network games, in particular to an NPC self-loop performance-based control method and system, an electronic device and a computer program product. The NPC self-loop performance-based control method comprises the following steps: obtaining standard behavior parameters matched with a current target role; reading a first control instruction associated with the current target role in a current environment according to the standard behavior parameters; forming initial image data according to the first control instruction and first collection parameters; obtaining second collection parameters within a control duration effective range; obtaining associated instructions matched with the second collection parameters according to the second collection parameters; executing associated behavior matched with the associated instructions or playing associated animation matched with the associated instructions; and updating the standard behavior parameter table according to the associated behavior when the monitoring duration ends and the associated behavior is not completed or the associated animation is not completed.

This application discloses a method, apparatus, device, and storage medium for determining the performance of a secondary circuit, relating to the field of power technology. The method includes: acquiring electrical quantity data of the current secondary circuit and switching quantity data of each secondary device in the current secondary circuit; identifying fault timing in the current secondary circuit based on the electrical quantity data and switching quantity data to obtain key time nodes; using the key time nodes as timing benchmarks, performing feature analysis on fault recording data characterizing the primary devices connected to the current secondary circuit and response event data characterizing the current secondary circuit's response to the faults of the primary devices to obtain fault behavior characteristics; and analyzing the performance status of the current secondary circuit based on the fault behavior characteristics to obtain response performance indicators. This application, by constructing key time nodes for fault timing as timing benchmarks, reduces misjudgments and omissions caused by disconnections, thus improving the accuracy of secondary circuit performance analysis.

The application discloses a high-speed fan performance test system and method based on magnetic coupling transmission, transmits first test data and second test data to an upper computer, pre-processes according to preset parameters, generates standardized first performance characteristic set and second performance characteristic set, calculates initial performance parameters according to the first performance characteristic set and the second performance characteristic set, obtains first deviation coefficients and second deviation coefficients, generates a target performance parameter set, outputs the target performance parameter set to a curve fitting module, generates at least one fan characteristic curve representing the high-speed fan under the magnetic coupling transmission working condition, splices the fan characteristic curve, and obtains a target derived characteristic curve graph for evaluating the high-speed fan performance. The high-speed fan performance test method and system based on magnetic coupling transmission construct a complete and closed-loop performance evaluation process, and effectively avoid the driving side data distortion problem caused by magnetic coupling slip.

The invention provides a powder flow precise control and real-time adjustment method for quantitative powder packaging, which comprises the following steps of: identifying dynamic model parameters of an actuating mechanism by utilizing a recursive augmented least square method through periodically injecting lightweight excitation signals and accurately collecting input and output time sequence data; a preset nonlinear rule mapping relation is combined to automatically convert into an optimal PID control parameter, and exponential weighted average is adopted to realize smooth transition of the parameter, so that system disturbance is avoided; according to the method, the characteristic change of an executing mechanism can be matched in real time, and the powder flow adjusting precision and the system robustness are improved.

The invention discloses an emergency power supply self-evolution droop multi-scale power adaptive adjustment system and method, and relates to the technical field of intelligent emergency power supply control. The system comprises a frequency power droop characteristic modeling subsystem, a frequency sensing power instruction generation subsystem and an adaptive adjustment execution and optimization subsystem. A nonlinear droop relation model between active power and system frequency is established, the system frequency is acquired, an active power instruction is dynamically generated, and an inverter is driven to realize power regulation. According to the invention, autonomous cooperative control of the emergency power supply in an island or micro-grid mode is realized, multi-machine parallel power balance and circulation suppression are supported, multi-time scale response, dynamic parameter self-tuning and closed-loop performance self-optimization capabilities are provided, and system stability, reliability and power supply toughness are significantly improved.

This application discloses a method, device, medium, and product for optimizing the performance of a PI control loop in an industrial process, relating to the field of industrial automatic control technology. The method includes initializing the initial parameters of a deep reinforcement learning agent and a PI controller; generating setpoints for the industrial process based on a continuous smooth curve; acquiring the process variables of the current control cycle; calculating the tracking error and error rate of change based on the setpoints; outputting a reference adjustment amount for the PI controller parameters through a policy network; trimming the reference adjustment amount; updating the proportional gain and integral gain of the PI controller based on the trimmed reference adjustment amount; calculating the immediate reward of a composite reward function based on the tracking error and error rate of change; dynamically and adaptively adjusting the weight coefficients in the composite reward function; updating the evaluation network and policy network of the deep reinforcement learning agent; and outputting the optimized PI controller parameters. This application improves the smoothness and safety of the control process.

A phase-locked loop circuit, a phase-locking method, and a frequency synthesizer are provided. The phase-locked loop circuit employs phase-rolling clock signal generator component to perform integer frequency division on multiple oscillation clock signals with uniformly varying phases to obtain multiple feedback clock signals with uniformly varying phases; and according to a preset clock cycle, select feedback clock signals with corresponding phase sequences from the multiple feedback clock signals with uniformly varying phases for concatenation, thereby generating the phase-rolling clock signal. This architecture enables fractional-N frequency division phase-locked loop operation. Compared with conventional fractional-N frequency division phase-locked loop implementations using sigma-delta modulator (SDM) circuits, the proposed solution reduces circuit area and power consumption while improving phase-locked loop performance.

The invention provides a transmission system PID control stability optimization method based on a characteristic root locus, and relates to the technical field of transmission system torsional vibration control, and the method comprises the steps: obtaining a physical structure of a transmission system, enabling the physical structure to be equivalent to a two-inertia torsional vibration model, calculating the current zero pole distribution, and judging the system stability according to the current zero pole distribution. The method comprises the following steps: selecting a dominant pole, analyzing the damping ratio of the dominant pole, judging the damping ratio of the related dominant pole, adjusting an integral coefficient and a proportionality coefficient according to a judgment result, carrying out a closed-loop performance test on the adjusted PID controller, and realizing optimization based on a test result. The method breaks through the empirical limitation of a traditional cut-and-try method, achieves the precise quantification of the parameters on the vibration characteristics, can evaluate the system stability in advance, greatly improves the debugging efficiency, solves the problem of local optimization caused by parameter coupling through a proposed optimization strategy system, and improves the reliability of the system. And the transmission system has the comprehensive performance of quick response, high stability and accurate control at the same time.

The present application relates to a magnetic suspension control loop performance evaluation method and device based on time-varying fractal analysis, the method comprising the following steps: obtaining suspension point information of a magnetic levitation train suspension module, for the suspension point information, based on time-varying fractal analysis, obtaining a time-varying generalized Hurst index estimation value based on a window function matched with a preset index; according to the time-varying generalized Hurst index estimation value of multiple suspension points collected within a period of time, obtaining a comprehensive generalized Hurst index of each suspension point; and according to the comprehensive generalized Hurst index corresponding to each suspension point, obtaining a performance comparison result of a control loop. Compared with the prior art, the present application avoids the great difficulty brought by the establishment of an accurate mathematical model, and can evaluate the loop performance from the horizontal and vertical directions.

The application discloses a new energy power generation composite coordinated control system and method, relates to the technical field of power system control, and comprises a multi-source heterogeneous data sensing and fusion module, a multi-time scale collaborative optimization decision module, an adaptive hierarchical control instruction distribution and reconstruction module, a local rapid response and virtual inertia simulation execution module and a closed-loop performance evaluation and parameter self-tuning module; the method comprises the following steps: collecting and fusing data to generate a data set; performing collaborative optimization calculation to generate a control instruction set; dynamically selecting an instruction distribution strategy and distributing the instruction; a control algorithm rapidly responds to a power instruction, and inertia support and damping characteristics are simulated and provided; the actual response of the system is continuously monitored, and key control parameters are adjusted. The application can improve the dynamic stability and regulation accuracy of the system, make up for the problem of the decreased anti-disturbance ability of the high-proportion new energy power grid, and greatly improve the utilization efficiency of adjustable resources and the overall operation economy of the system.