92 results about "Optimal trajectory" patented technology

The invention discloses a directional drilling track accurate control technology based on machine learning, and relates to the technical field of drilling engineering. The directional drilling track accurate control technology comprises the following steps that underground parameters of a drilling tool during underground operation are obtained; establishing a dynamic model based on the drilling tool structure and the motion state; based on the dynamic model, introducing a long-short-term memory neural network, and constructing a hybrid prediction model; drilling parameters are input into the hybrid prediction model, and trend information of multiple tracks is output; based on current geological conditions, drilling tool configuration and operation safety constraints, performing simulation evaluation on the trend information of the plurality of candidate tracks, and screening out an optimal track meeting track precision and underground safety requirements from the candidate tracks; based on the optimal track, control strategy input is constructed, and a state space containing a tool face angle, target azimuth deviation and a drilling tool state is set; and through a deep reinforcement learning method, an advanced adjustment instruction for the guiding tool is generated, and drilling operation is executed according to the optimal track and the advanced adjustment instruction.

The invention belongs to the field of track planning and intelligent control of a reusable vehicle, and relates to an intelligent track planning method for a cruise section of the reusable vehicle. The method comprises the following steps: constructing a three-degree-of-freedom centroid motion dynamics model of a cruise section vehicle, generating an offline optimal trajectory sample library covering wide working conditions based on a Gaussian pseudo-spectral method, designing a mapping relation between deep neural network learning task parameters and trajectory features, and outputting a high-quality trajectory planning initial value online. The distribution of collocation points is dynamically adjusted in combination with a self-adaptive collocation point method, a nonlinear programming problem is iteratively solved with a high-quality initial value as a starting point, and efficient and accurate optimization of the trajectory is achieved. Simulation results show that the method significantly reduces the sensitivity of online optimization to initial guess, still has fast response ability and high robustness under complex constraint and uncertainty working conditions, effectively improves the autonomous trajectory planning ability of the cruise section of the reusable vehicle, and ensures flight reliability and control precision.

The invention relates to a mechanical arm control method and device, computer equipment and a readable storage medium. The method comprises the steps of generating a plurality of candidate trajectories for a target task through a target diffusion strategy model; the target diffusion strategy model is obtained by training an original diffusion strategy model based on collected example data; evaluating and screening the plurality of candidate trajectories according to a single-step value discriminator to obtain an optimal trajectory in the plurality of candidate trajectories; the single-step value discriminator is a multi-modal feature regression model constructed based on a target diffusion strategy model; and the target mechanical arm is controlled to execute the target task according to the optimal track. By the adoption of the control method and device, the control accuracy and safety of the mechanical arm can be improved.

The invention discloses a moon leap trajectory planning method, system and device and a medium. The method comprises the steps of obtaining target landing point data; based on the acquired data, establishing a moon surface leap device kinetic model by defining a specific coordinate system and a state variable; based on the kinetic model, discretizing the kinetic equation through a numerical integration algorithm, constructing and solving a leap trajectory convex optimization problem with optimal burnup, and obtaining an obstacle avoidance-free optimal trajectory; based on the obstacle avoidance-free optimal trajectory, performing obstacle avoidance iteration through an iteration obstacle increase strategy to obtain a static obstacle avoidance trajectory; and on the basis of the static obstacle avoidance trajectory, the flight trajectory is adjusted again by calculating the trajectory error band width and the maximum extension distance, and a dynamic safety enhanced trajectory is obtained. According to the method, safe, robust and efficient moon surface leap trajectory planning in a complex and uncertain environment is realized.

The invention discloses an intersection dynamic path planning method and system based on vehicle-road cooperation, and the method comprises the steps: obtaining vehicle trajectory data, carrying out the preprocessing of the vehicle trajectory data, carrying out the trajectory prediction based on the preprocessed trajectory data, carrying out the global path planning based on the predicted trajectory, and carrying out the conflict analysis and S-T diagram construction based on the determined global path planning. And then carrying out local trajectory planning, trajectory evaluation and optimal trajectory selection. According to the scheme, trajectory smoothing and lane matching are integrated to improve the accuracy of trajectory prediction, trajectory level analysis is carried out on potential conflicts between vehicles to enhance the refinement and pertinence of conflict detection, and in the global path planning stage, the path planning efficiency is improved. By improving a heuristic function of a Hybrid A * algorithm, a generated path is smoother and has fewer nodes while meeting vehicle kinematics constraints; in the local trajectory planning stage, a Lattice trajectory sampling method is fused, it is ensured that a fine-grained feasible trajectory can still be generated in a complex dynamic environment, and high calculation efficiency is maintained.

The application relates to a layered decoupling unmanned personification trajectory planning method, which comprises the following steps: S1, upper path planning: for different road scenes, a sampled-based path planning method, a search-based path planning method and an optimization-based path planning method are combined to plan an optimal path; S2, lower speed planning: a search method based on an ST obstacle space-time collision prediction graph and vehicle acceleration constraint is adopted to obtain a speed curve of a vehicle along the optimal path, and finally an optimal trajectory is obtained. Compared with the prior art, the application provides a safer, more reliable, stable and smoother personification driving trajectory for an unmanned vehicle.

The application discloses a trajectory planning method and device, equipment and storage medium, and belongs to the technical field of vehicle navigation auxiliary driving or automatic driving. The application obtains a sampling trajectory cluster, determines actual motion trajectories of vehicles corresponding to each sampling trajectory in the sampling trajectory cluster, and screens a target trajectory from the sampling trajectory cluster according to the actual motion trajectories, so that the optimal trajectory is screened from the sampling trajectory cluster again based on the actual motion trajectories of the vehicles after the actual motion trajectories of the vehicles corresponding to each sampling trajectory are determined. In the above manner, it can be ensured that the optimal cost trajectory selected is the optimal selection when the vehicle is actually executed, and the safety and comfort of the navigation auxiliary driving system are improved.

The invention relates to an SPMSM time optimal trajectory planning method considering a short-time dynamic feasible region, and belongs to the technical field of servo motor control and trajectory planning. The method comprises the following steps: constructing a trapezoidal feasible region consisting of a peak torque boundary, a constant power curve boundary and a maximum rotating speed boundary based on an actual torque-rotating speed characteristic of the SPMSM as a basic dynamic constraint of trajectory planning; on the basis of the trapezoidal feasible region, introducing short-time overload thermal power constraint based on an energy consumption model, and forming a short-time dynamic feasible region of the trapezoidal feasible region and the thermal power constraint; the method comprises the following steps: by taking'positioning time minimization 'as a target, combining short-time dynamic feasible region constraint, and adopting a high-order polynomial trajectory and an SLSQP algorithm, completing solution and optimization of a time optimal trajectory. According to the invention, the reliability and wide working condition adaptability of the trajectory planning scheme are improved.

The invention relates to an automatic aiming throwing device and a control method thereof, through a damping buffer structure arranged between a power source interface and a shoulder rest in series, recoil energy at the moment of launching is dissipated through fluid damping, the mechanical transmission characteristic of equipment is improved, and the safety and stability of operation are improved. Meanwhile, a distance measuring module, a posture sensing module and a wind field sensing module are integrated on the gun body, environment data are obtained in real time, a processor calculates optimal ballistic parameters containing aerodynamic characteristics of the cable, a man-machine interaction module on the surface of the shell is matched to output a visual guide feedback signal, and an operator can rapidly adjust the posture of the gun body according to feedback under an unsteady platform. And the throwing hit rate under the complex sea condition is improved.

The invention relates to the technical field of robot control, in particular to a magnetorheological damper-based flexible landing control method for a hydraulic leg unit, which comprises the following steps of: S1, establishing a rigid-flexible coupling dynamic model, optimizing parameters, and simplifying a landing process into a mass-spring-damping system; the hydraulic cylinder is equivalent to a spring module, the magneto-rheological damper is equivalent to a variable damping module, and the optimal landing track and the optimal rigidity and damping parameters are obtained by minimizing the foot end impact force; s2, decomposing the optimal trajectory into joint target displacement through an inverse kinematics model; and S3, position and force double closed-loop control is conducted on the hydraulic damping actuator, displacement is tracked by the position outer loop control hydraulic cylinder, damping force is output by the force inner loop control magnetorheological damper, the intervention and quit time of the hydraulic damping actuator is decided, the damping force is dynamically distributed, and actual force signals are fed back to correct target displacement. The method realizes flexible landing, reduces impact, gives consideration to control precision and energy consumption, adapts to multiple terrains and prolongs the service life of equipment.

This application discloses a path planning method and system for a quadruped robot based on an improved Direct Weakening (DWA) algorithm. The method includes: acquiring a global path point sequence and the turning state of the previous control cycle; fusing multi-source sensor data to construct a local environment map and the robot's own state set; evaluating the scene complexity coefficient and determining the current tracking point; sampling candidate velocity combinations and predicting the trajectory; filtering candidates that meet stability conditions based on the turning state of the previous cycle, and eliminating collision trajectories; dynamically adjusting the evaluation function weights according to the tracking point distance, heading deviation, and scene complexity to select the optimal trajectory; smoothing the trajectory before execution, and monitoring and correcting deviations in real time. This application avoids attitude fluctuations caused by frequent switching through turning state constraints, achieves accurate approximation through distance grading and heading deviation linkage, and improves scene adaptability through multi-source fusion and dynamic weights. It solves the problems of poor attitude stability, low tracking accuracy, and insufficient robustness in complex scenes found in existing DWA algorithms.

The application relates to the field of low-altitude safety technology and provides an aircraft optimal trajectory screening method and system based on an adjustable phase quantum search. A candidate trajectory is generated according to flight task constraints, and a generation cost is calculated, a high-quality solution is identified based on a cost threshold value, an adjustment search phase is based on, a balanced quantum superposition state of an encoded trajectory index is iteratively searched and measured by using a Grover quantum search algorithm to obtain an output index, the index is mapped to a trajectory, and an optimized trajectory is obtained through classical local optimization, a phase parameter and a cost threshold value are adaptively adjusted based on performance evaluation and repeated execution until an optimal trajectory is determined by meeting an end condition. The adjustable phase mechanism is introduced to realize online reconfiguration of the strategy, a feedback closed loop is established to realize adaptive optimization of the parameters, and the real-time requirements of urban air traffic control, unmanned aerial vehicle clusters and other scenes are met.

The invention discloses a three-mode aircraft based on a ground effect and a control method of the three-mode aircraft. The aircraft integrates three modes of vertical take-off and landing, ground effect cruising and fixed wing high-speed cruising, and efficient mode switching is achieved through aerodynamic layout optimization and self-adaptive control. And an airfoil profile geometric parameter self-adaptive adjustment technology is adopted, so that the flight performance of a ground-effect area is enhanced. According to the control method, adaptive PID, sliding mode control and LQR algorithms are integrated, and a hierarchical control architecture is constructed. And the LQR controller realizes optimal trajectory tracking based on the aerodynamic model in the high-speed cruise stage. A differential control strategy is adopted for each modal characteristic, and accurate control over the height and the speed is achieved. And through cooperative adjustment of the propeller angle and power, it is guaranteed that mode switching is stable and rapid. The problems that a traditional aircraft is low in mode conversion efficiency, insufficient in ground effect utilization and the like are solved, and the method has the advantages of being high in interference resistance, high in stability and wide in application range and is suitable for various low-altitude application scenes.

This invention addresses the need for autonomous navigation of low-cost, high-spin munitions by providing a factor graph-based navigation method for dynamically optimizing trajectories and inertia under elliptical geometric constraints. This method uses an ideal trajectory as a benchmark, constructs elliptical geometric constraints, and generates multiple candidate trajectories that satisfy these constraints, forming a candidate trajectory set. By evaluating the similarity between measured inertial data (gyroscope and accelerometer) and the inertial data derived from each candidate trajectory, a trajectory sequence that meets threshold requirements is dynamically selected. Using the optimized trajectory and the inertial pre-integration results as constraint factors, a factor graph-based navigation scheme integrating the optimized trajectory and inertial data is designed to achieve high-precision autonomous positioning of high-spin munitions under satellite denial scenarios. This invention solves the technical challenges of rapid error accumulation and significant decrease in navigation accuracy inherent in pure inertial navigation schemes under satellite denial conditions.

The application relates to the technical field of trajectory planning, and proposes a fast evaluation search method, a system and a terminal device of an optimal trajectory. The fast evaluation search method comprises the following steps: sampling a plurality of state points in a pre-planning space, performing pre-collision detection on the state points to remove points in conflict with obstacles, and obtaining effective sampling points; performing cost evaluation on the effective sampling points, wherein the cost evaluation comprises heuristic cost based on historical planning trajectory information and static cost based on motion characteristics; based on the result of the cost evaluation, iteratively searching from an initial state point: calculating the trajectory cost of a neighborhood state point and updating a search path in a gradient direction until an optimal feasible trajectory is output. The application improves the search efficiency of the trajectory by pre-collision detection to screen out invalid sampling points and a gradient iterative search mechanism.

The invention discloses a valve core soft landing optimal trajectory planning and control method, and relates to the field of high-speed switch valve control, and the method comprises the following steps: (1) building a non-linear dynamic model of a high-speed switch valve under multi-field coupling; (2) giving a soft landing state constraint equation and a soft landing objective function of the high-speed switch valve to construct a soft landing nonlinear programming problem of the valve element of the high-speed switch valve; (3) solving an optimal soft landing curve of the valve element of the high-speed switch valve by using a primal-dual interior point method; (4) constructing a sliding mode observer to estimate the displacement of the valve element, feeding the displacement back to a sliding mode controller, and inversely solving a driving voltage curve; soft landing of the valve element is achieved. According to the method, the optimal soft landing track of the valve element of the high-speed switch valve can be solved, soft landing control is conducted on the valve element, noise and vibration are reduced, abrasion is reduced, and the service life is prolonged. The method is suitable for the fields of high-speed switch valve control strategies, soft landing trajectory planning and control and the like, and a new thought is brought to the high-speed switch valve driving control strategies.

Embodiments of the present application provide a trajectory determination method, device, equipment and vehicle. The method comprises: obtaining at least two initial trajectories of a vehicle; determining rule information corresponding to each trajectory decision dimension in N trajectory decision dimensions; determining reference rule information from the rule information according to the priority of the rule information, and comparing each initial trajectory according to the reference rule information to obtain at least one candidate trajectory; and determining an optimal trajectory of the vehicle from the initial trajectories according to the at least one candidate trajectory. The method can realize the transparency of trajectory determination logic and reduce the complexity of parameter tuning.

The present application belongs to the field of robot technology and driver, and specifically relates to a trajectory checking planning method for a safety boundary of a driver layer, which comprises the following steps: 1) position and acceleration constraint setting; 2) the driver checks the current mechanical arm position and speed through a safety boundary triggering function, and evaluates whether the mechanical arm is about to or has exceeded the preset safety boundary; 3) when the safety boundary is triggered, a re-planning stage is entered, and the driver automatically calculates and generates a time-optimal trajectory re-planning strategy by using the position, speed and acceleration information of the current mechanical arm; and 4) the driver adjusts the driver instruction generated according to the re-planning strategy to ensure the safe movement of the mechanical arm. The present application combines the position constraint and the maximum stop acceleration constraint of the driver layer, and effectively deals with the misoperation or unreasonable planning of the upper-layer trajectory planning instruction.

The invention provides a rapid trajectory planning and guidance method for a rocket landing section based on flight airspace grid division. The method mainly comprises the steps of establishment of a rocket landing column coordinate system, flight airspace grid division, a sequence convex optimization model for solving an absolute optimal trajectory, online interpolation reduction of the absolute optimal trajectory, online sequence convex optimization trajectory optimization and polynomial guidance. The invention aims to solve the problem of high-precision fixed-point landing of a reusable carrier rocket power landing section, three-dimensional motion of a rocket landing process is decomposed into two-dimensional motion and tangential motion of a longitudinal plane by using a landing column coordinate system, the complexity of an optimization model is reduced, an interpolation table is established by using a flight airspace grid division method, and the reliability of the model is improved. According to the method, the absolute optimal trajectory is rapidly obtained on line, the global optimization problem is converted into the local optimization problem, the solving scale of an optimization model is reduced, and the real-time performance of online optimization is improved while various constraints and fuel optimization are met.

The application provides a kind of intelligent car multi-constraint trajectory planning method based on multi-dimensional laser radar point cloud information, it is related to intelligent car motion planning technical field, the method of the present application first constructs dense point cloud map using A-LOAM algorithm according to the point cloud information emitted by multi-dimensional laser radar, then on the basis of obtaining the dense point cloud map of surrounding environment, the method of curve fitting based on minimum jerk is used, the optimal trajectory is solved in state space by giving the planning starting point and end point position, velocity, acceleration, and the time is further discretized to generate front path point. The uniform B-spline curve without control points is used for curve fitting, and the unconstrained optimization problem about curve smoothness, intelligent car driving speed, intelligent car driving acceleration, obstacle avoidance distance, end point arrival distance is further constructed according to the existing dense occupancy grid map, the quasi-Newton method is used to solve the unconstrained optimization problem, and the optimal trajectory of the intelligent car in complex environment is obtained.

The application provides a construction method and device of a feedforward torque model of a coupling span driven joint, and the method comprises the following steps: constructing an initial dynamics equation of each joint according to a steel wire rope torque between coupling span driven joints of a target object, an effective torque of each joint of the target object, and a motor torque corresponding to each joint; establishing a friction force model of each joint according to an actual speed of each joint and an actual friction force of each joint, and constructing a gravity model of each joint according to a low-speed reciprocating motion state quantity of each joint; constructing a target feedforward torque model of each joint according to the initial dynamics equation of each joint, the friction force model of each joint, the gravity model of each joint, and an optimal trajectory, wherein the target feedforward torque model comprises an observation matrix and a minimum parameter inertia set; and controlling the motion of each joint in the target object based on the target feedforward torque model of each joint. The accuracy of tendon coupling span driven joint parameter identification is improved.

The application relates to the technical field of low-altitude flight, and discloses a low-altitude flight trajectory optimization method and system, which comprises the following steps: obtaining obstacle data of a test area, determining a region complexity parameter according to the obstacle data of the test area, and determining a trajectory constraint parameter set according to the region complexity parameter; establishing a flying car trajectory simulation model according to the trajectory constraint parameter set to simulate a flying car obstacle trajectory test process, and outputting a trajectory loss parameter set corresponding to a plurality of trajectory strategies; constructing a fitness function according to the trajectory loss parameter set, optimizing the fitness function based on a particle swarm algorithm, and obtaining an optimal trajectory strategy. The safety adaptability, target diversity and solution accuracy in low-altitude flight trajectory planning of the flying car can be effectively ensured.

The invention discloses an autonomous underwater vehicle-rope-driven manipulator trajectory planning method, and relates to the technical field of manipulator trajectory planning, and the method comprises the following steps: constructing a rigid dynamic framework by using a Lagrange method based on a manipulator geometric structure, and calculating generalized fluid force by combining fluid dynamics simulation; forming a rigid-liquid coupling modeling; establishing a rope flexible motion model by adopting a Cosseerat rod theory, coupling the rope flexible motion model with the rigid-liquid coupling modeling, constructing a rigid-flexible-liquid coupling dynamic model, determining a maximum working space of the manipulator based on the model, and defining a virtual working space as a constraint boundary of trajectory planning; generating a smooth basic trajectory through quintic spline interpolation, analyzing stress conditions at different path points, screening a basic expected trajectory meeting conditions, and extracting characteristic curve parameters; and finally, selecting an optimal track by using an optimization function to ensure that the system moves stably without impact.

The application discloses an online trajectory planning method for the final stage of a carrier rocket aiming at an elliptical target orbit and belongs to the field of carrier rocket trajectory and guidance, which comprises the following steps: step one, constructing the orbit entry terminal constraint and planning performance index aiming at the elliptical target orbit; step two, establishing the system dynamics constraint of the orbit entry of the final stage of the carrier rocket; step three, convex approximation is conducted on the planning orbit entry terminal constraint and performance index function; step four, state affine approximation and pseudo-spectrum discretization are conducted on the system dynamics constraint of step two; and step five, the optimal trajectory of the final stage entering the elliptical orbit is generated online through sequential convex iteration. The method of the application is suitable for the joint reconstruction of the final stage trajectory and the adaptive guidance of the carrier rocket launching the elliptical target orbit mission, can realize the online generation of the optimal trajectory with high precision and fast convergence, and is favorable for improving the reliability of the carrier rocket and enhancing the launch service fulfillment capability.

The invention relates to the technical field of aircraft control, and provides an aircraft trajectory optimization method and device based on adaptive dynamic programming, and the method comprises the steps: constructing a three-dimensional nonlinear relative motion model containing input constraints, and determining the game confrontation relation between an aircraft and a target object; establishing a zero-sum game trajectory optimization framework, defining an aircraft acceleration and a target maneuvering acceleration as two game parties, and designing a non-quadratic value function to adapt to aircraft acceleration input limitation requirements; based on an adaptive dynamic programming algorithm, obtaining an optimal game pair through value function parameterization, weight updating law design and approximate solving of a nonlinear partial differential equation; and finally, generating an optimal trajectory optimization instruction meeting the input constraint, driving the aircraft to adjust the trajectory, and realizing accurate interception of the target object. According to the method, adaptive dynamic programming and an input-limited zero-sum game framework are deeply fused, so that robust optimal interception of a high-maneuvering target in a three-dimensional nonlinear scene is realized.

This invention discloses a time-optimal trajectory planning method for flapping-wing aircraft based on time-varying wind field information, relating to the field of flapping-wing aircraft technology. The method includes: establishing a time-varying wind field model, outputting continuous wind speed and direction that vary with time; establishing a particle kinematic model of the flapping-wing aircraft in both inertial and air coordinate systems based on the time-varying wind field model, and achieving the transformation between the two coordinate systems by designing a virtual target point; deriving the optimal trajectory form of the flapping-wing aircraft in the time-varying wind field model based on the Pontryagin minimum principle; establishing the trajectory equation of the flapping-wing aircraft in the air coordinate system based on the particle kinematic model; establishing equality conditions for solving the trajectory parameters based on the geometric characteristics of the flapping-wing aircraft trajectory; and solving the trajectory parameters using Newton's method based on the equality conditions to obtain the flight trajectory in the inertial coordinate system. This invention can improve the trajectory planning capability of flapping-wing aircraft in complex wind field environments.

The invention provides a mechanical arm trajectory optimization method and system based on a variant sparrow search algorithm, and relates to the technical field of mechanical arm control. The method comprises the steps that random variables are introduced into Tent chaotic mapping to generate an initial population; based on the initial population, taking time minimization as a target, and adopting a variant sparrow search algorithm to carry out iterative optimization to obtain an optimal trajectory; specifically, in each iteration, Cauchy variation is applied to sparrow individuals in a population; in each iteration, according to the number of current iterations, dynamically adjusting step length parameters of position updating of the early warner based on a cosine annealing algorithm; the step length parameter comprises a step length factor and a random number; in each iteration, the number of explorers and the number of followers are dynamically adjusted according to the number of current iterations and the maximum number of iterations. According to the invention, the planning precision, stability and convergence speed are improved while trajectory planning is realized.

The application discloses a kind of MHC rotary crane trajectory planning method and system based on safety barrier function, method includes: the dynamic model of MHC rotary crane is established, based on dynamic model, the rotation angle of MHC rotary crane and rope length are solved out by the position information of port crane;Design LQR-CSCBF controller, control the system after linearization using LQR to obtain nominal control quantity, construct safety constraint condition using CSCBF, calculate the real control quantity that satisfies anti-sway safety constraint;LQR-CSCBF-RRT* algorithm is used for trajectory planning, random node is generated by sampling in configuration space, the trajectory from parent node to child node is simulated using LQR-CSCBF controller, find the optimal trajectory from start point to end point without collision and satisfy anti-sway constraint.The MHC rotary crane trajectory planning method and system based on safety barrier function provided in the application, trajectory optimization is carried out by LQR-CSCBF-RRT* algorithm, output a piece of obstacle avoidance constraint and safety constraint, so that crane can reach the optimal trajectory from start point to target point.

The present disclosure provides a system and a method for controlling a motion of a device from an initial state to a target state in an environment having obstacles that form constraints on the motion of the device. The method includes executing a learned function trained with machine learning to generate a feasible or infeasible trajectory connecting the initial state of the device with the target state of the device while penalizing an extent of violation of at least some of the constraints to produce an initial trajectory. The method further includes solving a convex optimization problem subject to the constraints to produce an optimal trajectory that minimizes deviation from the initial trajectory and controlling the motion of the device according to the optimal trajectory.

This application discloses a trajectory planning and control method, medium, device, and system for an LLC resonant converter. The method includes the following steps: constructing an analytical model of the inductive-capacitive boundary based on the architecture parameters of the LLC resonant converter, and calculating in real time the lower limit of the safe frequency that prevents the LLC resonant converter from operating in the capacitive region under the current operating conditions; generating an ideal optimal trajectory from the current frequency to the target frequency when a load change is detected; and performing coordinated control of the ideal optimal trajectory with safety constraints based on the real-time calculated lower limit of the safe frequency to obtain the optimal trajectory. The system, device, and medium are all used to implement the above method. The beneficial effects of this application are: it can sense the capacitive region boundary in real time and optimize the frequency change trajectory under safety constraints, effectively solving the speed and safety problems caused by the uncontrollable frequency trajectory during the dynamic response of existing LLC resonant converters, as well as the passive problem of capacitive region protection.