1687 results about "Performance control" patented technology

The invention discloses an adaptive fuzzy preset performance control method triggered by an under-actuated ASV dynamic event under a network attack. The method comprises the following steps: constructing an under-actuated ASV model containing model uncertainty items under the network attack; constructing an adaptive fuzzy observer according to the under-actuated ASV model to obtain a state prediction model, and obtaining a state prediction error of the under-actuated ASV according to the state prediction model; constructing a performance control function for keeping formation control of followers and pilots; constructing a ship fuzzy preset performance virtual control law according to the performance control function; according to the ship fuzzy preset performance virtual control law and the state prediction error of the under-actuated ASV, constructing an adaptive law; constructing a switching dynamic event triggering mechanism to obtain the actual input of the controller; and based on the switching dynamic event triggering mechanism and the adaptive law, constructing a formation controller triggered by the switching dynamic event according to a pre-designed N-type function. The problems that in an existing ASV trajectory tracking task, system signals are maliciously changed through information spoofing attacks, system communication resources are limited, specified performance indexes need to be achieved, disturbance of an external marine environment, underactuation of an autonomous water surface vehicle, an uncertain nonlinear model and the like are solved. And the ASV path tracking robustness is reduced, and even the whole system is unstable.

The invention discloses a fixed-wing unmanned aerial vehicle predetermined time cooperative path following formation control method, and relates to an unmanned aerial vehicle technology. A multi-unmanned aerial vehicle cooperative path following control strategy based on preset time stability, neural network adaptive control and preset performance control is provided; according to the method, the multiple fixed-wing unmanned aerial vehicles can realize preset time convergence of path following errors and preset time preset performance convergence of control signal tracking errors under the conditions of external disturbance and actuator faults, so that a high-precision and quick-response cooperative path following formation control task is completed; and meanwhile, the control precision and robustness are improved.

To provide a game machine capable of executing a game performance that can increase interest in a game.SOLUTION: Game progress control can be stopped according to the satisfaction of a complete function activation condition. Performance control means can execute a notification performance that notifies a player of the fact that the game progress control may be stopped and a rainbow light-emitting performance that emits light in a rainbow mode with a specific light-emitting color. The rainbow light-emitting performance can be executed with either a rainbow icon image or a rainbow light-emitting image. When the notification performance is executed during the execution of the rainbow light-emitting performance, a display area of the rainbow light-emitting performance is more likely to be restricted when the rainbow light-emitting image is displayed than when the rainbow icon image is displayed.SELECTED DRAWING: Figure 102

The invention relates to a vehicle queue cooperative control method fusing deep reinforcement learning communication time delay compensation, and belongs to the technical field of intelligent vehicle control. For the problems of control error accumulation and queue instability caused by communication time delay in the vehicle-road cloud cooperative system, a solution integrating deep reinforcement learning prediction and preset performance control is provided. According to the technical scheme, the method comprises the following steps: constructing a vehicle state prediction model based on a DDPG algorithm, and generating a time delay compensation amount in real time; establishing a vehicle dynamics model containing communication time delay, and designing a sliding mode controller based on a barrier function; and dynamically adjusting the control constraint in combination with an adaptive error boundary mechanism. According to the method, through closed-loop fusion of prediction compensation and dynamic constraint, under the scene of burst communication delay (100-400 ms), the queue spacing error is reduced by 62%, the speed tracking error is still kept to be smaller than 0.3 m / s, and the queue stability and the anti-jamming capability are remarkably improved.

The invention discloses a six-rotor unmanned aerial vehicle control method and system with disturbance and performance constraints. The method comprises the steps that 1, a six-rotor unmanned aerial vehicle power model is built; 2, errors are determined based on the dynamic model, functions are combined, and a finite time scheme is determined; step 3, based on the dynamic model, establishing an observer, and knowing a disturbance state; step 4, a performance control scheme and an unknown disturbance state are stipulated in finite time, an error dynamic model is established, and the error dynamic model is established based on reinforcement learning; 5, setting a base scheme, setting a virtual controller and an actual controller, and setting an adaptive law for the base neural network; 6, the controller follower can track the leader, and tracking control is completed; establishing a controller by adopting a backstepping method, establishing a disturbance observer, and compensating negative effects; a reinforcement learning algorithm and a backstepping method technology are combined, and a controller is arranged to realize control; according to the method, the stability is proved by using a Lyapunov judgment stability theory, and the feasible effectiveness is verified by a simulation example.

The invention discloses a vehicle braking performance control method and system based on multi-sensor detection fusion, and belongs to the technical field of vehicle braking, and the method comprises the steps: building a basic braking force function of vehicle braking control under a normal road condition; obtaining road surface sensing parameters collected by at least two sensors; based on the road surface sensing parameters, constructing a road surface slippery degree function used for evaluating the current road slippery degree; according to the basic braking force function and the road surface slippery degree function, a braking force function of the current road is obtained through calculation; and controlling the braking force of the vehicle based on the braking force function of the current road. The vehicle braking force can be dynamically adjusted according to the real-time road condition, the vehicle braking performance weakening early warning function is achieved, and a driver can visually master the current braking performance.

The invention provides a mechanical arm predefined time trajectory tracking control method and system based on time delay estimation, and relates to the technical field of multi-degree-of-freedom mechanical arm trajectory tracking control. Constructing a predefined time error conversion function to define a system error and conversion error system, designing a barrier function and a feedback control rate based on the conversion error system, and designing a Lyapunov function to prove the stability of the system so as to track an expected trajectory; according to the method, time delay information is deeply fused, dependence on a complex model approximate structure is not needed, stable convergence of the mechanical arm system state within predefined time can be achieved when a mathematical model is not accurate, the system control performance and robustness are effectively improved, and the requirement of modern industry for mechanical arm high-performance control is met.

The invention relates to the field of motor control, and discloses a permanent magnet synchronous motor enhanced active-disturbance-rejection control method based on a superhelix control law, which comprises the following steps of: firstly, establishing a permanent magnet synchronous motor mathematical model by considering load disturbance, current sampling disturbance and flux linkage parameter change disturbance in actual motor operation; according to the mathematical model of the permanent magnet synchronous motor and the mathematical characteristics of the active disturbance rejection controller, constructing an observer equation by using a differential relationship, and solving the problem of observation error accumulation through the differential relationship; a lumped disturbance compensation function is introduced into the observer, the anti-interference capacity of the control system is enhanced, and decoupling of steady-state and dynamic performance control parameters is achieved; and finally, designing a state error feedback control law by adopting a super-spiral sliding mode control law, so that the anti-interference capability of the active-disturbance-rejection controller is further improved, and the inherent buffeting of the system is weakened. A simulation result shows that compared with a traditional PI control method, the control method has better dynamic response performance and anti-interference performance.

The invention discloses an underwater glider attitude control method and system, and belongs to the technical field of AUVs, and the control method comprises the steps: S1, building a kinetic model based on a coordinate transformation relation, a Newton-Euler equation and a kinetic energy theorem; s2, on the basis of the dynamic model, a preset performance controller is designed through a backstepping method, and high-precision control over the pitching motion of the underwater glider is achieved.The underwater glider dynamic model with the three degrees of freedom is established, the particularity of the pitching motion of the underwater glider is considered, a periodic performance function is introduced, and the performance of the underwater glider is improved. A self-adaptive preset performance controller is designed for the body speed and the pitch angle of the underwater glider, the dynamic performance and the steady-state performance of the underwater glider in the angle switching process are considered, and the posture and the speed of the underwater glider are controlled within a preset range.

To provide a game machine capable of enhancing interest in a game.SOLUTION: A game machine includes: game control means (a game control microcomputer 100) for controlling progress of a game; performance control means (a performance control CPU 120) for controlling a performance; and a liquid crystal indicator (an image display device 5). The performance control means displays a glass plate image on the liquid crystal indicator and executes a cracking performance for cracking the glass plate image according to a performance control command transmitted from the game control means.SELECTED DRAWING: Figure 11-1

The invention provides a method and a device for reducing tire abrasion, and belongs to the technical field of tire performance control. According to the method for reducing the tire abrasion, the abrasion state of a tire under different torque outputs is accurately analyzed, torque output is adjusted to obtain a target torque output curve, the contact force between the tire and the tire can be effectively managed, and the tire abrasion is reduced. Therefore, the abrasion of the target tire is reduced, and the service life of the tire is remarkably prolonged.

The invention relates to a multi-robot system global flexible preset performance control method under an unknown state and a DoS attack, and belongs to the technical field of multi-robot system control. Aiming at the problems in the prior art that the communication topology is unstable due to attack, the initial error constraint is strict, and the input saturation conflicts with the performance, the following scheme is provided: dynamically reconstructing the attacked communication topology based on a bipartite consensus layering algorithm; designing a global error constraint mechanism fusing the scale function and the tunnel type performance function; constructing a balance control input and performance boundary of the input saturation self-adaptive auxiliary system; and estimating an unknown state and compensating an observation error by adopting a state observer. The method has the technical effects that the DoS attack resistance of the system is enhanced, the global preset performance control of any initial error is realized, the contradiction between input saturation and tracking performance is dynamically coordinated, and the multi-robot collaborative operation under the unbalanced topology is supported.

The invention belongs to the technical field of unmanned aerial vehicle trajectory tracking control, and particularly discloses an unmanned aerial vehicle preset performance control method and system considering time-varying position constraints. According to the method, under the condition that the unmanned aerial vehicle has time-varying position constraint, model uncertainty, actuator fault and wind disturbance, a nonlinear mapping method is firstly adopted to convert a system with position constraint into an unconstrained system, then a preset performance control method and a self-adaptive backstepping technology are adopted to carry out controller design on the converted system, and therefore the control precision of the unmanned aerial vehicle is improved. The system error is kept in a preset boundary function range; the invention also designs a fuzzy logic system (FLS) and a nonlinear disturbance observer to estimate the uncertainty and wind disturbance of the model, thereby providing a trajectory tracking control scheme combining model mapping and preset performance. Under the control of the method, the quad-rotor unmanned aerial vehicle has good robustness, and even if an actuator breaks down, the tracking error can still be kept within a preset interval.

The invention relates to a trajectory tracking optimization control method for a two-connecting-rod mechanical arm with an incomplete measurable state, and belongs to the technical field of control engineering. The method utilizes a preset performance function and an event triggering mechanism to implement event triggering model prediction optimization control: establishing a mathematical model of a two-connecting-rod mechanical arm system, and obtaining a state-space equation of the system according to the mathematical model; designing an extended state observer, setting a preset performance function, adjusting parameters of the preset performance function to meet transient performance requirements, and performing error conversion on an output tracking error according to the transient performance requirements; designing an event triggering model predictive controller based on a preset performance function; solving an optimization problem to obtain an optimization control input variable and a state variable; and designing a self-adaptive time-varying trigger mechanism to reduce the optimization times of predictive control. The method integrates the advantages of a preset performance control method, an event triggering mechanism and a prediction control method, has the advantages of high response speed, high positioning precision, small calculation amount and the like, and has relatively good tracking performance and control flexibility.

The invention provides a fault-tolerant control method for preset performance of a morphing aircraft based on sliding-mode control. The fault-tolerant control method comprises the following steps: establishing a longitudinal nonlinear dynamic model of the morphing aircraft; based on the longitudinal nonlinear dynamic model of the morphing aircraft, establishing a longitudinal nonlinear dynamic model of the morphing aircraft under the fault condition of the execution mechanism; the method comprises the following steps: extracting a speed subsystem and an attitude subsystem aiming at a longitudinal nonlinear dynamic model of a morphing aircraft under an execution mechanism fault condition; carrying out sliding-mode control-based preset performance fault-tolerant controller design on the attitude subsystem; aiming at a speed subsystem, combining an attitude subsystem controller, and carrying out sliding mode control-based preset performance fault-tolerant controller design; the two designed controllers are utilized to realize the fault-tolerant control of the variant aircraft under the condition of executing mechanism fault. The sliding mode control and the preset performance control are combined, so that the conservative property is improved by quick response, the fault-tolerant capability is enhanced by switching the control law, and the stability is improved.

The invention discloses a reinforcement learning-based quadrotor unmanned aerial vehicle attitude preset performance control method, which comprises the following steps of: establishing an unmanned aerial vehicle attitude kinetic equation by considering a time-varying inertial parameter and external unknown interference; a sub-channel preset performance controller is constructed, and a robust control quantity is generated in combination with preset performance and a non-singular fast terminal sliding mode control technology; designing a reinforcement learning parameter generator, and dynamically optimizing 12 time-varying parameter estimated values through a time sequence feature extraction network and a residual network; and establishing an online reinforcement learning training mechanism, constructing a multi-target reward function, and optimizing the output of the parameter generator through the multi-target reward function. According to the method, a reinforcement learning method is adopted to replace a traditional self-adaptive method to estimate time-varying parameters, multi-degree-of-freedom decoupling optimization is achieved through a sub-channel control architecture, tracking error preset performance constraint is achieved under the working condition of time-varying inertial parameters, and the dynamic adjustment capacity and anti-interference robustness of an attitude system are remarkably improved.

To provide a game machine equipped with main control-performance control means for improving amusement properties of a game.SOLUTION: In a game machine of the present invention, main control means is capable of counting the number of winning game balls in an open state of a big winning port, and controlling the big winning port to a closed state when the number of winning game balls reaches a predetermined number, and transmitting a big winning port winning command (not including count information on the number of winning game balls) based on the entry of a game ball into the big winning port to performance control means. The performance control means performs counting different from that of the main control means according to the big winning port winning command, and can display a result of the counting.SELECTED DRAWING: Figure 44

The invention discloses a hydrogen production electrolytic cell dynamic performance control method based on an improved particle swarm optimization algorithm, which comprises the following steps of: extracting index parameters of an electrolytic cell, constructing a mathematical model which comprises operating voltage, hydrogen production rate and hydrogen production efficiency, and calculating the dynamic performance of the electrolytic cell according to the operating voltage, the hydrogen production rate and the hydrogen production efficiency. The operating voltage, the hydrogen production rate and the hydrogen production efficiency of the mathematical model are calculated to obtain multi-target optimization parameters for constraining the operating temperature of the electrolytic cell, the weight of existing linear quadratic programming control is optimized through a self-adaptive weight multi-target particle swarm algorithm, the dynamic temperature model of the electrolytic cell is constructed, and the optimal temperature of the electrolytic cell is obtained. And controlling the operating temperature of the electrolytic cell to be within a constrained electrolytic cell operating temperature range through the electrolytic cell temperature dynamic model. According to the method, the weight of linear quadratic programming control is optimized through the self-adaptive weight multi-target particle swarm algorithm, and the electrolytic bath temperature dynamic model is constructed, so that stable and rapid feedback control can be performed on the operating temperature of the electrolytic bath.

The invention discloses an unmanned agricultural machine path tracking preset performance control method and system, and the method comprises the steps: collecting the pose information of an unmanned agricultural machine, building an unmanned agricultural machine path tracking error kinematic model, and designing a finite time preset performance function based on the unmanned agricultural machine path tracking error kinematic model. The constraint is converted through nonlinear mapping; based on the Lyapunov stability theory, adopting a backstepping method to recursively design an actual control law, and according to the actual control law, performing inverse transformation on the input of the unmanned agricultural machine tracking control system in the error kinematics model of the unmanned agricultural machine tracking control system to obtain the front wheel steering angle of the unmanned agricultural machine. According to the method, convergence is completed within finite time, and transient control performance and steady control performance of a path tracking control system are considered.

To provide a game machine capable of increasing efficiency of performance processing.SOLUTION: The game machine comprises: lottery means which executes a winning lottery; and performance control means which controls a performance related to a result of the winning lottery. The performance control means comprises: performance lottery means which executes a performance lottery related to a performance to be executed; and a distribution data table to be used in executing a lottery by the performance lottery means. The distribution data table includes: a plurality of performance variations relating to the performance; a distribution value corresponding to each of the performance variations; and the number of variations which designates the number of types of the performance variations. The performance lottery means includes: count means which can update a count value for identifying the performance variation; and winning determination means which determines which one of the performance variations is won on the basis of a present count value and the distribution value and a random number value corresponding to the count value. When the count value exceeds the number of variations due to a failure, a specific performance variation can be treated as winning.SELECTED DRAWING: Figure 71C

The invention discloses an intelligent adaptive fault-tolerant control method for an aircraft. According to the method, the extended state observer with fixed time convergence is designed to obtain the lumped disturbance including the fault influence, the design of the super-spiral sliding mode controller is completed under the preset performance control framework, and the compensation of the total disturbance is generated by means of the good robustness of the sliding mode controller and in combination with the observer. The influence of aircraft faults on a control system is effectively reduced, the preset performance super-spiral sliding mode controller can realize rapid and accurate tracking of a control instruction in a short time, overshoot and oscillation in the control process are reduced, and the influence of buffeting of a traditional sliding mode algorithm on the aircraft control system is reduced; meanwhile, a reinforcement learning agent is designed to carry out online self-adaptive adjustment on parameters of the super-spiral sliding mode controller with the preset performance, so that performance reduction of the controller caused by various sudden faults which occur randomly and have random fault types is dealt with, and the influence of the faults on aircraft tasks is reduced.

The invention provides a distributed driving vehicle preset performance fault-tolerant control method and system based on an adaptive neural network observer. The method comprises the following steps: constructing a vehicle dynamics model containing motor faults and unknown disturbance; in order to realize real-time estimation of faults and disturbance and break through the limitation on disturbance derivative boundaries, a self-adaptive neural network observer is designed; aiming at the problem that the control direction is uncertain, an upper-layer controller is designed based on a preset performance control theory, a Nussbaum function and an obstacle Lyapunov function are introduced, it is ensured that system dynamic errors meet preset performance constraints all the time, and accurate tracking control over the transverse force, the longitudinal force and the yawing moment of a vehicle is achieved; in order to improve the system coordination capability under the multi-motor fault working condition, an optimal torque distribution model fusing the motor torque constraint and the tire force limit is constructed, collaborative optimization control of the driving and steering system is realized through a quadratic programming algorithm, and the stability and safety of the whole vehicle in the fault state are improved.

The invention relates to the technical field of electron beam welding seam structure performance regulation and control, in particular to an electron beam welding seam structure performance regulation and control method which comprises the steps that a workpiece to be welded is preheated; the preheated workpiece to be welded is welded through electron beams, and a welded workpiece is obtained; and the welded workpiece is subjected to postweld heat treatment, and the electron beam welding seam structure performance regulation and control work is completed. According to the method, welding and post-welding furnace heat treatment can be achieved under the high-temperature preheating condition under the crack control and structure property regulation and control process of high-temperature preheating electron beam welding and furnace heat treatment, welding cracks are avoided through high-temperature preheating electron beam welding, meanwhile, post-welding reheating cracks are avoided through furnace heat treatment, and the welding quality is improved. Weld joint residual stress is eliminated, and weld joint structure performance regulation and control are achieved.

To provide a game machine capable of enhancing interest in a game.SOLUTION: A game machine includes a main control board 300 for controlling progress of a game, a performance control board 320 for controlling performance of a game, and at least one light-emitting means, and can execute a first performance for performing a light-emitting display in a specific mode seen as a rainbow color from a player and a first performance for performing a light-emitting display in a light-emitting mode differing from that of the first performance. The light-emitting mode can be changed between when a game state is a first state and when it is a second state.SELECTED DRAWING: Figure 3-1

The invention discloses a permanent magnet synchronous motor parameter optimization method based on an improved moth flame particle swarm algorithm. In order to solve the problems that a traditional PID controller is difficult in parameter setting, poor in adaptability, insufficient in control precision and the like under complex working conditions, in the strategy, an MFPSO algorithm fuses a particle swarm optimization (PSO) algorithm and a moth flame optimization (MFO) algorithm. An adaptive inertia weight and Gaussian mutation strategy is introduced, so that particles can focus on local fine search, and the speed of convergence to an optimal solution is accelerated. The optimization capacity of the algorithm in different stages is enhanced by adopting a nonlinear acceleration coefficient, and local optimum is effectively avoided. A grouping evolution mechanism is designed to promote intra-group information sharing and inter-group competition, the population diversity is enriched, and the ability of the algorithm to jump out of a local optimal solution is further improved. The fuzzy PID controller based on the MFPSO algorithm optimization parameters can better meet the requirements of high-performance control of permanent magnet synchronous motors in different fields, and has application prospects and economic values.

The invention relates to an optimal cooperative control method for preset performance of multiple intelligent vehicles under a non-convex input constraint, and belongs to the technical field of multi-agent cooperative control. The problems that non-convex input constraint processing is conservative, preset performance and optimal control are designed separately, and the timeliness of a traditional method is insufficient are solved. Designing a non-convex constraint operator to directly map, control and input to a feasible direction extreme value; constructing a distributed preset time observer to realize accurate estimation of the state of the leader; preset performance control is converted into an optimal control problem in combination with a time-varying performance function and error conversion; and solving an HJB equation based on a reinforcement learning iterative algorithm to approach an optimal control law. The conservative property of a traditional convex approximation method is broken through, and it is ensured that control input strictly meets the non-convex constraint; eliminating time uncertainty through preset time observation; fusing preset performance and optimal control to realize multi-target collaborative optimization; the reinforcement learning algorithm has global convergence and real-time performance, and is suitable for multi-vehicle cooperative control in a complex dynamic environment.

To provide a game machine which contributes to improvement of game amusement through a performance.SOLUTION: A game control microcomputer 101 is capable of executing a jackpot game based on a result of jackpot determination. A performance control microcomputer 121 is capable of stopping and displaying a left performance symbol EZ1 and a right performance symbol EZ3 by a ready-to-win combination in a special symbol variation performance, and is capable of executing ready-to-win symbol action notice with actions of the left performance symbol EZ1 and the right performance symbol EZ3 when the ready-to-win combination is displayed. In the ready-to-win symbol action notice, the left performance symbol EZ1 and the right performance symbol EZ3 constituting the ready-to-win combination are sometimes expanded and then contracted.SELECTED DRAWING: Figure 63

To provide a game machine capable of improving the efficiency of performance processing.SOLUTION: A game machine includes lottery means for executing a winning lottery and performance control means for controlling a performance related to the result of the winning lottery. The performance control means can determine a performance to be executed by executing lottery processing using predetermined reference information multiple times for a performance content of the performance. The reference information includes first reference information determined before executing the current lottery processing and second reference information determined by the current lottery processing. In the lottery processing from the next time onwards, the performance content can be determined by referring to the second reference information.SELECTED DRAWING: Figure 71A

The invention belongs to the technical field of spacecraft attitude control, and discloses a spacecraft attitude preset performance control method and equipment, and a computer storage medium. The method comprises the following steps: S1, establishing a spacecraft error attitude dynamics and kinematics model considering unknown bounded input time delay; s2, constructing a preset performance function, and performing preset performance constraint on the attitude error of the spacecraft through the preset performance function; introducing an error conversion function, and converting a constrained attitude error into an unconstrained error; performing state conversion on the spacecraft error attitude dynamics and kinematics model to obtain a spacecraft error attitude dynamics and kinematics model related to state variables; and S3, designing a preset performance control law based on the tracking error variable, so that the attitude error moves in a preset performance function envelope. According to the method, errors caused by unknown bounded input time delay can be compensated, and meanwhile, the steady-state and transient-state performance of spacecraft attitude control can be met.