873 results about "Performance control" patented technology

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 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 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 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.

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 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.

The invention discloses an electro-hydraulic system adaptive neural network preset time control method, which integrates a neural network real-time learning technology, innovatively introduces a preset time performance function, and designs an adaptive neural network preset time performance controller. For the electro-hydraulic system position tracking control problem, it can be ensured that system output transient performance and steady-state performance converge to a specified performance index range within a preset time, safe and reliable operation of the system is ensured, the unknown dynamic state of the system can be learned in real time through a neural network, high-precision motion control performance is achieved, and the control precision is improved. And the problem of differential explosion in traditional backstepping control of the electro-hydraulic system can be avoided, and the influence of measurement noise on the control precision is reduced.

The invention belongs to the technical field of EL system control, and discloses a preset performance control method considering dynamic and constraint of an execution mechanism. The method comprises the following steps: firstly, establishing a system dynamics model considering dynamic and input saturation constraints of an executing mechanism; then, designing an asymmetric tubular performance boundary to restrain a system tracking error, and defining a conversion error according to the system tracking error; meanwhile, a disturbance observer based on immersion and invariance is designed, and composite disturbance is estimated. Furthermore, a tubular preset performance controller is designed by adopting a backstepping method, a virtual control law and an expected torque are constructed, and a multi-state auxiliary system is introduced to compensate the input saturation influence. And finally, a control instruction is generated by integrating the auxiliary system state, the virtual control law, the expected torque and the interference estimation value, and the control instruction acts on the system after being processed by a saturation function. According to the method, actuator dynamics, input saturation and external disturbance can be processed at the same time, and tracking errors are ensured to strictly follow a preset performance boundary.

The invention relates to a mechanical arm control method combining interactive DAgger and reinforcement learning. The mechanical arm control method comprises the following steps that 1, states are collected and preprocessed; step 2, initializing a unified policy network; step 3, interactive DAgger selective expert intervention is carried out; 4, environment interaction and experience storage; step 5, mixing loss calculation; step 6, updating the unified strategy network, and dynamically adjusting the dynamic weight; and 7, the steps are repeated until the performance of the unified strategy network is converged, and the final control action of the mechanical arm is output. According to the method, imperfect and non-optimal guidance of experts can be effectively utilized to accelerate the initial learning process and ensure the safety, meanwhile, the intelligent agent can autonomously learn and improve from interaction with the environment in combination with the self-exploration and optimization capability of reinforcement learning, and finally, a high-performance control strategy exceeding the original teaching level of the experts is obtained, so that the safety of the intelligent agent is improved. And the dependence on continuous and intensive intervention of experts is obviously reduced in the process.

The invention relates to an automobile finite time path tracking fault-tolerant control method considering steering actuator faults. The method comprises the following steps: firstly, establishing a vehicle dynamics model and a steering execution mechanism dynamics model, designing a path tracking control strategy by applying a model prediction control method, and establishing an upper-layer path tracking controller; then, on the basis of a differential driving auxiliary steering principle, a preset performance control method of finite time convergence and a nonsingular fast terminal sliding mode control theory are combined, and a steering actuator fault-tolerant controller is established; and finally, designing a torque distribution controller by adopting an optimal control theory, and solving an optimal four-wheel driving torque control quantity through quadratic programming. According to the method, the influence caused by the failure of the steering actuator can be effectively compensated, the safety and the stability of the vehicle are remarkably improved, and a feasible solution is provided for the fault-tolerant control of the steering actuator in a future intelligent vehicle path tracking scene.

This prevents the system from inferring that the setting has been changed. [Solution] The performance control means executes a first performance related to a specific benefit when a specific benefit is granted, does not execute the first performance when a specific benefit is not granted in response to being operated in a second operation mode, does not execute the first performance when the stop switch is operated in a second operation mode in a non-advantageous section and a specific benefit is granted in the next game, does not execute the first performance, may execute a second performance when the stop switch is operated in a second operation mode in a non-advantageous section, may execute a second performance when the stop switch is operated in a second operation mode in an advantage section, and performs performances through multiple layers including a first layer and a second layer different from the first layer, the first performance and the second performance are different performances and are executed on layers different from the first performance and the second performance.

The invention provides a serdes chip performance control parameter optimization method and device, and the method comprises the steps: setting the value ranges of all configuration parameters of a preset configuration type in a serdes chip, and generating an initial particle swarm according to each configuration parameter and the corresponding value range; inputting the initial particle swarm as an input particle swarm into a first round of iteration; each round of iteration comprises the steps of inputting each particle in the input particle swarm into a corresponding serdes chip, obtaining an eye diagram corresponding to each particle, and obtaining a target value corresponding to each particle according to the eye diagram corresponding to each particle; obtaining the maximum target value in all particles in the input particle swarm as a local optimal value, and obtaining the local optimal value with the maximum target value in all current iteration rounds as a global optimal value; and after the termination condition is met, the optimal configuration parameter of the serdes chip is obtained, so that the optimization efficiency and the channel compensation performance are improved.

This prevents the system from inferring that the setting has been changed. [Solution] The performance control means executes a first performance related to a specific benefit when a specific benefit is granted, does not execute the first performance when a specific benefit is not granted as a result of the operation in the second operation mode, does not execute the first performance when the stop switch is operated in the second operation mode during a non-advantageous section and a specific benefit is granted in the next game, performs performances through multiple layers including a first layer and a second layer which is a higher layer than the first layer, executes the first performance in the first layer and executes a second performance which is different from the first performance in the second layer, and makes the execution timing of the first performance and the execution timing of the second performance different.

The invention relates to the technical field of vehicle supercharging control, in particular to a supercharger performance control method and device of a hybrid power system and a vehicle. The method comprises the steps that a plateau ignition angle MAP table and a plateau air inlet VVT angle MAP table of the vehicle in a high altitude mode are obtained; a plateau air inlet VVT angle MAP table is corrected, meanwhile, the knocking thrust angle condition of the hybrid power system is checked, and the maximum performance of a current supercharger is determined so as to correct the exhaust gas recirculation rate; calibration limits are generated based on at least part of detonation, preignition, the highest rotating speed of turbine hardware, the combustion center of gravity, the combustion boundary and the HCU series-parallel economic line, and comprehensive test check is conducted based on the calibration limits so that performance optimization can be conducted on the engine. Therefore, the problems that in the related technology, due to the fact that the performance and the response speed of the supercharger in the plateau area are reduced, the actual torque of an engine cannot meet the requirement of a hybrid power system, and then the series-parallel connection switching and electricity protection capacity of the vehicle is affected are solved.

The invention relates to the technical field of research and development of low-temperature bolt steel, and discloses a low-temperature impact performance control process for low-temperature bolt steel. Comprising the steps that S1, in the steelmaking refining stage, purity and uniformity control is conducted, S2, casting blank homogenization treatment is conducted, stress relief and structure regulation are conducted, S3, a heat treatment core process is conducted, structure and toughness balance regulation is conducted, and S4, online detection and dynamic feedback are conducted, and performance stability is guaranteed. By accurately controlling the element proportion of carbon (C), silicon (Si), manganese (Mn), chromium (Cr) and molybdenum (Mo) in steel and combining with an optimized heat treatment process (such as 860 DEG C oil quenching and 640-650 DEG C high-temperature tempering, and the heat preservation time is prolonged to 120 minutes or more), the V-shaped notch impact energy of the material in the environment of-101 DEG C stably reaches 35 J or more, the impact energy of part of samples can reach 50 J or more, and the impact energy of the part of samples can reach 50 J or more. The problem that the low-temperature impact performance is insufficient after wire hardening and tempering is thoroughly solved, and it is ensured that the brittle failure resistance of the bolt is remarkably improved in the ultralow-temperature environment.

To improve interest in a performance.SOLUTION: This game machine is provided with a performance control board 300 capable of executing a picture scroll mode performance for changing the display contents of a background image displayed on the back surface side from performance symbols for each variable display of the performance symbols (special symbol 1 one digit symbol a2, special symbol 2 one digit symbol a3 and picture scroll mode exclusive mini symbol). Then, with regard to the display contents of the background image which is displayed during the picture scroll mode performance, the same display contents do not overlap. That is, in the Pachinko machine 1, when executing the picture scroll mode performance in which the display content of the background image displayed on the back side of the performance symbol is changed for each variable display of the performance symbol, since the same display content is not overlapped for the display content of the background image displayed during the picture scroll mode performance, the interest of the performance can be improved.SELECTED DRAWING: Figure 51

To provide a game machine including main control-performance control means which improves the amusement of a game.SOLUTION: In a game machine according to the invention, main control means counts the number of winnings of game balls in an opening state of a big winning port; when the number of winnings reaches a predetermined number, can control the big winning port to bring it into a closed state; and can send a big winning port winning command (that does not include count information of the number of winnings) based on the winnings of game balls into the big winning port to performance control means. The performance control means can execute a count process different from that of the main control means according to the big winning port winning command.SELECTED DRAWING: Figure 44

An articulated robot control method and system and an articulated robot. The control method comprises: establishing a single-articulated impedance control model on the basis of a dynamics model of a robot; determining a stiffness range of a single articulation on the basis of the single-articulated impedance control model, the cut-off frequency of a robot control system, and a critical damping condition; using the stiffness range to determine the maximum stiffness value of the single articulation and a corresponding damping value; establishing a multi-articulated impedance control model and a Cartesian impedance model on the basis of the dynamics model; obtaining an articulation control law on the basis of the multi-articulated impedance control model and the Cartesian impedance model; and on the basis of the articulation control law, using the maximum stiffness value of the single articulation and the corresponding damping value to perform optimal impedance control. Thus, the technical problem in the prior art that the accuracy is low when dynamic performance control is performed on a robot by using an impedance control method is solved, and the technical effect of improving the accuracy of controlling the robot is achieved.

The invention discloses a chip packaging test production line performance control method based on reinforcement learning, and relates to the technical field of quantum regulation and control, and the method comprises the steps: generating a joint state vector; inputting the joint state vector into a pre-trained reinforcement learning strategy model, and when a high-risk state is detected, triggering a causal intervention mark, and generating a frequency band reservation instruction, a forced forbidden instruction set and a quantum regulation and control instruction set; transmitting a frequency band reservation instruction, a forcible forbidding instruction set and a quantum regulation and control instruction set to a radio frequency test machine and chip packaging equipment through a communication interface, distributing a low-load test channel, forbidding a high-risk channel and adjusting temperature and pressure; and collecting test data of the chip function test, verifying the compliance of the test data, and generating a qualification report. According to the method, intelligent sensing and causal reasoning of the running state of the chip packaging test production line are realized through the reinforcement learning strategy model and the causal rule map.

The invention discloses a piezoelectric micro-positioning platform preset performance control method based on an extended state observer, and the method mainly comprises the steps: firstly, building a piezoelectric micro-positioning platform system model considering input hysteresis and unknown disturbance; secondly, designing an extended state observer based on a radial basis function neural network to estimate an unmeasurable state of the system and lumped disturbance containing input hysteresis; then, a preset performance function is used, so that the overshoot performance of the system is effectively improved; thirdly, in combination with a preset performance function, a first-order sliding mode differentiator and an expansion state observer, providing a virtual control law and an adaptive control law; and finally, a preset performance controller is utilized, a Lyapunov stability theory is combined, proper parameters are selected to ensure that the closed-loop system is kept stable within preset time, and tracking errors are controlled within a set error range.

To suppress the occurrence of errors that do not need to be detected (reported) when the power is turned on.SOLUTION: A game machine of the present invention comprises game control means, game value control means, and performance control means. The game control means is capable of serially communicating second information with the game value control means. Upon startup of the game machine, the game control means transmits predetermined multiple pieces of second information to the game value control means and then waits until startup of the game value control means is completed. The game value control means is capable of outputting multiple pieces of third information to the game control means in parallel. The multiple pieces of third information include initial setting information that is controlled to a first state when an initial setting operation performed upon startup is being executed and to a second state upon completion of the initial setting operation. The game value control means controls the initial setting information to the first state upon startup of the game machine, and after receiving multiple pieces of first information, controls the initial setting information to the second state.SELECTED DRAWING: Figure 472

The invention discloses a control method, system and device of a stacking machine and a medium, and relates to the field of motion control. According to the scheme, through establishment of the modal parameter library, the corresponding inherent frequency and damping ratio can be quickly inquired and obtained under different shelf layer numbers and load working conditions, the input shaping pulse sequence is generated based on the adaptive modal parameters, the original speed curve is shaped, and the target speed curve more conforming to the actual working condition is obtained. The motion trail of the stacking machine does not depend on complex high-order motion curve design or a high-performance controller any more, swing of the cargo carrying table in the acceleration and deceleration stages is restrained through input shaping, and cargo stability improvement, positioning precision improvement and operation efficiency guarantee are achieved.

To provide a game machine that is suitable as a result.SOLUTION: A game machine includes a first performance mode, a second performance mode, and a third performance mode, performance control means can execute a specific performance, and an execution ratio of a specific performance in the first performance mode, an execution ratio of a specific performance in the second performance mode, and an execution ratio of a specific performance in the third performance mode differ.SELECTED DRAWING: Figure 17-52

The invention relates to a steel structure performance control method and system based on a large language model, and belongs to the field of steel manufacturing. In order to solve the problems that traditional steel rolling water cooling parameter control depends on an empirical formula, prediction precision is low, adjusting efficiency is poor and working condition adaptability is insufficient, initial parameters (chemical components, temperature, technological parameters and the like) and mechanical property data of steel are collected, and a historical knowledge base is established; preprocessing the to-be-predicted data, calculating the similarity between the to-be-predicted data and historical cases, screening reference cases, and constructing Prompt input containing the cases and the current working condition; a large language model (GPT / GLM) is utilized to generate high-precision water tank parameters, and the model is optimized through a continuous learning mechanism. The method has the technical effects that the prediction error is smaller than or equal to 5%, the parameter adjustment efficiency is improved by 70%, the rejection rate is reduced by 3%-5%, complex working conditions such as equipment aging and component fluctuation are dynamically adapted, and an intelligent and high-robustness cooling control scheme is provided for steel production.

The invention belongs to the technical field of automatic driving automobiles, and particularly relates to an automobile path tracking preset performance control method considering lateral stability. Comprising the following steps of 1, building a vehicle dynamics model; 2, establishing a linear time-varying prediction model for the vehicle, and designing a tracking differentiator preset performance control system on the basis of preset performance control; and step 3, solving and torque distribution are carried out through a model prediction controller, and automobile path tracking preset performance control is realized. According to the method, high precision of trajectory tracking is ensured, good transverse stability control capability is achieved, and powerful support is provided for safe operation of an intelligent vehicle in an actual complex road environment.

The invention discloses a path tracking and stability-oriented chassis multi-system cooperative game control method, and belongs to the technical field of vehicle dynamics control, chassis multiple systems comprise a DYC system, an AFS system, an ARS system and an ASS system, and the method comprises the steps of constructing a vehicle dynamics and path tracking cooperative control model and establishing a vehicle state prediction equation; the DYC system, the AFS system, the ARS system and the ASS system serve as participants of the cooperative game, a total cost function is constructed, and the control weight of each participant is dynamically adjusted according to the real-time vehicle state; and performing distributed solution on the total cost function by adopting an ADMM algorithm to obtain optimal control input of the DYC system, the AFS system, the ARS system and the ASS system. According to the method, the optimal balance between the path tracking precision and the driving stability is realized while the calculation efficiency is ensured, so that the high-performance control of the intelligent vehicle under the limit working condition is realized.

The invention discloses a sliding mode control method for spacecraft attitude tracking with preset performance, and belongs to the technical field of process control. On the basis of an all-drive system method and preset performance control, for a spacecraft attitude tracking system with inertia uncertainty, external disturbance and actuator saturation, the method comprises the following steps of: firstly, restraining an attitude tracking error of a spacecraft by utilizing a preset performance function with finite time convergence, and converting a system state through a conversion function; and constructing a constrained attitude tracking system model. The method comprises the following steps of: firstly, converting the model into an all-drive system model, introducing a self-adaptive disturbance observer, estimating inertial uncertainty and external disturbance values, and finally designing an anti-saturation sliding mode controller with preset performance by combining an anti-saturation compensation system on the basis of an all-drive system method, so as to control the attitude of a spacecraft. And stable tracking of the target attitude by the spacecraft is realized.