1598 results about "Proportion integration differentiation" patented technology

A control method of a two-wheeled self-balance vehicle comprises the steps as follows: (1), performing initialization: (2), reading values of a gyroscope, an accelerometer and a rotation angle sensor as well as the pulse number of an encoder respectively; (3), obtaining a vehicle body inclination, a handlebar turning angle, motor speeds and a vehicle speed; (4), then calculating PWM (pulse width modulation) values of vertical control, direction control and speed control respectively through a PID (proportion integration differentiation) control algorithm; (5), superposing the three PWM values together and outputting the three PWM values to left and right motors; (6), then sending data of the gyroscope, the accelerometer, the vehicle body inclination, a battery voltage, motor currents and the vehicle speed to an upper computer so as to monitor the operating status of the whole vehicle; (7), when the battery voltage is monitored to be smaller than a preset value, and the motor currents or the vehicle speed is monitored to be larger than the preset value through monitoring, turning on corresponding LED warning lights; and (8), when the vehicle body inclination is larger than a preset angle through monitoring when the vehicle body inclination is monitored to be larger than a preset angle, determining that the vehicle body falls down, stopping the operation and returning to an initializer. According to the control method, a more accurate operational method is adopted.

The invention discloses a refrigeration control method, a control device and a variable frequency air conditioner. The method comprises steps as follows: detecting the indoor temperature in the refrigeration operation process, calculating the indoor temperature difference, and performing PID (proportion integration differentiation) operation on room temperature according to the indoor temperature difference to obtain a first target frequency; comparing the indoor temperature with a set comfortable temperature; controlling a compressor according to the first target frequency if the indoor temperature is not lower than the comfortable temperature; if the indoor temperature is lower than the comfortable temperature, detecting the coil temperature of an evaporator of the variable frequency air conditioner, calculating the temperature difference between the coil temperature and a set coil target temperature to obtain a coil temperature difference, and performing PID operation on the coil temperature according to the coil temperature difference to obtain a second target frequency; controlling the compressor according to the smaller one of the first target frequency and the second target frequency. With the adoption of the refrigeration control method, the control device and the variable frequency air conditioner, the problem about refrigeration comfortlessness caused by cold air blown by an existing variable frequency air conditioner can be solved.

The invention discloses an air conditioner control method, which comprises the following steps that the indoor temperature is detected; a difference value between the indoor temperature and the temperature set by a user is calculated according to the indoor temperature and the temperature set by the user; the initial operation frequency increment of an air conditioner compressor is calculated according to the difference value and a fuzzy control rule, and the initial operation frequency is calculated according to the initial operation frequency increment for controlling the compressor to operate at the initial operation frequency; the operation time of the compressor is detected; when the operation time is greater than the preset time, and if the absolute value of the difference value is smaller than or equal to a preset threshold value, the operation frequency modification value is calculated according to the difference value and a PID (proportion integration differentiation) control model, and in addition, the operation frequency modification value is overlapped onto the initial operation frequency for controlling the compressor to operate at the modified operation frequency. Therefore the operation frequency of the compressor can realize fast response to the load change, the fast refrigeration and heating can be realized, meanwhile, the temperature can be precisely controlled, and the energy sources can be effectively saved. The invention also discloses an air conditioner control device.

The invention discloses a multistage-control-based batching weighing control method, and belongs to the technical field of weighing. A batching weighing process is divided into three stages, and different control modes are adopted. The method specifically comprises the following process of rapidly batching any material at the same constant maximum speed when the actual blanking amount is less than or equal to a first-stage weight value in the first stage which is a rapid feeding stage; performing control by using a conventional PID (proportion integration differentiation) controller in the second stage which is an accurate weighing stage; and performing control by using an iterative learning control method, calculating a given closing advance control amount, and correspondingly regulating the feeding speed in the third stage which is a drop prediction stage. According to the method, the problem of conflict between the material batching weighing speed and accuracy is well solved; in addition, the method is independent of changes in the material level of a hopper, random changes in the ratio of materials and the like, and has the advantages of high material batching weighing speed, high accuracy and the like.

The invention discloses a control method of a multiple connected air conditioning system. The control method comprises the following steps of: calculating a target temperature by using a fuzzy control algorithm according to operating parameters of an air conditioning system; converting an actual pressure measured by a pressure sensor into a saturated refrigerant temperature as an actual temperature and calculating a difference value of the actual temperature and the target temperature; and calculating and adjusting capacity output of a compressor, wind speed of an outdoor fan and openings of indoor and outdoor electronic expansion valves by using a proportion integration differentiation algorithm according to the difference value of the actual temperature and the target temperature, a change rate of the actual pressure and a change rate of the actual temperature and the target temperature so that the actual temperature and the target temperature are consistent. The invention also discloses the multiple connected air conditioning system. The air conditioning system has little wave property, stability, favorable refrigeration and heating effects and favorable energy saving effect.

The invention discloses an ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and autonomous flight control system for an unmanned helicopter. The system comprises a PC (personal computer), an integrated navigation subsystem, a power supply module and controllers, wherein the integrated navigation subsystem comprises a sensor group; the sensor group comprises a GPS (global positioning system), a gyroscope, an accelerometer, a magnetoresistive sensor, a barometric altimeter and a sonar altimeter; the controllers include a main controller and a steering engine controller; the main controller adopts an ARM microprocessor to operate the integrated navigation algorithm and flight control PID (proportion integration differentiation) algorithm and simultaneously completes data acquisition of the GPS, the barometric altimeter and the sonar altimeter; and the steering engine controller adopts an FPGA to realize data acquisition of the gyroscope, the accelerometer and the magnetoresistive sensor and transfers the data to the main controller via a concurrent bus to carry out attitude calculation and control operation on the unmanned helicopter. With the unmanned helicopter as a carrier, the hardware environment of a whole set of flight control system integrating study of the aircraft navigation and control theory problem, data acquisition, information transfer and embedded control is set up.

The invention relates to a control method for eliminating jitter of a pure electric vehicle. A vehicle control unit analyzes the real driving intention of a driver by acquiring accelerator pedal signals, gear signals and brake pedal signals, and thus calculates driver required torque TqDrvReq; a motor controller feeds back a motor actual revolving speed signal MotSpd of the vehicle control unit, and the vehicle control unit filters the MotSpd to obtain MotSpdFil. Through the difference between the MotSpdFil and the MotSpd, corrected torque TqCorr is calculated by adopting a PID (Proportion Integration Differentiation) algorithm to correct the driver required torque. Through superposition of the TqDrvReq and the TqCorr, final required torque TqReq is obtained and is transmitted to the motor controller to execute the torque. The method can eliminate the jitter of the vehicle; compared with the traditional methods of reducing the gear clearance and optimizing the driving structure, the method has the advantages of low cost, simplicity in implementation, easiness in verification, good effect and the like.

The invention discloses a control method and a control device of a constant-temperature gas water heater. The control method includes steps of detecting current water inlet temperature, current water inlet flow and current set water outlet temperature of the water heater and calculating current required heat; comparing the current required heat with rated heat supply of the heater; when the current required heat is higher than the rated heat supply, reducing practical water inlet flow of the heater, and when the current required heat is lower than the rated heat supply, increasing practical water inlet flow of the heater; adjusting opening of a gas proportion valve of the water heater by an PID (proportion integration differentiation) algorithm, and controlling the water heater so as to supply water at constant temperature by the current set water outlet temperature. By the control method and the control device of the constant-temperature gas water heater, the water heater is controlled, water outlet temperature reaches the set temperature, water outlet temperature can be quickly and stably adjusted, and service performance of the water heater is improved.

The invention discloses an underwater structure detection robot control system and a motion control method. A water surface system comprises a water surface console, a water surface communication transceiver and an umbilical cable, and an underwater system comprises an underwater communication transceiver, a power supply unit, an embedded microcontroller, a power-propelled unit, a vision illumination unit, a motion switching unit, a safety protection unit and a sensor unit. Each function module is in a modular design, mounting and dismounting are convenient, the water surface console has an emergent stopping function, a wireless connection tablet personal computer is configured, movable monitoring can be achieved, communication modes are various, the data volume is large, the motion switching unit supports switching of two motion modes such as swimming and crawling, and reliable safety protection such as data storage and voltage and current detection can be achieved. By means of the underwater structure detection robot control system and the motion control method, the motion control method is based on a generalized prediction proportion integration differentiation (PID) control algorithm, system energy consumption can be effectively reduced, loads of components and parts are decreased, and a robot can be conveniently and stably controlled.

The invention discloses a system and a method for controlling the combustion of a mechanical grate incinerator. The system comprises a feed grate control system, an incinerator grate control system, an air volume control system and a temperature control system, wherein the feed grate control system is used for regulating and controlling the feed stroke and the forward-feeding speed of a feed grate in the mechanical grate incinerator by utilizing a proportion integration differentiation (PID) controller; the incinerator grate control system is used for controlling the sliding number of a sliding furnace tile and the turnover number of a turnover furnace tile in an incinerator grate of the mechanical grate incinerator within each control period; the air volume control system is used for regulating and controlling the rotational speeds and the air volume of a primary air blower and a secondary air blower by utilizing the PID controller in the whole combustion process; and the temperature control system is used for regulating and controlling the temperature of the primary air blower and a furnace wall in the whole combustion process. The system can meet the requirements of environment friendliness and power generation, and can reduce the cost.

The invention relates to a climate compensation algorithm and a control method for supply water temperature of a central heating system. The climate compensation algorithm comprises calculation formulas of different outdoor temperature ranges, water temperature corrections of different time ranges, water temperature corrections of different weathers (sunny days and snow days) and water temperature corrections during holidays. A control method of a climate compensator electric three-way valve comprises the steps of: calculating a theoretical user supply water temperature value according to an outdoor temperature and changes of a user supply water temperature, correcting the theoretical value to be a target supply water temperature value, comparing an actual user supply water temperature with the target supply water temperature, and adjusting the electric three-way valve to a best working state through combining with a heating end user indoor temperature and using an intelligent proportion integration differentiation (PID) control method, so that the actual supply water temperature output by a heat source accords with the target supply water temperature value, and the actual supply water temperature is tightly combined with the outdoor temperature, and consequently, heat supply requirements of heat users of the heating system are ensured, and the aim of maximum energy saving operation is achieved.

The invention discloses an air-conditioner and an outlet air temperature controlling method thereof. The air-conditioner comprises an indoor unit fan, an indoor air temperature sensor, an outlet air temperature sensor, a controller and the like; and when the indoor temperature Tn does not reach the temperature Ts set by a user, the controller adjusts the revolving speed N of the indoor unit fan of the air-conditioner by using a proportion integration differentiation (PID) algorithm according to the current refrigerating or heating mode of the air-conditioner, so that the outlet air temperature Tc of the air-conditioner is not higher than the refrigerating outlet air comfortable temperature value T1 of the air-conditioner or not lower than the heating outlet air comfortable temperature value T2 of the air-conditioner. According to the air-conditioner, the revolving speed of the indoor unit fan of the air-conditioner is dynamically adjusted through the PID algorithm according to the actual outlet air temperature at the air outlet of an indoor unit of the air-conditioner and the indoor environmental temperature, and then the magnitude of the circulating air quantity of the indoor unit of the air-conditioner is adjusted, so that the actual outlet air temperature of the indoor unit of the air-conditioner runs at a specific comfortable and relatively constant temperature during refrigerating and heating, and the refrigerating and heating comfort of the air-conditioner is improved; and the air-conditioner has the advantages of energy conservation, environment friendliness, economical efficiency and practicability.

The invention relates to a temperature cascade PID (Proportion Integration Differentiation) control system of a high-temperature high-pressure testing device and a control method thereof. A high-temperature autoclave for test is used for simulating the temperature, the pressure and other parameters of a stratum environment and carrying out detection test on performances of an instrument working in an environment similar to the stratum environment. The temperature cascade PID control system comprises a hot air mixed heating module, a heating power supply module, a fan circulating module and a temperature measurement and control module; a heating area of the hot air mixed heating module is divided into three temperature measurement areas, i.e. a target temperature measurement area, a safetytemperature measurement area and a hearth temperature measurement area; the target temperature of which an output signal is transmitted to an inner ring auxiliary control PID control circuit after operated and processed through an outer ring main control PID control circuit is compared with a safety temperature for operation processing, and the output signal is amended by a temperature control coefficient and converted into a simulation control signal which is output to a power adjusting device for adjusting the output power of the heating power supply. Three temperature control areas in the invention realize the accurate control on the test temperature in the autoclave by using a cascade control method according to the requirement of a process curve of raising, preserving and reducing the temperature.

The invention provides a difference active steering system of an electric wheel driving automobile and a difference active steering control method. The difference active steering system consists of a left steering electric wheel, a right steering electric wheel, a difference active steering mechanism and a difference active steering control system; the difference active steering control method uses a steering angle of the steering electric wheels and a vehicle speed dual PID (proportion integration differentiation) control arithmetic to determine target values of the torques of left and righthub electric motors in the left and right steering electric wheels. The novel steering method provided by the invention is applied to the vehicle having a steering mechanism; each steering electric wheel rotates around respective main pin to form a coordinated steering angle according to the driving force difference of the left and right steering electric wheels and the limitation of a trapezoidal steering mechanism, so that the vehicle is steered; and the active steering mechanism is simple and has steering energy consumption.

The invention discloses a fan control system adopting variable-structure PID variable-propeller control, which comprises a variable-propeller-pitch range computing module, a gust protection processing module, a rotating speed deviation filtering module, a segmented PID regulating module, a variable-propeller-pitch speed nonlinear factor computing module and an output control module. In the invention, the rotating speed of a generator is accurately controlled through the PID regulation for rotating speed deviation, and the fan control system has stable and reliable performance, can effectively improve the output power of a fan and has the advantages of excellent performance, safety and stability.

The invention relates to the technical field of control on production equipment, and particularly relates to an intelligent control system for a vertical mill based on a fuzzy PID (proportion integration differentiation) algorithm. The intelligent control system comprises the vertical mill, a dust remover and a feeding device, wherein the feeding device comprises an unloader, a bucket elevator and a storage bin; and the intelligent control system is characterized in that an air inlet in the bottom of the vertical mill is connected with a fan via a pipeline, a cold-air device and a hot-air stove are arranged on the pipeline between the air inlet and the fan, a cold-air adjusting valve and a hot-air adjusting valve are respectively arranged on the cold-air device and the hot-air stove, a vertical mill material layer PID controller is arranged on the feeding device, and an in-mill pressure difference fuzzy PID controller is arranged on the cold-air adjusting valve. According to the intelligent control system disclosed by the invention, mathematical models of the change of the vertical mill material layer thickness and an in-mill pressure difference along with parameters of a feeding amount, a mill inlet hot-air temperature and the like can be established only by inputting and outputting data without analyzing the complex grinding process of the vertical mill; and the intelligent control system is simple in process, high in adaptability, fast in the dynamic response time of a controller algorithm, high in robustness, high in control accuracy, and good in market prospect.

The invention discloses a method of underground scooptram autonomous travel, obstacle avoidance motion control and target path planning. Firstly a main target path is planned according to underground tunnel conditions. Then a local obstacle avoidance target path which is attached on the main target path is planned, main target path data, an initial point, a termination point and offset distance data relative to the main target path of the local obstacle avoidance target path are stored in a scooptram controller. A transverse position deviation, a course angle deviation and a course angle deviation change rate are calculated through measuring data of a measuring system or a track prediction model, the three deviations form comprehensive deviation feedback signals through a fusion rule, the comprehensive deviation feedback signals serve as the input quantity of proportion integration differentiation (PID) corrective control, a control command is input to an electric-hydraulic proportional steering control system of the scooptram, a vehicle is driven to steer and track the target path, underground scooptram autonomous navigation and the obstacle avoidance motion control are achieved, and the method is convenient to use, flexible and reliable.

The invention discloses a method for controlling a main steam temperature in a power plant based on a second-order simplified auto disturbance rejection controller. In the method, a cascade control mode is used for forming a cascade steam temperature mediation and control system; in an inner ring, proportion integration differentiation (PID) adjustment is used for eliminating the deviation of an advance timing steam temperature to achieve a coarse tuning effect on an overheating steam temperature; in an outer ring, the simplified second-order auto disturbance rejection controller is used for controlling the outlet temperature of an overheater, so that the defects of large inertia and large delay of a temperature object in an inertia area are fully overcome; and by a disturbance compensation effect of the simplified second-order auto disturbance rejection controller, the disturbance of factors such as loads, flue gas and the like is eliminated, so that the stability of the main steam temperature is ensured. In the method, an algorithm is simple, a parameter is easy to adjust, and a higher response speed, higher steady state accuracy, higher disturbance resistance and higher robustness can be well acquired without dependence on a mathematical model with an accurate main steam temperature in the power plant.

The invention discloses a variable structure control method of a wheeled mobile robot. according the method, the linear motion of a robot is controlled by using a multimodal PID (proportion integration differentiation) control method; and a forward direction of a trolley is corrected by using the combination of a control method and a PID control and a rule control; the two control modes are switched through the changes of a directional angle and a centre offset; the robot is controlled to turn in an in-situ right angle turning mode according to turning direction information and position information; by using the multimode PID control and the combination of the rule control and the PID control, the algorithm can use different control algorithms and corresponding control parameters according to different states of the robot to effectively improve the robot motion control performance; the control mode is divided according to the error change condition so as to reasonably simulate the control behavior of a human; compared with the traditional PID control method, the variable structure control method has a certain intelligence and improves the walking motion control quality of the robot.

The invention discloses a realization method of a precision synchronous clock and aims at providing a transmission method of a precision synchronous clock in a measuring and automatic system based on an industrial Ethernet. The essential points of the technical scheme of the invention are that the realizing method comprises a frequency and deviation adjusting algorithm based on a fuzzy PID (Proportion Integration Differentiation), a quick internal clock synchronous algorithm, a real-time synchronous check method and a real-time clock frequency and time deviation adjusting algorithm. The invention has the following applications that the method can be used for realizing quick switch of the clock, can be applied to a high-reliability redundant clock source system and can finish the switch of the clock in ten seconds; the transmission precision of a single-stage clock can reach 50ns level; and since the algorithm can be used for realizing the quick switch of the clock, the algorithm is also applied to a high-reliability clock synchronous system under a redundant loop net and the clock HOLDOVER function on terminal equipment is degraded. The invention achieves the functions of software for receiving and transmitting a precision synchronous clock protocol message and adjusting and calibrating a system clock.

The invention relates to a magnetic-field dynamic compensation system and methods based on spatial correlation, wherein the system can realize the dynamic compensation of environment magnetic fields at the directions of three axles through a large set and a small set of Helmholtz coil racks and two fluxgate meters based on the spatial correlation of a PID (Proportion Integration Differentiation) negative feedback electronic circuit and the fluctuation of the environment magnetic fields. The invention further discloses three methods using the system, including (1) a proportioning type magnetic-field dynamic compensation method, (2) a series type integral magnetic-field dynamic compensation method, and (3) a parallel integral type magnetic-field dynamic compensation method. The system of the invention is easy to construct, has low cost and simple operation, and can achieve excellent dynamic compensation effect, and simultaneously, the methods can maximally eliminate the affects of the fluxgate meters to other magnetic detectors at the centers of coils, and have great application prospect in extremely-low field nuclear magnetic resonance, imaging thereof and other biological magnetic researches based on an SQUID (Superconducting Quantum Interference Device).

The invention relates to a staged synchronous compressor and expansion valve control method for a thermostatic and humidistatic air conditioning unit. The control method includes the steps: dividing system control into a coarse control stage and a fine control stage according to the starting state and the normal running state of the air conditioning unit, performing preset open-loop control at the coarse control stage by increasing the frequency of the compressor at the speed of 3Hz / s to the highest frequency for the compressor to run and setting the openness of the electronic expansion valve to reach 50%-70%; and performing synchronous compressor and expansion valve closed-loop control at the fine control stage by performing adaptive PID (proportion integration differentiation) adjustment according to inputted indoor and outdoor temperature and humidity change and change rate, superheat degree and superheat degree change rate, outputting frequency signals of the compressor and openness signals of the expansion valve, and controlling the rotation speed of the compressor and the opening pulse of the expansion valve to realize synchronous control. The time of temperature and humidity fluctuation of a controlled environment at the starting stage of the thermostatic and humidistatic air conditioning unit or due to external interference with the thermostatic and humidistatic air conditioning unit can be greatly shortened, and delay and over-control of the system control due to respectively independent control for the compressor and the expansion valve are relieved.

The invention discloses an energy-saving optimized control method of a water source heat pump, which comprises the following steps of: collecting data actually measured during the operation of the water source heat pump through a PID (Proportion Integration Differentiation) local control module; calculating the integrated energy consumption of a system by using a water source heat pump machine set model, a load side water pump model and a water source side water pump model; determining the optimum operation strategy of the system through the gradient optimization algorithm, such as the heat pump machine set starting number, the water pump speed change operation parameters and the like; and regulating the operation parameters of the water source heat pump system through a DDC (Direct Digital Controller) according to the determined energy-saving optimized operation strategy (the optimum combination of controllable operation parameters) to achieve the goal of minimum total operation energy consumption of the system.

The invention discloses a building method for the universal comprehensive models of single-rotor helicopters and turboshaft engines. The method includes the building of the non-linear models of a helicopter and an engine, the static trimming of the single-rotor helicopter and the turboshaft engine, the dynamic calculation of the single-rotor helicopter and the turboshaft engine and the actual operation solution of the single-rotor helicopter and the turboshaft engine, wherein the static trimming adopts the Levenberg-Marquarat algorithm, the dynamic calculation adopts the fourth-order Ronge-Kutta method to solve the motion equation system of the helicopter and the single pass algorithm to solve the dynamic balance equation of the turboshaft engine, and the actual operation state solution adopts a modified linear quadratic regulator algorithm to carry out helicopter solution and a cascade PID (Proportion-Integration-Differentiation) plus torque feedforward plus collective pitch compensation and torsional vibration filter method to carry out engine solution and load filtration. The method can meet the test requirements of the universal models and control methods of the single-rotor helicopters and the turboshaft engines, and plays an active role in helping to shorten the development cycle and reduce the test risk and the cost.

The invention provides a digital switch converter with fast transient response capability. The digital switch converter comprises a Buck type switch converter power level main topology structure, an A / D (analog-to-digital) sampling conversion unit, a prediction control unit, a fuzzy PID (proportion integration differentiation) control unit, a DPWM (digital pulse width modulation) unit and a driving unit, wherein the A / D sampling conversion unit respectively samples the analog output voltage value and the analog inductor current value of the sampling switch converter and converts analog signals into digital signals, the prediction control unit predicts the next switch period output voltage value according to the A / D sampling digital signal value combined with the Buck type switch converter main topology structure, the fuzzy PID control unit determines the switch period duty ratio according to the output voltage error value and the output voltage error deviation value, and the DPWM unit and the driving unit output the corresponding on-off state of a power tube of the PWM driving switch converter according to the duty ratio for regulating the output voltage value.

The invention discloses an all-process control method for the main steam temperature of a utility boiler. The all-process control method comprises the following steps: firstly, partitioning the typical working condition points of the operation of the utility boiler; secondly, testing the main steam temperature mathematical models at the typical working condition points; thirdly, caculating the optimal values of PID (Proportion Integration Differentiation) adjustable parameters at the typical working condition points; fourthly, utilizing a piecewise linear function module in a DCS (Decentralized Control System) to achieve control logical configuration; fifthly, realizing the approximate optimal control of the main steam temperature at any working condition points in the DCS. The all-process control method for the main steam temperature of the utility boiler has the benefits that automatic dispatching of the optimal values of PID adjustable parameters of the inner loop and the outer loop is guaranteed when the main steam temperature system of a thermal power generating unit is within the full-load range of the unit operation, the main steam temperature adjustment quality is greatly improved, and the over-temperature probability of the unit under the condition of great load changes is lowered.

The invention discloses a high-low temperature dynamic cold-hot circulation thermodynamic test system suitable for mechanics performance testing under a high-low temperature environment. A test box adopts a design of an inner cavity and an outer cavity; inner and outer cavity baffles are provided with four air outlets from top down and air suction holes in the center; the test box further comprises an optical strain observation window, a defrosting air heater and a multi-point direct-current illumination source; and in addition, the test system further comprises a dual-output PID (Proportion Integration Differentiation) controller, a DIC (Digital Image Correlation) full strain measurement instrument and an automatic switchover liquid nitrogen refrigerating system. According to the high-low temperature dynamic cold-hot circulation thermodynamic test system, the defects that the conventional thermal steady state test system has no thermal transient state and thermal circulation functions and liquid nitrogen cannot be fed without interruption due to limitation of liquid nitrogen container volume on low-temperature refrigeration are solved, and the technical problems of interference and the like of high-temperature hot wave impact and low-temperature frost fog on full strain measurement are solved at the same time, so that the purposes of obtaining the mechanical performance of a test material under the high-low temperature environment in the processes of thermal steady state, thermal transient state, cold-hot circulation and the like and synchronously measuring a sample strain field are achieved.

The invention relates to a main steam temperature predictive control method of an ultra supercritical unit of a thermal power plant. A layered control structure is arranged, the layered control structure consists of a bottom direct control layer and an upper guide optimization layer, and the upper guide optimization layer realizes model parameter identification, prediction optimization and PID (Proportion Integration Differentiation) parameter setting control; and the bottom direct control layer is in a cascade system structure and comprises main loop control and assistant loop control, and a PID controller orienting a DCS (distributed control system) is directly controlled. The control method can be used for replacing a control engineer to set PID parameters, on-line model identification and control parameter setting methods are directly adopted to achieve the purpose of main steam temperature self-adaptive control, the application of an advanced control technology and an intelligent optimization technology under a DCS is realized, the stability and the robustness are stronger, and a changing process of a controlled object model of the main steam temperature under a variable load can be adapted.

The invention discloses a tension fuzzy PID (Proportion Integration Differentiation) control method for a recoiling machine. In the method, current ring-speed ring double closed-loop control is adopted, a speed regulator and a current regulator are arranged respectively in the feedback elements of a current ring and a speed ring, six fuzzy controllers are adopted for controlling the PID parameters of the current ring and the speed ring, two inputs and one output are adopted for each fuzzy controller, input quantities are deviation values E and deviation change rates Ec of set tension, and output quantities are P, I and D parameters of a current controller and a speed controller respectively; three corresponding fuzzy controllers are connected in series respectively in front of the current regulator and the speed regulator, a subordinating degree function is regulated continuously in the running process of the recoiling machine, automatic control over the tension of the recoiling machine is realized by controlling the rotating speed of a motor and armature current, and the tension of the recoiling machine is regulated automatically and is always kept constant; and as proved by simulink simulation, the method has the advantages of quick response, high regulating capability, high robustness and effective improvement on the control effect.

The invention discloses a transportation device based on a robot vision system and an independent tracking system. The transportation device comprises a transportation vehicle body, wherein a control system, an initial target information storage system, a vision recognition system, a decision control system and an independent tracking system are arranged on the transportation vehicle body; the initial target information storage system, the vision recognition system, the decision control system and the independent tracking system are respectively connected with the control system; the initial target information storage system is used for storing the human body feature information of an initial target and setting a luggage taking code or a sensing signal; the vision recognition system is used for processing the extracted image information; the decision control system is used for tracking and judging the initial target, optimizing the path, generating a control instruction and issuing the control instruction to the independent tracking system; the independent tracking system is used for performing differential speed regulation on wheels of the transportation vehicle body and driving the transportation vehicle body to implement tracking on a target. The transportation device has the advantages that the vision recognition is used for locking the position of a target object and the self body, the decision control is realized through a genetic PID (proportion integration differentiation) algorithm, a moving mechanism is executed to complete the tracking on the target object, and the goal of closely following passengers is achieved.