38 results about "Proportional derivative" patented technology

The invention discloses a master-slave teleoperation industrial robot system and a control method thereof. The system comprises a master robot, a master-slave control system connected with the master robot, and a slave robot connected with the control system, wherein the master robot comprises force feedback equipment; an operator transmits a master robot motion command to the slave robot through the master-slave control system, the slave robot moves with the master robot, further accomplishes the operation to a task object, and simultaneously feeds back task state to the operator. The system designs a main-slave motion mapping strategy by analyzing geometrical structures of a master manipulator and a slave manipulator, adopts a master-slave control algorithm based on an inverse jacobian matrix, eliminates a master-slave position following error through a proportional-derivative control link, and designs a low-pass digital filter to filter the vibration of hands, so as to eliminate the influence on the precision of a surgical robot by the vibration of the hands of the operator.

A system and method for actively damping driveline oscillations in a motor vehicle having a traction motor to drive a vehicle's drive wheels and an antilock brake system (ABS). A traction motor controller controls a torque output signal of the motor to effectively to dampen driveline oscillations during an ABS operation. A proportional, a proportional derivative, or a derivative controller may be used to generate the torque output signal based on at least one of motor speed, an average of the drive wheel speeds, a difference in the two speeds, a motor angular acceleration, an average wheel angular acceleration, and a difference in the angular accelerations. Motor speed signals and average drive wheel speed signals may be filtered to eliminate high frequency components of each speed signal. Additionally, amplitude of the torque output signal may be limited within a positive upper and a negative lower active motor damping limit.

A system and method for actively damping driveline oscillations in a motor vehicle having a traction motor to drive a vehicle's drive wheels and an antilock brake system (ABS). A traction motor controller controls a torque output signal of the motor to effectively to dampen driveline oscillations during an ABS operation. A proportional, a proportional derivative, or a derivative controller may be used to generate the torque output signal based on at least one of motor speed, an average of the drive wheel speeds, a difference in the two speeds, a motor angular acceleration, an average wheel angular acceleration, and a difference in the angular accelerations. Motor speed signals and average drive wheel speed signals may be filtered to eliminate high frequency components of each speed signal. Additionally, amplitude of the torque output signal may be limited within a positive upper and a negative lower active motor damping limit.

A method and system for simulating a character is provided. The method of simulating a character including: optimizing motion data by using a displacement mapping and a Proportional Derivative (PD) control; and performing controller training by using the optimized motion data and controlling a motion of the character. In this instance, the optimizing includes: generating a target motion by using the displacement mapping between an input motion and a displacement parameter; and generating a simulated motion by using the target motion and an objective function.

A low power voltage regulator includes a weighted transistor array having a plurality of transistor switches with a total conductance of G, corresponding to bits from a MSB to LSB. A transistor switch corresponding to the MSB has a conductance of G / 2 and remaining bits have a consecutive descending conductance of G / 2N to the LSB, and search time takes a low number of cycles by starting with the MSB. A redundant LSB transistor switch has the same G / 2N conductance of the LSB. The redundant LSB is used to correct steady-state errors, and a proportional derivative controller compensates output voltage. The compensation in a method eliminates an output pole of the voltage regulator to provide a stable voltage regulator operation irrespective of load current, load capacitance, or sampling frequency. Voltage can be regulated via the additional LSB below the resolution limit via pulse width modulation.

The invention discloses an ADRC (Active disturbance rejection controller)-PD compensation control system for a time delay process, which comprises a field process instrument connected with the time delay process, a field analysis instrument, a distributed control system (DCS) and a time delay compensation control server, wherein the time delay compensation control server comprises an OPC client, a data interface module, an ADRC time delay compensation module, a PD (Proportional-Derivative) control module, and an ADRC time delay compensation module and PD control module parameter optimization design method. The invention provides the ADRC-PD compensation control system and the method for the time delay industrial process.

The invention discloses a flow control method for a proportional valve of a breathing auxiliary device. The flow control method comprises the following steps: S1, defining a fuzzy calibration range, defining Is as the starting current, Id as the turn-off current and Im as the maximum current, introducing in input pressure P, and obtaining three current relationships: Is=IS(p), Id=Id(p), Im=Im(P),and the maximum flow relationship Fm=Fm(p), wherein F is the pre-output flow value; S2, extracting the fuzzy calibration features, and dividing the fuzzy calibration subsets; S3, selecting one sectionat the rising side and one section at the descending side of the work of the proportional valve, and establishing a curve in the shape of two concentric squares with different sizes; and S4, carryingout flow control on the proportional valve according to the established relationship between the output flow and the control current. Compared with the relevant technologies, the flow control methodfor the proportional valve of the breathing auxiliary device has the advantage that the flow control accuracy can be guaranteed.

For the control problem of a non-affine nonlinear uncertain system, the invention relates to a two-speed adaptive proportional-derivative (2SAPD) control method independent of a controlled object model. According to the control method in the invention, system dynamics and internal and external uncertainty are defined as total disturbance; therefore, the non-affine nonlinear uncertain system is converted into a linear uncertain system, so that an error dynamics system under total disturbance excitation is constructed; thereby, a two-speed adaptive proportional-derivative control model by takingthe central speed factor as the core is designed; the facts that a closed-loop control system composed of a 2SAPD controller has the global asymptotic stability robustness and the 2SAPD controller also has good anti-disturbance robustness are theoretically analyzed; and the two-speed adaptive proportional-derivative control method in the invention has wide application value in the fields of power, mechanisms, chemical engineering, traffic, aviation, spaceflight and the like.

The invention discloses a precise flow control method of a proportional valve. The precise flow control method includes step 1, starting a system; step 2, initializing the system; step 3, collecting a flow value of the proportional valve and performing flow value scale conversion; step 4, comparing the flow value with a preset lower limit of flow value allowance, performing the step 6 if the flow value is smaller than the lower limit of the flow value allowance, or otherwise, performing the step 5; step 5, comparing the flow value with a preset upper limit of the flow value allowance, performing the step 6 if the flow value is larger than the upper limit of the flow value allowance, or otherwise, performing the step 3; step 6, looking up a controlled quantity-flow table according to the flow value subjected to scale conversion to acquire a corresponding controlled quantity 1, looking up the controlled quantity-flow table according to a preset value to acquire a corresponding controlled quantity 2, setting an equation that preset controlled quantity = current controlled quantity + controlled quantity 2 - controlled quantity 1, and controlling flow of the proportional valve. The precise flow control method has the advantage that table look-up correction is performed on the basis of closed-loop control, and thus, precise control can be realized.

The invention discloses an attack angle weight coefficient based independent variable pitch control system controlled by fuzzy PID (proportional integral derivative). The attack angle weight coefficient based independent variable pitch control system controlled by fuzzy PID comprises a summator, a fuzzy control module, an attack angle weight coefficient compositing module, a PID control module and an independent variable pitch module, wherein the summator is used for generating a deviation signal; the fuzzy control module is used for acquiring three original parameters of PID controllers by utilizing the deviation signal and a deviation variation rate; the attack angle weight coefficient compositing module is used for compositing an attack angle weight coefficient with the original parameters and outputting control parameters of the PID controllers; the PID control module comprises three independent PID controllers, and each PID controller generates a control signal according to the deviation signal, the control parameters and feedback of an encoder; the independent variable pitch module is used for receiving the control signals of the PID controllers, analyzing and computing the control signals, outputting an instruction signal to a driver and regulating a motor by the encoder, and a controlled article is independently connected with the independent variable pitch module. The attack angle weight coefficient based independent variable pitch control system controlled by fuzzy PID has the advantages that controlling precision and responding time of the variable pitch control system on a rated wind speed can be improved, conditions of blades which are stressed to flap and vibrate are improved, and output power is more stable.

The invention discloses a single-speed adaptive proportional-derivative control method which does not rely on a controlled object model for the control difficulty of the non-affine nonlinear uncertainsystem. According to the control method, the system dynamic and internal and external uncertainty are defined as sum disturbance, so that the non-affine nonlinear uncertainty system is transformed into a linear uncertainty system, and then an error dynamic system under the sum disturbance excitation is constructed, and the single-speed adaptive proportional-derivative controller model with the speed factor as the kernel is designed accordingly. Theoretical analysis shows that the closed-loop control system composed of SAPD controller not only has global asymptotic stability and robustness, but also has good anti-disturbance robustness. The invention has wide application value in the fields of electric power, machinery, chemical industry, transportation, aviation and aerospace.

The present invention provides a method for controlling pressure in a vacuum chamber during a time division multiplexed process. A throttle valve is pre-positioned and held for a predetermined period of time. A process gas is introduced into the vacuum chamber during the associated plasma step (deposition or etching) of the silicon wafer. At the end of the predetermined period of time, the process gas continues to flow with the throttle valve being released from the set position. At this point, the throttle valve is regulated through a proportional derivative and integral control for a period that lasts the remaining time of the associated plasma step.

The invention discloses a cooperative control method and system for escort tasks based on obstacle environment and bounded input. The method comprises the steps of describing a physical model of a escort task by adopting a multi-Euler-Lagrange system; using an inner and outer loop control structure, an outer loop adopting a behavior control method based on empty space, and generating expected speed and expected motion trails required by an inner loop physical model; an inner ring being based on an improved proportional derivative sliding mode control method of an adaptive radial basis functionneural network, so that each physical model can track an expected speed and an expected motion trail in the presence of interference and uncertain parameters, and zero steady-state error and boundedinput are realized. The controller provided by the invention has the advantages of simplicity, no model and capability of providing continuous control signals, and the adaptive radial basis function neural network adopted in the design of the controller has strong learning ability and robustness, so that interference is well compensated, and zero steady-state error is finally realized.

The invention discloses a dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method. Operation work conditions are divided into a starting state and an operation state, control oil pressure is taken as a direct control object in a starting state, the rotating speed of a driven shaft is taken as a direct control object in the operation state, and dynamic change of PID parameters is realized in the operation state. Compared with the prior art, the dynamic PID control based hydroviscous variable speed clutch control method has the advantages of good dynamic response, low probability of overshooting, short adjustment time, low probability of shaking and the like.

A method and system for simulating a character is provided. The method of simulating a character including: optimizing motion data by using a displacement mapping and a Proportional Derivative (PD) control; and performing controller training by using the optimized motion data and controlling a motion of the character. In this instance, the optimizing includes: generating a target motion by using the displacement mapping between an input motion and a displacement parameter; and generating a simulated motion by using the target motion and an objective function.

A gimbal control method, a gimbal control system and a gimbal device are provided. The method includes steps of: obtaining simulation position information, measurement position information and simulation angular velocity information of a Pitch axis of a gimbal in real-time; calculating a first position error between the simulation position information of the Pitch axis and the measurement position information of the Pitch axis; processing the first position error with proportional-derivative calculation, wherein the first position error is compensated with the simulation angular velocity information during the proportional-derivative calculation; and, according to a result of the proportional-derivative calculation after compensating, generating a first torque control instruction for controlling a torque of a Pitch axis motor, so as to enable the Pitch axis to reach a position corresponding to the simulation position information of the Pitch axis. According to the present invention, a brush motor is adopted.

The invention discloses a wind tunnel strut vibration suppression method based on fuzzy and proportional-derivative control dynamic switching, which belongs to the technical field of wind tunnel test and relates to a wind tunnel strut vibration suppression method based on fuzzy and proportional-derivative dynamic switching. The method uses fuzzy control and PD control algorithm to dynamically switch under certain conditions, uses fuzzy control to control the situation of rapid increase of energy, and uses PD control to continue controlling the situation that the energy has been controlled to a certain level. The accelerometer is used to obtain the signal representing the vibration as the feedback signal, which is calculated by the controller and amplified by the power amplifier to realize the control of the piezoelectric actuator and the active vibration suppression of the wind tunnel model. This method combines the advantages of fast fuzzy control and accurate PD control, and makes up for the problems that the previous test methods are not fast enough and stable enough accurately, which are reliable, robust and suitable for practical measurement of wind tunnel experiments.

The invention relates to a mixed signal adaptive fast separation method based on proportional-derivative control, including the steps: firstly, the initial separation signal is calculated; the initialvalue of the step length is determined, and the first transformation matrix and the separation signal are calculated by using a natural gradient blind source separation algorithm; then, the next variable step size related to the separated output state is calculated by the transformation of the difference of the kurtosis cumulants of the separated signals between the separated iterative calculations, and a new separation matrix is calculated from the next variable step size; it is judged whether the new separation matrix meets the control precision requirement; and if so, the separation signalis calculated by using the separation matrix which meets the control precision requirement. As the initial step length is within a certain value range, and the maximum convergence speed is close to the uniform order of magnitude under the same stable error. In particular, the technical parameters of the transformation are related physical quantities output from the separation process, and the composition of the separation algorithm has self-adaptability and practical use value.

The invention discloses a space vehicle control moment computing system based on a proportional derivative (PD) control law. The problems that existing space vehicle attitude control moment computing systems based on software design are slow in speed and low in accuracy are solved. The system comprises a Microblaze processor, a Reset global control signal input register, a Kp input register, a Kd input register, an angle input register, a standard angle input register, an angular velocity input register, an input switching unit, an output switching unit, a first subtracter, a second subtracter, a first multiplying unit, a second multiplying unit, a moment Tk output register and a marking signal Flag output register. When Reset=1, the processor allows the computing system to perform calculation, once the calculation ends, a global signal Flag is sent out, the processor is informed that the calculation is finished, and the moment Tk is withdrawn. The system is applicable to space vehicle control moment computing.

The invention discloses a precise flow control method of a proportional valve. The precise flow control method includes steps of 1, operating the system; 2, initializing; 3, acquiring the flow value of the proportional valve and transforming flow value scales; 4, comparing the flow value with the preset flow allowance range, and executing a step 5 if the flow value exceeds the flow value allowance range; executing the step 3 if the flow value is within the flow value allowance range; 5, preset controlled variable=current control variable+0.8 X controlled quantity full scale X (the preset controlled variable-the current flow value) / the flow full scale, adjusting and outputting the controlled variable and returning to the step 3. Dichotomy and iteration are carried out on the basis of closed loop control, and precise control can be realized.

A system and method is provided for thruster control in a flight vehicle. The system and method uses a proportional derivative matrix control technique to determine thrust commands in a Divert and Attitude control (DAC) system. The proportional derivative matrix control system is configured to receive pitch, roll and yaw commands as inputs, and generate thrust commands as outputs. The performance of the proportional derivative matrix controller is such that the thrust commands can achieve the desired attitude angles quickly and with reduced fuel consumption. The matrix control system can efficiently control a variety of thrusters, including asymmetric thrusters having different moment arms. The matrix control system is particularly suitable to the control of DAC systems with asymmetric thrusters that are configured for attitude control.

A low power voltage regulator includes a weighted transistor array having a plurality of transistor switches with a total conductance of G, corresponding to bits from a MSB to LSB. A transistor switch corresponding to the MSB has a conductance of G / 2 and remaining bits have a consecutive descending conductance of G / 2N to the LSB, and search time takes a low number of cycles by starting with the MSB. A redundant LSB transistor switch has the same G / 2N conductance of the LSB. The redundant LSB is used to correct steady-state errors, and a proportional derivative controller compensates output voltage. The compensation in a method eliminates an output pole of the voltage regulator to provide a stable voltage regulator operation irrespective of load current, load capacitance, or sampling frequency. Voltage can be regulated via the additional LSB below the resolution limit via pulse width modulation.

The method involves detecting the pilot pressure actual value (pX) of the pilot pressure and determining the electrical input signal (UD) using the pilot pressure actual value and the corrected pressure reference value. The correction value for given pressure reference value is determined using the electrical input signal and the pilot pressure actual value. The corrected pressure reference value is generated using the given pressure reference value and the correction value. Independent claims are included for the following: (1) device for providing corrected pressure reference value for servo-controlled proportional valve; and (2) computer program product for providing corrected pressure reference value for servo-controlled proportional valve.

The multimedia teaching instrument incldues microprocessor, keyboard, time-delay regulation key, power supply processing module and analog switch, etc, in which the analog signal of volume regulation key and time-delay regulatino key is passed through A / D converter, and converted into digital signal, then said digital signal, pedal key digital signal and keyboard detection and force sensor signal are fed into microprocessor. The microprocessor makes the key detection signal undergo the key code selection and decision treatment, and selects current key code from key code table, then makes the force sensor signal undergo the proportional-derivatives treatment, and selects key dynamic code from dynamic fuzzy table, then makes them undergo the fusion treatment to obtain standard frame code, and feeds it into interface and implements information interaction with computer. Said invented teaching instrument possesses tone, touch feed and dynamic key effect of quasi-piano. By utilizing computer software it can implement various tones, volumes and music creation, etc.

The invention discloses a control method and device of a proportional valve, and belongs to the field of hydraulic lifting. The method comprises the steps that handle command signals B are periodically obtained; whether the handle operation speed is too high or not is judged according to the current periodical handle command signals B1; when the handle operation speed is too high, the changing tendency of the intensity of the handle command signals B is judged, and the changing tendency includes an increase or a reduction; when the changing tendency of the intensity of the handle command signals B is the increase, the small signals are selected from the current periodical handle command signals B1 and control signals C to serve as output signals; when the changing tendency of the intensity of handle command signals B is the reduction, the large signals are selected from the current periodical handle command signals B1 and the control signals C to serve as output signals, wherein the absolute value of the deduction of B1 and C is larger than or equal to V, and V is larger than zero. The proportional valve is prevented from being opened and closed too fast, the impact of pipeline liquid to a hydraulic system is reduced, and the safety of a lifting platform is guaranteed.

The invention discloses a collaborative control method and system for escort missions based on obstacle environment and bounded input, including: using the Douller-Lagrangian system to describe the physical model of the escort mission; using an inner and outer loop control structure, and the outer loop adopts The behavior control method based on empty space generates the desired speed and desired motion trajectory required by the physical model of the inner ring; the inner ring is based on the proportional derivative sliding mode control method of the improved adaptive radial basis function neural network, so that in the presence of disturbances and parameters In the case of uncertainty, each physical model is able to track the desired velocity and desired motion trajectory, achieving zero steady-state error and bounded input. The controller that the present invention proposes has simple, model-free and can provide continuous control signal, the powerful learning ability and the robustness that the self-adaptive radial basis function neural network that adopts in the controller design have, very well The disturbance is compensated and finally zero steady-state error is achieved.

The invention discloses a multi-temperature zone refrigerating system PD energy-saving control method, which includes the following steps that: a multi-temperature zone refrigerating system, which comprises a compressor, a condenser, evaporators corresponding to more than two different temperature zones, a step valve and an operation control part, is chosen for use, and the step valve is switched between the evaporators in different temperature zones to adjust the flow direction of refrigerant; the operation control part is provided with a PD singlechip, the PD singlechip is utilized to calculate the downtime kept by each temperature zone before the compressor is shut down, the temperature-rising time to be compensated, which is kept until the reference downtime, is calculated according to the temperature reduction characteristic if the downtime of the changed temperature zone is shorter than the reference downtime, and after the step valve is switched to the changed temperature zone and operates for the temperature-rising time to be compensated, the compressor is shut down. By utilizing the PID control concept, the invention can carry out precision temperature control based on proportional derivative and increase the temperature control precision of the multi-temperature zone refrigerating system, so that energy consumption can be reduced.

The invention discloses an ADRC (Active disturbance rejection controller)-PD compensation control system for a time delay process, which comprises a field process instrument connected with the time delay process, a field analysis instrument, a distributed control system (DCS) and a time delay compensation control server, wherein the time delay compensation control server comprises an OPC client, a data interface module, an ADRC time delay compensation module, a PD (Proportional-Derivative) control module, and an ADRC time delay compensation module and PD control module parameter optimization design method. The invention provides the ADRC-PD compensation control system and the method for the time delay industrial process.

The invention discloses a control method of a proportional derivative and damping controller, and belongs to the technical field of damping controller control, and the control method comprises the following steps: S1, a master remote operator and a slave remote operator are one-degree-of-freedom equipment, and can perform modeling through the following linear dynamics model. According to the invention, an accurate stability standard is provided, the stability standard is utilized, a stable region can be clearly expressed by an expression, a calculation mode is reduced, stable output of a judgment standard is improved, PDd and simple Pd (proportional derivative and damping) are widely used for guaranteeing stability of remote operation, and based on a PDd controller, an exact stability standard is deduced in a display evaluation function of time delay, so that the exact time delay limit of the system stability can be simply and conveniently obtained through the stability criterion.