9 results about "Proportional differential" patented technology

The application provides a transformer differential protection method and system based on a fault negative sequence component direction. The method comprises: judging whether a fault negative sequence component direction discrimination element meets a first discrimination condition; judging whether a proportional differential element meets a second discrimination condition; and starting a transformer differential protection action in the case that the fault negative sequence component direction discrimination element meets the first discrimination condition and the proportional differential element meets the second discrimination condition. The protection method does not block through the transformer excitation inrush current, ensures that the fault is quickly removed in the case of an internal fault, the protection action time is less than three quarters of a cycle, and the protection action is not mis-operated in various external faults and abnormal operating conditions.

This invention discloses a fault detection and fault-tolerant control method for roll-to-roll systems, belonging to the field of industrial printing control. This method solves the problem of registration error propagation caused by actuator failure. Its technical solution is based on a coupled dynamics model established by fully decoupled proportional-derivative control, and designs a fault detection index based on the 2-norm to identify and locate faulty units in real time. Then, upstream and downstream collaborative fault-tolerant control is implemented: adaptive feedback adjustment combined with gain scheduling is used for the upstream faulty unit, and control law reconstruction that removes the dependence on coupling compensation for the faulty unit is used for the downstream faulty unit to block the error propagation path. This method can effectively suppress error propagation under fault conditions and improve the system control accuracy and robustness.

The application discloses a high-speed high-stability locking circuit, comprising an integral branch module, a proportional differential branch module, a gain adjusting module and a low-speed integral module, the integral branch module and the proportional differential branch module are connected with one end of the parallel connection being connected with a to-be-processed signal input end and the other end being connected with an input end of the gain adjusting module, an output end of the gain adjusting module is connected with a high-speed output end and an input end of the low-speed integral module respectively, and an output end of the low-speed integral module is connected with a low-speed output end. The application outputs two feedback signals, one is used for high-speed feedback control, and the other is used for low-speed large-amplitude feedback; the high-speed and low-speed double-channel outputs form a complementary relationship, not only the feedback compensation of the fast deviation is performed, but also the feedback compensation of the deviation formed by the slow drift is performed, so that the long-time precise control locking of the system is ensured, and the circuit can simultaneously consider the high feedback speed and the high locking stability.

The application provides an obstacle crossing control method and system for a double-wheel-foot robot based on explicit state estimation, relates to the field of robot control, and aims to solve the problems of poor scene adaptability, insufficient robustness, uninterpretable state estimation, poor motion stability, and low efficiency in the prior art.The method comprises the following steps: obtaining a historical motion state observation sequence and motion state observation information of the double-wheel-foot robot, inputting the historical motion state observation sequence into a state estimator to obtain an explicit privileged information estimation value, fusing the estimation value with the motion state observation information at the current moment to obtain a strategy network input observation space, inputting the observation space into a pre-trained strategy network to obtain an action instruction at the current moment, converting the action instruction into joint torque through a proportional-differential controller, and driving the double-wheel-foot robot to perform an obstacle crossing action.The application solves the problems in the prior art and improves the motion stability and efficiency of the double-wheel-foot robot in a complex environment.

The application provides a network configuration type control method of a static synchronous compensator, belongs to the field of power electronic converter control, and aims to solve the problems of large calculation coupling interference between a DC side voltage and a grid voltage angular frequency, insufficient inner voltage amplitude smoothness and insufficient flexible reactive power compensation in the existing network configuration type control of the static synchronous compensator. The control method core comprises an angular frequency calculation branch and an inner voltage amplitude calculation branch: the angular frequency calculation branch realizes fast and stable control of the DC side voltage through a fast proportional differential controller, and is matched with a decoupling control to reduce the coupling interference of the DC side voltage; the inner voltage amplitude calculation branch adopts a reactive power controller with droop characteristics and inertia characteristics, takes the grid connection point voltage as a feedback signal, dynamically adjusts the inner voltage amplitude of the static synchronous compensator to improve the smoothness, and thus improves the stability and flexibility of the system.

Embodiments of the present application provide a kind of control method, device, equipment and storage medium of three rope parallel robot, it is related to parallel robot technical field.The control method contains steps S1 to step S8. S1, the desired trajectory sent by host computer is acquired.S2, according to the desired trajectory, the desired position of end effector is acquired, and the desired torque of drive motor is acquired.S3, according to the desired torque of drive motor, the operation of motor is controlled.S4, the actual torque and actual speed of drive motor output by motor encoder are acquired.S5, according to the actual torque and desired torque of drive motor, proportional integral closed-loop compensation control is carried out to drive motor.S6, according to the actual speed of drive motor, the theoretical rope length is acquired by integration.S7, according to the theoretical rope length, with desired position as iteration initial value, the actual position of end effector is acquired by Newton iteration method.S8, according to actual position and desired position, proportional differential closed-loop compensation control is carried out to desired trajectory.

This invention provides an active vibration isolation method for cold atom gravimeters based on an adaptive model, relating to the field of active vibration isolation technology for cold atom gravimeters. The method includes the following steps: establishing an active vibration isolation reference model for the cold atom gravimeter; designing a proportional-derivative feedback control law; designing a Lyapunov stability function; and designing an adaptive law to address the problems of ground vibration and random vibrations caused by the natural environment encountered by the cold atom gravimeter during measurement. Through the adaptive model-based control method, the vibration velocity and displacement of the active vibration isolation system of the cold atom gravimeter converge rapidly, thereby improving the control accuracy of the active vibration isolation system.

This invention relates to an integral optimal control method and system for ship adaptive rudder track holding, belonging to the field of ship adaptive rudder track control technology. It is proposed to address the problems of low track tracking accuracy and poor performance in indirect track control, as well as yaw issues encountered by wind, waves, and currents during straight track tracking. Key technical points: Based on the ship's speed u0 and the target heading deviation ψ... r Update system matrix A; select accuracy and energy consumption balance parameter matrices, solve the ILQR Riccati equation to obtain the optimal control variance matrix; calculate the ILQR controller proportional differential coefficient matrix, and calculate the integral coefficient matrix according to the critical damping principle; set the noise variance matrix, solve the GESO Riccati equation to obtain the observation equation matrix; calculate the GESO observation gain, and calculate the observation integral gain matrix according to the critical damping principle; calculate the GESO state observation result x and the ILQG control law; repeat the above steps to control the ship to travel along the set straight track. This invention can effectively solve the yaw problem encountered by wind, waves and current interference when tracking a straight track, making the closed-loop system have good robust stability, while reducing the number of steering operations per unit time and reducing steering energy consumption; after extensive testing, it has advanced performance.

This application relates to the field of industrial control technology and discloses an intelligent synchronous control method, system, and storage medium for material feeding in a glass production workshop. The method includes: acquiring position data using dual laser rangefinders and differentially obtaining velocity and acceleration; inputting the data into a neural network to predict the future position covering the total delay time and dynamically correcting it; fusing feedforward compensation and proportional-derivative control to calculate the target velocity; adaptively correcting and switching parameter sets based on error statistical characteristics; converting the parameter sets into frequency commands for a frequency converter and performing integral compensation. This application solves the problems of delay lag, insufficient dynamic response, long-term accuracy drift, and poor adaptability to operating conditions in the synchronous control of the material feeding trolley and the feeding belt trolley in a glass production workshop, improving the position synchronization accuracy of the two devices and the stability of system operation.