32 results about "Proportional differential" patented technology

The invention relates to a permanent magnet synchronous motor improved fractional order sliding mode active-disturbance-rejection control method based on an improved fractional order super-spiral sliding mode observer, and the method specifically comprises the steps: firstly, building a mathematical model of a PMSM in an alpha-beta and d-q coordinate system, designing an improved fractional order super-spiral sliding mode disturbance observer, and estimating the unknown disturbance in a system in real time; and finally, optimizing a steepest function and designing a fractional order tracking differentiator in combination with a fractional order calculus principle. A nonlinear state error feedback law is constructed, nonlinear calculation is carried out on the proportion, differential and integral of an error signal, and the anti-interference capability, the response speed and the control precision of the controller are improved; and combining a fractional order tracking differentiator, a fractional order state observer and a nonlinear feedback control law, and designing a fractional order sliding mode active-disturbance-rejection controller. According to the method, system buffeting is effectively weakened while the convergence speed is increased, and the robustness of the controller under load disturbance is effectively improved.

The invention discloses a tilt dual-rotor aircraft attitude control method, which belongs to the technical field of unmanned aerial vehicle control, and comprises the following steps: establishing a dynamic model with center-of-gravity offset and a propeller disc coordinate system; a reference coordinate system fed back by attitude control of the tilting dual-rotor aircraft is transferred from an aircraft body coordinate system to a propeller disc coordinate system; the angle control ring adopts a paddle disc inclination angle of a paddle disc surface relative to the ground as negative feedback; the angular velocity control loop adopts the body angular velocity under a paddle disc coordinate system as angular velocity negative feedback; finally, the angular velocity control loop is subjected to proportional differentiation and then is subjected to feed linear superposition with a paddle disc inclination angle to be output to a dynamical model of a motor and a steering engine, and a control loop is achieved. According to the tilting dual-rotor aircraft, the minimum phase problem and the gravity center offset instability problem of an existing tilting dual-rotor aircraft are solved, the gravity center offset resisting capacity is improved, robustness is high, and response is fast.

The application provides a control method of a tracked photovoltaic cleaning robot based on fuzzy logic and proportional differential integral correctors, and relates to the field of robot control, which comprises the following steps: when the tracked photovoltaic cleaning robot is running on a photovoltaic panel, a current straight line is obtained through a camera system cooperating with an image algorithm to obtain a current yaw angle error and a lateral error, fuzzy reasoning is performed on the yaw angle error and the lateral error to obtain a coefficient, and a control signal is obtained by combining two proportional differential integral correctors, the control signal is subjected to hard constraint to obtain a correction amount, and a motor control signal is generated to control the motor of the tracked photovoltaic cleaning robot so that the tracked photovoltaic cleaning robot runs along the texture of the photovoltaic panel. The application can obtain motion information only by using the camera system, and the hardware structure is simple; the pose data obtained through the image algorithm has small fluctuation, so that the tracked photovoltaic cleaning robot can be better controlled, and the cleaning effect on the photovoltaic panel is improved.

The application relates to the technical field of welding automation and robot visual perception, and discloses a robot intelligent welding method and system, wherein the method comprises the following steps: constructing a three-dimensional point cloud image by adopting a laser triangulation method; filtering and enhancing the point cloud image, and extracting a weld point cloud set by adopting a U-Net semantic segmentation model; identifying a space path and regressing a pose based on the set to obtain a position-pose pair trajectory primitive; fitting the path by adopting a cubic B-spline curve and generating a continuous welding trajectory by interpolation; and combining visual feedback in the welding process, introducing proportional differential control logic to compensate for closed-loop trajectory errors. Compared with the technical problem that the existing technology cannot stably realize weld path identification and accurate tracking under complex structures such as curved surfaces and variable cross sections, the application realizes high-precision automatic welding of complex weld structures by constructing a perception control closed loop based on visual servoing, and improves trajectory fitting precision.

The invention discloses a photoelectric pod damping control method and device based on a simulation environment, and relates to the technical field of simulation. The method comprises the following steps: constructing a three-dimensional simulation environment and each simulation period, based on a virtual camera imaging principle, obtaining a target miss distance, mapping the target miss distance into an angle tracking error of a pod control axis, independently designing a proportional-differential controller for the pod control axis, obtaining a continuous time control law, and converting the continuous time control law into discrete time for representation to obtain a discrete control quantity. Setting initial proportional gain and damping gain in a three-dimensional simulation environment, analyzing a time domain response curve of target miss distance based on discrete control quantity, iteratively adjusting parameters until preset performance indexes are met, enabling the time domain response of the miss distance to be optimal, and taking the corresponding proportional gain and damping gain at the moment as a parameter set for photoelectric pod control. A real object platform is replaced by a simulation environment, and the problems that a traditional damping parameter setting method is high in cost and low in efficiency are solved.

This invention relates to the field of asynchronous motor control technology, specifically to an asynchronous motor speed control method and system based on an improved Super-Twisting sliding mode algorithm. The method includes: (1) deriving the fourth-order nonlinear differential equation of a three-phase squirrel-cage asynchronous motor in a rotating coordinate system d-q based on rotor magnetic field orientation theory; (2) designing a linear sliding surface based on the error between the set speed and the feedback speed; (3) using the first-order differential equation of rotor speed in step (1) and the linear sliding surface described in step (2), and introducing a variable proportional differential term based on the traditional Super-Twisting sliding mode algorithm to design a fast Super-Twisting sliding mode speed controller; (4) constructing a variable exponential switching function to replace the sign function in the fast Super-Twisting sliding mode speed controller described in step (3), thus completing the design of the improved Super-Twisting sliding mode speed controller. This solution effectively solves the problems of slow response speed and poor control accuracy in existing systems, thereby improving the overall robustness of asynchronous motor control.

The application relates to a force-position hybrid servo stepping closed-loop control method and system, and the method comprises the following steps: obtaining a position deviation and a speed deviation according to an actual angle position and an actual speed of a stepping motor rotor end, constructing a system error dynamics equation of the stepping motor, constructing a proportional differential auxiliary variable based on the position deviation and the speed deviation and a approaching equation for guaranteeing that the proportional differential auxiliary variable converges to 0 in a limited time; combining the system error dynamics equation, the proportional differential auxiliary variable and the approaching equation to construct a force-position hybrid controller, obtaining a system control input through the force-position hybrid controller, obtaining two-phase reference currents based on the system control input, and realizing driving control of the stepping motor by adopting a hardware current closed loop. Compared with the prior art, the application can improve the position control precision of the stepping motor when the system has interference and uncertainty, and realizes hybrid control of torque and position.

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.

The application discloses a kind of ship navigation control method, device, storage medium and equipment, belong to ship navigation control technical field, obtain the current position and course angle of ship, according to the judgment to current position and current route segment, corresponding control method is executed.The application introduces the method of proportional differential adjustment when straight sailing, that is, by the deviation correction value between the current course angle and target course when north is 0 degree controls and adjusts the rudder angle change of ship, so that ship converges to target route quickly;When folding sailing, by inserting arc line navigation segment method, according to the minimum turning radius of ship, the arc navigation segment that is tangent to two straight line navigation segments is inserted in original broken line navigation segment to facilitate ship turning.Through the above two ways, the fitting degree of ship when moving along different routes and preset route is optimized.

The application discloses a control method for cooperative carrying of a double SCARA robot, and also discloses a system of the first and second SCARA robots which jointly hold a workpiece through end effectors. The method comprises the following steps: in a cooperative control mode, the first robot moves independently according to a preset trajectory, and the second robot keeps a relative position with the first robot; a desired position and force are obtained according to environmental constraints; positions and forces of the two robots are collected in real time; the first robot adopts a position control strategy, and outputs a force through a proportional differential control law based on a position error according to position feedback; and the second robot adopts a damping control strategy, and outputs a speed correction amount through a proportional differential control law based on a force error according to force feedback. The application realizes decoupling of the position and the force through differentiated control, and improves carrying stability, precision and adaptability. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying of precise or fragile workpieces.

The invention provides a cold atom gravimeter active vibration isolation method based on a delay observer, and relates to the technical field of cold atom gravimeter active vibration isolation, and the cold atom gravimeter active vibration isolation method comprises the following steps: building a cold atom gravimeter active vibration isolation model; designing a delay observer; designing a proportional differential control law; a delay observer stability function is designed, and the problem that in an existing control method, output delay of an active vibration isolation system of a cold atom gravimeter under external disturbance such as ground vibration is not considered is solved. Therefore, the vibration speed and the vibration displacement of the active vibration isolation system of the cold atom gravimeter are rapidly converged, and the control precision of the active vibration isolation system of the cold atom gravimeter is further improved.

The application provides a kind of machine follows furnace mode thermal power generating unit control method and system, belong to thermal power generating unit control technical field, the method includes: according to first control action signal and second control action signal, control heating control device to control the electric heating power of electric boiler;According to first steam pressure difference signal and pressure difference adjusting signal, determine second steam pressure difference signal, to control the opening of turbine admission regulating valve;According to first opening signal and second opening signal, control the opening of feedwater pump feedwater regulating valve.The machine follows furnace mode thermal power generating unit control method and system provided by the application increase steam pressure anti-interference control link, turbine nonlinear limiting control link, feedwater feedforward control link and electric boiler proportional differential control link, ultimately reach the coordinated control target of giving consideration to load power tracking performance, electric boiler liquid level and steam pressure fluctuation, feedwater control and electric power control response speed three aspects.

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 invention discloses a control method for cooperative carrying of double SCARA robots, and further comprises a system of a first SCARA robot and a system of a second SCARA robot, and the first SCARA robot and the second SCARA robot jointly clamp a workpiece through an end effector. The method comprises the steps that a cooperative control mode is adopted, a first robot independently moves according to a preset track, and a second robot keeps a relative position; acquiring an expected position and an acting force according to environmental constraints; acquiring positions and acting force of the two robots in real time; the first robot adopts a position control strategy and applies a proportional differential control law output acting force based on a position error through position feedback; and the second robot adopts a damping control strategy, applies a force error-based proportional differential control law through acting force feedback, and outputs a speed correction amount. Decoupling of the position and force is achieved through differential control, and the carrying stability, precision and adaptability are improved. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying precise or vulnerable workpieces.

A unified variable force / variable admittance control method and system based on neural energy functions is disclosed. The method includes: 1. Correcting the force sensor measurements based on the solved zero-point offset, and performing gravity compensation on the force / torque data based on the end-effector's gravity and center of mass position; 2. Defining a unified force / admittance control model for the robot and performing stability analysis; 3. Introducing a variable stiffness encoded energy function and a variable proportional / differential encoded energy function to learn variable stiffness parameters and variable proportional / differential coefficients online; 4. Solving for the analytical expressions of state-dependent variable admittance parameters; 5. Solving for the analytical expressions of the unified variable force / variable admittance control formula; 6. Calculating the pose adjustment amount and correcting the robot's current trajectory based on the pose adjustment amount. This invention achieves compliant and precise control of contact forces, enabling the system to maintain compliance while ensuring the stability and consistency of force output when interacting with the external environment.

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.

The invention discloses an aircraft output feedback attitude control method, and relates to the technical field of rigid aircraft attitude control. The method comprises the following steps: establishing an attitude kinematics model and a dynamics model of an aircraft based on a modified Rodrigues parameter framework; designing an angular velocity observer according to the two models in combination with an immersion and invariant principle; the specific form of the angular velocity observer is obtained through the filtering state of the angular velocity observation value; and combining the specific form of the angular velocity observer with a proportional-differential full-feedback attitude controller to obtain an output feedback attitude control law based on the angular velocity observer. Wherein the stability of the specific form of the angular velocity observer is proved in an auxiliary manner through a dynamic scaling factor and a candidate Lyapunov function. According to the aircraft output feedback attitude control method provided by the invention, the attitude control problem of the aircraft under the condition that the angular velocity of the aircraft cannot be measured is solved, and the angular velocity estimation precision under the existing condition that the angular velocity cannot be measured can be effectively improved.

The application discloses a linear temperature rising control method, and belongs to the technical field of temperature control, and comprises the following steps: self-tuning, constant temperature control and linear temperature rising control. In the constant temperature process, proportional and differential control is adopted, then the gradient value in the temperature rising process is calculated, integral control is added according to the set gradient value, at this time, overshoot can be effectively inhibited, the speed concept is introduced, the linear temperature rising is good, the strong wave phenomenon existing in the temperature rising is overcome, the PID values of the linear temperature rising and the constant temperature are unified, and the PID parameters do not need to be tested artificially, so that the debugging time is reduced.

The invention provides a control method of a suspension system, and relates to the technical field of vehicle chassis, in order to achieve the effects of fast dynamic response, high control precision and strong robustness, the method comprises the following steps: receiving a target rotating speed instruction and an actually measured rotating speed of a hydraulic pump; a rotating speed control system of the hydraulic pump is constructed into a second-order system for representing total disturbance as an expansion state; the expansion state observer is operated, observation values of the system rotating speed, the system rotating speed change rate and the expansion state are estimated and output in real time based on the actually measured rotating speed and the current control quantity, and gain parameters of the expansion state observer are configured according to a preset observer bandwidth; based on the target rotating speed instruction and the change rate thereof, in combination with the system rotating speed and the observed value of the system rotating speed change rate, obtaining a proportion-differential control quantity; and performing dynamic feed-forward compensation on the proportional-differential control quantity by using the observed value of the expansion state to generate a final control quantity for driving the hydraulic pump.

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.

The application provides a cold atom gravimeter active vibration isolation method based on a delay observer, relates to the technical field of cold atom gravimeter active vibration isolation, and discloses the cold atom gravimeter active vibration isolation method, which comprises the following steps: establishing a cold atom gravimeter active vibration isolation model; designing a delay observer; designing a proportional differential control law; and designing a delay observer stability function. The cold atom gravimeter active vibration isolation method solves the problem that current control methods do not consider the output delay of a cold atom gravimeter active vibration isolation system under external disturbances such as ground vibration. Through the establishment of the output delay observer proportional differential control law, the vibration speed and vibration displacement of the cold atom gravimeter active vibration isolation system rapidly converge, and the control precision of the cold atom gravimeter active vibration isolation system is improved.

The invention discloses a humanoid robot control method based on a time sequence track and impedance control. The method comprises the following steps: constructing X, Y and Z axis sine and cosine time sequence track baselines associated with a gait cycle; sensing the reaction force and speed of the foot end in real time, and deducing mechanical parameters; constructing an adaptive impedance coefficient Z (t) containing proportional, differential and integral gains, and dynamically adjusting the gains; correcting the track based on Z (t); and through electro-hydraulic servo execution and closed-loop feedback optimization, control input is generated, and stability is evaluated. A double-channel cooperative control framework with the self-adaptive impedance coefficient Z (t) as the core is constructed, the contradiction of insufficient track rigidity and environment adaptability in a traditional humanoid robot control method is solved, the limitation of traditional gain adjustment and track correction splitting is broken through, two adjustment channels can be driven at the same time, and the control precision is improved. The system response speed is adjusted and optimized through dynamic gain, environment impact is avoided through track real-time correction, and the dual control effect of flexible response and active adaptation is achieved.

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.

The application discloses a large-aperture space telescope flexible load vibration suppression method and device based on preset performance control, comprising: establishing a three-inertia system dynamics model for describing a large-aperture space telescope; converting the three-inertia system dynamics model into a three-inertia system state space equation; converting the three-inertia system state space equation into a three-inertia generalized full drive system model by using a full drive system theory; improving the amplitude margin and the phase angle margin of the three-inertia generalized full drive system model by using a pole placement method; fitting the response output of the three-inertia generalized full drive system model with improved amplitude margin and phase angle margin by using a BP neural network, and designing a preset performance function of the three-inertia system; using the preset performance function as a tracking error boundary of the three-inertia system, and using a proportional differential as a nonlinear controller of the preset performance control, to realize closed-loop control of the three-inertia system, and then indirectly realize flexible load vibration suppression of the large-aperture space telescope.

The invention provides a flight control method for a dual-motor-driven ornithopter. The method comprises the following steps: acquiring a position parameter and an attitude angle parameter of the ornithopter; calculating the basic rotating speed of the aircraft based on the expected height and the current height in the aircraft position parameters; a roll angle control vector of the current control period is obtained, and a roll angle control proportionality coefficient and a roll angle control differential coefficient are obtained through back propagation neural network optimization; inputting the roll angle control proportionality coefficient and the roll angle control differential coefficient into a preset roll angle control moment proportional differential calculation model, and calculating to obtain a roll angle control moment of the current control period; and converting the roll angle control torque into a rotating speed difference between a left motor and a right motor of the aircraft, and calculating the rotating speed of the left motor and the rotating speed of the right motor of the aircraft based on the basic rotating speed of the motors of the aircraft. According to the invention, high-precision attitude tracking can be maintained under various flight conditions, and overshoot, oscillation and response lag are effectively reduced.

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.

The invention provides a cold atom gravimeter active vibration isolation method based on an adaptive model, and relates to the technical field of cold atom gravimeter active vibration isolation, and the method comprises the following steps: building a cold atom gravimeter active vibration isolation reference model; designing a proportional differential feedback control law; a Lyapunov stability function is designed; a self-adaptive law is designed, the problems of ground vibration and random vibration caused by the natural environment in the measurement process of the cold atom gravimeter are solved, and the vibration speed and vibration displacement of the active vibration isolation system of the cold atom gravimeter are rapidly converged through a control method based on a self-adaptive model. And the control precision of the active vibration isolation system of the cold atom gravimeter is improved.