15 results about "Proportional differential" patented technology

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 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 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.

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.

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.

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 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.

In a general aspect, a method can include applying, by a motor controller, a filter to a signal indicating rotational speed of an electric motor to detect an order of vibration of the electric motor to be attenuated. The method can also include providing the filtered signal to a proportional derivative controller, and generating, by the proportional derivative controller, an attenuation signal for attenuating vibration associated with the detected order of vibration. The method can still further include combining the attenuation signal with a torque command signal to produce a combined torque command signal. The torque command signal can indicate an amount of torque requested from the electric motor. The method can further include producing torque with the electric motor based on the combined torque command signal.