153 results about "Proportional differential" patented technology

The invention discloses an optical flow-based four-rotor unmanned aerial vehicle flight control method. The method comprises the following steps: calculating optical flow information by utilizing an image pyramid-based Lucas. Canard method; processing the optical flow information by adopting a Kalman filtering method; performing data fusion on an optical flow and an attitude angle, and calculating the horizontal displacement of an unmanned aerial vehicle; and designing a proportional-differential controller, including determining a four-rotor unmanned aerial vehicle dynamic model and designing a control algorithm. By the optical flow-based four-rotor unmanned aerial vehicle flight control method disclosed by the invention, the horizontal position information of the unmanned aerial vehicle is calculated by fusing the image information and the attitude angle information acquired by utilizing an airborne camera; and the position of a small unmanned aerial vehicle is controlled by taking the unmanned aerial vehicle horizontal position information as the feedback information of an outer ring PD (proportional-differential).

The invention discloses an SCARA robot trajectory tracking control method based on prediction indirect iterative learning. Aiming at the problem that users are not allowed to compensate torque signals output by a servo drive of an alternating-current motor under most conditions in actual engineering, the SCARA robot trajectory tracking control method based on prediction indirect iterative learning is proposed. Firstly, a double-closed loop feedback controller directly acted on a robot body is designed, and includes a P type position closed loop and a PI type speed closed loop; and then, a prediction iterative learning controller (A-ILC) with a feedforward effect is designed, and a control effect at the sampling time t in next operation is adjusted by using error output information at the sampling time t+delta in previous operation batches. Compared with a proportional differential iterative learning controller (PD-ILC), the A-ILC is faster in iterative convergence speed and higher in tracking precision; and compared with an A-ILC without the feedforward effect, the A-ILC with the feedforward effect can eliminate external disturbance more quickly and effectively.

The invention discloses a robust neural network control system for a micro-electro-mechanical system (MEMS) gyroscope based on sliding mode compensation and a control method of the control system. The control system comprises a given trajectory generation module, a sliding mode surface definition module, a neural network controller, a weight adaptive mechanism module, a sliding mode compensator, an MEMS gyroscope system, a proportional-differential control module, a first adder and a second adder. The control method of the control system comprises the following steps of: establishing an MEMS gyroscope kinetic model based on a sliding mode surface, designing a controller structure, and designing an updating algorithm of a radial basis function (RBF) network weight, so that the trajectory of the MEMS gyroscope is tacked. By the control method, the influence of the unknown dynamic characteristic of the MEMS gyroscope and noise interference can be compensated on line, the vibration trajectory of the MEMS gyroscope completely follows a reference trajectory, and the anti-interference robustness and reliability of the system are improved; the updating algorithm of the network weight is designed on the basis of a Lyapunov stability theory, so that the stability of a closed-loop system is ensured; and a powerful basis is provided for expanding the application range of the MEMS gyroscope.

Through designing a radial basis function neural network compensator to estimate coupling between channels, a model uncertainty part and external interference, a pole-placement method is used to determine a gain initial value of a fractional order proportional differential controller, the control performance is further improved by the fine adjustment of a fractional order differential order number, the flexibility of a system is enhanced, finally a feedback linearization controller is designed to obtain a control amount, and the stable attitude control with strong anti-interference for a four-rotor unmanned aerial vehicle is realized. The invention has the advantages that an unmodeled part of the system, the coupling effect between the channels and the external interference are considered, and the universality of an attitude control method is improved. Through designing a radial basis function neural network estimator to estimate the unmodeled part of the system, the coupling effect between the channels and the external interference for compensation, the system has good anti-interference ability. On the basis of traditional proportional differential control, fractional order differential is introduced to improve the control performance and flexibility of the system.

The invention discloses a power supply having a single stage converter for performing power factor correction to reduce high-frequency harmonics in the input current and performing resonant conversion to achieve zero-voltage switching or zero-current switching for power conversion. The inventive single stage converter includes a switching circuit, a resonant circuit, a power control circuit, and a square wave generator. The switching circuit includes at least one switch and the resonant circuit includes a LLC resonant tank. The power control circuit includes a proportional differential circuit such as a power amplifier configured in a negative feedback topology, and the square wave generator is configured to generate driving signals based on the frequency modulation control signal generated by the comparison of the sensed input current and a user-defined power level input, thereby allowing the square wave generator to regulate the switching operation of the switching circuit.

The invention discloses a nonlinear interference control method and a nonlinear interface control system for a permanent magnet linear synchronous motor (PMLSM). According to the control method, an online estimated compensating voltage value ud of a wavelets neural network (WNN) is added on the basis of up+uf of the conventional composite feedforward proportional differential control, and the sum of up, uf and ud is used as the control voltage U(t) of a stator of the PMLSM, namely the control voltage U(t) is equal to up+uf+ud. The WNN is a three-layer forward network, and ud is the sum of omega1psi1, omega2psi2, ..., omegajpsij, ..., and omegampsim. A learning signal of the WNN is an output value of a proportional differential controller. The control system comprises a digital signal processing controller, a power driving module connected with the stator of the PMLSM, and a rotor displacement sensor arranged on the PMLSM. The WNN is used for effectively compensating interference such as PMLSM thrust fluctuation and frictional force and errors of a fixed parameter model, and tracking accuracy can be improved by more than 2.7 times; and the control system can be implemented by universal hardware, and is convenient to popularize and use.

The invention relates to a mechanical shoulder joint position control method with dynamic friction compensation, which is realized through a global control unit and a local control unit. The global control unit is used for tracking the trajectory of a mechanical shoulder joint in a global large range, the trajectory tracking is realized through a PD (Proportional Differential) controller widely applied in the mechanical shoulder joint, and the input vector of the PD controller comprises the position error of the mechanical arm joint and the change rate of the position error; and the local control unit is used for completing dynamic friction compensation in a local small range, the dynamic friction compensation is realized through a five-layer autoregressive wavelet neutral network controller having an observation layer, and the input vector of the autoregressive wavelet neutral network controller comprises the expected position, the expected speed and the actual position of the mechanical shoulder joint. The actual speed of the mechanical shoulder joint required in the autoregressive wavelet neutral network controller can be calculated through the observation layer. The mechanical shoulder joint position control method provided by the invention can be realized by only installing one position sensor in the mechanical shoulder joint without installing a speed sensor.

The invention discloses a robot neural network type computed torque controller training platform and training method, belonging to the technical field of robot control. The training platform consists of an upper control unit, an open type motion control driving unit, a high-speed parallel robot virtual reality unit, a data acquisition and communication unit and an artificial neural network-based adaptive control model, wherein motion planning and process monitoring are finished by the upper control unit; the open type motion control driving unit is an actual electrical part which finishes a control command of the upper control unit to convert to electrical control driving; the high-speed parallel robot virtual reality unit is used for realizing construction of a high-speed parallel robot virtual machine and a related three-dimensional scene; the data acquisition and communication unit realizes data communication and can collect a training sample required by the artificial neural network; and the artificial neural network-based adaptive control model consists of a neural network type robot inverse dynamic model approximator and a linear proportional differential feedback controller which work in parallel. The robot neural network type computed torque controller training platform and training method can realize trace tracking control of the high-speed parallel robot and have the characteristics of wide fitness, low system design cost and the like.

The embodiment of the present application discloses an advanced cascade control method and device. A conventional integrator and a conventional differentiator in the prior art are improved. A sliding-window filter improves the conventional integrator and the conventional differentiator into a similar integrator and a sliding-window tracking differentiator respectively. Similar proportional integral control belongs to lag control while similar proportional differential control belongs to advanced control such that the advanced cascade control method of the embodiment of the present invention isformed. The advanced cascade control method has output speed greater than that of a conventional PID controller in a open-loop condition, which indicates that the advanced cascade control method canincrease the speed given by process output tracking in closed loop control and the closed-loop control loop formed by the advanced cascade control method has better control quality for difficult control process.

The invention discloses an integrated frequency and damping control method for a double-fed wind power generation unit. When the double-fed wind power generation unit normally operates, a maximum power tracking control policy is adopted; when system frequency is changed, a quick active control instruction is provided for participation in system frequency modulation of the wind power generation unit through a frequency controller, and the inertial frequency response of the wind power generation unit is simulated. The proportional differential control in the conventional frequency control of the wind power generation unit is improved into the proportional differential control with first-order inertia, so that the frequency control of the wind power generation unit is always shown as positive damping characteristics, the wind power generation unit have a frequency modulation control function and a system power oscillation suppression control function, and a foundation is laid for the wide application of the controller. After the frequency of a power grid is changed, the electromagnetic power of the wind power generation unit is quickly regulated by frequency control to participate in frequency modulation of the power grid; if a system is subjected to inter-area low-frequency oscillation, the wind power generation unit can suppress the power oscillation of the system under the control policy.

The invention relates to a robot trajectory tracking auto-disturbance rejection control method based on model-free outer loop compensation. The method comprises the following steps that step 1, an omnidirectional mobile robot system dynamics model is established; step 2, an extended state observer is designed according to the dynamics model; step 3, an auto-disturbance rejection controller is designed according to an analytic acceleration control method, wherein the auto-disturbance rejection controller is composed of two parts, one part is used for compensating for the total disturbance of asystem, the other part is used for the trajectory tracking control over a robot, proportional differential feedback is introduced, and the model-free adaptive controller is obtained according to a false Jacobian matrix estimated value to add model-free adaptive control into the extended state observer.

The invention discloses a variable pitch control method of a wind generating set. The method includes the steps: acquiring real-time rotating speed of a wind wheel and real-time pitch angles of bladesof the wind generating set; calculating variable pitch speed of the blades by a proportional differential control algorithm according to the real-time rotating speed and the real-time pitch angles; controlling variable pitch rotation of the blades according to the variable pitch speed. Compared with a traditional proportional integral control algorithm, the pitch angles cannot be converted into the variable pitch speed, the variable pitch speed is directly acquired, so that delay and indeterminacy increased by a converting link are avoided, tracking of a system is accelerated, the dynamic response capability of a variable pitch system of the wind generating set is improved, the method solves the problem of excessive speed of the wind generating set under gale and strong turbulence, so that generation of an extreme load is avoided, fatigue damage to the wind generating set is reduced, and availability and the generating capacity of the wind generating set are improved.

The invention discloses a model-free quadrotor unmanned aerial vehicle trajectory tracking controller based on RPD-SMC and RISE, and a method, and a RPD-SMC controller is designed. The controller combines advantages of a proportional differential-sliding mode controller (PD-SMC) and online estimation capability of a radial basis function neural network (RBFNN) on arbitrary function. Through introducing self-adaptive RBFNN feedforward, disturbance and unknown dynamic conditions are estimated and compensated, so that selection of control parameters of the PD-SMC is more rational, to achieve objectives of reducing controlling quantity and saving electric energy. Aimed at an inner-loop control system, an error symbol integral (RISE) controller based on robustness is designed. The RISE controller can ensure rapid convergence of a posture angle and has strong robustness on disturbance. Beneficial effects are that the lyapunov theorem of stability proves stability of the inner-loop and outer-loop systems, and simulation experiment results prove that the controller has validity.

The invention relates to a turbofan engine steady state transition state multivariable control method based on a self-disturbance rejection theory, and belongs to the technical field of aero-engine control. The turbofan engine steady state transition state multivariable control method comprises the following steps that firstly, the control quantity and the controlled quantity of a plurality of sets of turbofan engines are preliminarily selected, then a correlation analysis method is used for further determining the control quantity and the controlled quantity which are relatively large in correlation; a tracking differentiator is adopted for planning each group of control instructions into a tracking track, then is taken together with the current state estimated by the expansion state observer to serve as an input of the nonlinear proportional-differential controller an input calculation control amount for nonlinear proportional-differential controller, meanwhile, a proper structure isused for offsetting the expansion state observer to observe the total disturbance including the coupling among the multiple variables, so that a good control effect is achieved. According to the turbofan engine steady state transition state multivariable control method, multi-input multi-output of turbofan engine requirement is met, meanwhile, target for control requirements is achieved accordingto preset trajectory operation, compared with the design method of a traditional control controller, the difficulty is smaller, the number of parameters needing to be adjusted is small, the physicalsignificance is very clear, and the robustness of the system is greatly improved.

The invention discloses an AGV (Automated Guided Vehicle) visual navigation and positioning method based on a novel encoding mark. The method comprises the steps of firstly, designing an encoding markin combination with digital information and a two-dimensional code to make the mark have two functions of navigation and positioning; secondly, constructing a camera system model, when an AGV cameraidentifies that the front encoding mark is located at a position of a current frame image, converting the position into a position from an actual encoding mark to an AGV through the constructed camerasystem model; thirdly, performing image processing on the image collected by the camera so as to alleviate the problem of blurring caused by the condition that a moving object is shot by use of a cheap camera, and quickly positioning a positioning feature point and a navigation feature point designed in the encoding mark; fourthly, decoding the encoding mark, and positioning code value information-containing numbers in the encoding mark according to the identified navigation feature points, thereby reducing the difficulty for the subsequent classifier in identification of the numbers; and finally, designing a proportional-differential controller according to the previously obtained control information so as to control walking of the AGV trolley.

The invention discloses a control method and device for bionic jumping action of a quadruped robot, electronic equipment and a computer readable medium. The control method comprises the steps that thequadruped robot is simplified into a rigid body model; according to the simplified rigid body model, the actual state of a mass center of a body is calculated through gyroscope data in combination with the foot end state and the joint angles of four legs; in the preparation, take-off and landing stages of the quadruped robot, the expected acceleration and angular acceleration are given, the position and posture of the body of the quadruped robot are planned respectively, the feed-forward virtual force and virtual moment are calculated according to the given acceleration and angular acceleration, and according to the error between the expected state and the actual state, the total virtual force and virtual moment required by the mass center is calculated by combining the proportional-differential control law and the feed-forward quantity; the moment of each joint of the supporting leg is obtained according to the obtained mass center virtual force and virtual moment; and the moment ofeach joint of the supporting leg is executed by a motor to jump.

The invention relates to a mode-switching-based symmetrical prediction control method of bilateral teleoperation of a robot. A symmetrical prediction control strategy based on mode switching is put forward based on a neural network technology with the estimation capability of the neural network for estimating the uncertain gravity term and the prediction capability for constructing the predictor kernel, an adaptation theory for eliminating various estimation and prediction errors, a homomorphic model prediction idea being an additional condition needing to be met for prediction outputting andbeing used for improving the prediction accuracy, and a proportional differential control algorithm for designing master and slave controllers. Therefore, stable, real-time, continuous, precise, and synchronous control of master and slave robots is realized and the expected teleoperation task is completed.

A low-frequency band suppression enhanced anti-reversal power system stabilizer is presented by the invention. Currently the widely used PSS2B power system stabilizer needs lead elements above Order 2 to meet the phase compensation requirement of DC blocking signal of active power, thus quickly increasing high-frequency band gain, restricting allowable total setting gain of PSS, limiting low-band gain and reducing low-frequency band suppression ability of power system stabilizer. The invention will add generator speed signal ω (which is treated by DC blocking element and corrected by parallel proportional differential PD) and active power signal Pe (which is treated by DC blocking element and gained by gain factor Ks3) to get equivalent synthetic mechanical power of power system stabilizer. The actual active power signal gained by gain factor KS1 can meet the requirement of phase compensation through Order 1 lead and lag elements, thus increasing allowable total setting gain of PSS and improving the ability of low-frequency band oscillation suppression.

The invention discloses a method and a device for tracking a trajectory of a linear motor based on an improved auto-disturbance rejection controller. The device is characterized by comprising a current sensor, a displacement sensor, a first comparison module, a current controller, a pulse width modulator, a power inverter, a linear motor and the improved auto-disturbance rejection controller, wherein the improved auto-disturbance rejection controller comprises a first-order differentiator, a second-order differentiator, a second comparison module, a third comparison module, a proportional differential controller, an extended state observer and a summation module. The method and the device for tracking the trajectory of the linear motor based on the improved auto-disturbance rejection controller have the beneficial effects that a conventional auto-disturbance rejection controller is improved so that the second derivative of the target trajectory is added, and the second derivative is combined with the controlled variable of the proportional differential controller to form a new intermediate controlled variable, and the improved auto-disturbance rejection controller is capable of effectively improving the precision of tracking on the trajectory of the linear motor in addition to effectively inhibiting the influence of system parameter perturbation and external disturbance on system performance, and further is low in tracking error.

The invention discloses a wind turbine primary frequency modulation control method, installation, device and medium. The method includes: when detecting that the operating frequency of the power system exceeds the dead zone setting value, adjusting the frequency of the wind turbine with the rotating speed below 1.2 standard value by proportional differential virtual inertia control to participatein system frequency modulation; obtaining a rotational speed of the wind turbine that participates in system frequency modulation; when detecting that the operating frequency of the power system is within the dead zone setting value, or when the rotational speed of the wind turbine that participates in the system frequency modulation reaches 1.2 times the standard value, the proportional-differential virtual inertia control is exited. The wind turbine is set to operate under maximum power tracking control, which effectively reduces the high frequency problem of the power system connected to the wind turbine group, and reduces the possibility that the power system triggers the third line of defense action of the power grid due to high frequency problems.

The invention discloses a magnetic navigation AGV (Automatic Guided Vehicle) linear route correcting method based on proportional differential regulation. The method comprises the following steps: arranging magnetic induction sensors on a front side and a back side of a magnetic navigation AGV vehicle body; building vehicle-loaded system upper-lower computer communication; acquiring an initial position and a motion direction of the magnetic navigation AGV vehicle body; determining a proportional coefficient and a differential coefficient of a proportional differential regulation way so as to realize magnetic navigation AGV linear route correction. Double magnetic induction sensors are adopted, and path converging conditions of a plurality of initial position conditions are analyzed to determine a proportional differential coefficient suitable for all position conditions, so that forward and backward bidirectional linear position adjustment of the magnetic navigation AGV vehicle body is realized, position deviations can be eliminated within a short time, the driving stability is ensured, and the industrial application demand is met.

The invention relates to a method (21) for determining a rack force (FR) for a steering apparatus (2) of a vehicle, in which the rack force (FR) is determined as a function of a steering angle variable which characterizes an actual wheel steering angle (deltaRW) or a set point of the wheel steering angle (deltaRW).; In order to specify a method (21) for determining a rack force (FR) with which a steering torque set point can be generated, which imparts a convenient steering feel to the driver and the steering apparatus nevertheless gives the driver the most realistic possible feedback about the state of movement of the vehicle, according to the invention the method (21) comprises: determining a variable which characterizes a lateral force (Fyv) on a shaft of the steering apparatus (2), and determining the rack force (FR) as a function of the lateral force, wherein the determination of the rack force (FR) comprises filtering by means of a signal processing element (35) having a proportional-differential transfer function.

Disclosed is an elastic aerial vehicle auto-disturbance-rejection attitude control method. The elastic aerial vehicle auto-disturbance-rejection attitude control method comprises the steps of, 1 designing an elastic filter; 2, designing an extended state observer (ESO) containing a displacement and speed measurement mixed elastic model; 3, designing auto-disturbance-rejection control (ADRC) ruleswith attitude motion total disturbance compensation and elastic mode inhibition. Specifically, the method comprises, when first-stage elastic mode frequency is close to the bandwidth of a control system, designing the elastic filter to filter out other elastic modes except a first-stage elastic mode to reduce loss of system stability margin and increase system phase margin; through the extended state model, rigid body signals, acquiring first-stage elastic mode signals and estimated attitude motion total disturbance; controlling the PD (proportional differential) feedback of rigid body motionstate estimated signals and the compensating part of rigid body total disturbance in the ADRC rules to achieve consistency of dynamic response and control precision of attitude motion with disturbingforces and torques such as parameter deviation, multimode elastic coupling and wind.

The invention discloses an operational control method for a two-stage matrix converter and belongs to the field of two-stage matrix converter control. The method is applied to situations of active damping and unity power factor operation of a power supply side of the two-stage matrix converter. The method is based on a dual-space vector modulation strategy, the voltage modulation ratio of an inversion stage is fixed at 1, the current modulation ratio and the phase angle of a rectification stage and the phase angle of the inversion stage are changed to enable the input current of the rectification stage is controllable, a current loop of the power supply side is embedded into closed-loop control of an output side, and active damping control and the unity power factor operation of the power supply side are achieved with the method of proportional differential (PD) feedback and proportional integral (PI) adjustment. The method is clear in control mode, parameters are easy to adjust, and the method has relatively high theoretical research significance and practical value.

The invention discloses a device, a method, a system and an engineering machine for controlling rotary vibration of a cantilever crane. The device comprises a receiving device and a controlling device, wherein the receiving device is used for receiving the displacement of the cantilever crane in the rotating direction, and the controlling device is used for calculating the displacement difference between the displacement and a reference displacement after rotating motion of the cantilever crane is finished and generating control signals for a vibration attenuation executing mechanism through a proportional differential algorithm according to the displacement difference. By means of the technical scheme, the control signals can be determined by detecting the displacement in the rotating direction according to the displacement difference, and then the control signals are exerted onto the vibration attenuation executing mechanism to restrain rotary vibration of the cantilever crane. The device, the method, the system and the engineering machine for controlling the rotary vibration of the cantilever crane has significant meanings in improving manipulating efficiency and safety of a pump truck.

The invention discloses a cantilever beam vibration control method on the basis of self-adaption neural network control and is designed on the basis of filtered tracking error. A controller comprises proportional differential items and RBF neural network items. By the cantilever beam vibration control method, with unknown functions of a cantilever beam system of an RBF neural network approach, an updating algorithm of the weight of the RBF neural network is designed on the basis of Lyapunov stability theory, and overall stability of the system is guaranteed. Robust items are added into the updating algorithm, boundedness of control input is guaranteed, and the final tracking error is kept within any small range by the aid of proportional differential control items. Under the conditions of no structural or nonstructural parameters of a cantilever and with external interference, the control method is capable of accurately tracking and controlling the cantilever system, and robustness and reliability of the system are improved.

The invention provides a pan-tilt control method, a pan-tilt control system, and a pan-tilt device. The pan-tilt control method comprises the steps that the mock location information, the measuring position information and the simulated angular speed information of a Pitch axis of the pan tilt can be obtained in a real-time manner; a first position error between the mock location information of the Pitch axis and the measuring position information of the Pitch axis can be calculated; proportional differential calculation is conducted on the first position error, and compensation is conducted on the first position error by means of the simulated angular speed information at the same time / during the proportional differential calculation process; based on the result of the proportional differential calculation after compensation, a first torque control instruction for controlling the torque of a Pitch axis motor is generated so as to control the torque of the Pitch axis motor and enable the Pitch axis to reach to a position corresponding to the mock location information of the Pitch axis. The invention is advantageous in that a brush motor is adopted, and thereby the manual adjustmentof the Pitch shaft and / or Yaw visual angle by means of the pan-tilt device can be smooth, and the follow-up effect can be good.

The invention provides a virtual energy catcher based inhibition method for magnetic-levitation train-bridge self-induced vibration. The method comprises the steps of estimating the vibration speed of a bridge according to the acceleration of a levitation electro-magnet and a levitation gap; creating a virtual energy catcher using the levitation electro-magnet as an inducing coil of the virtual energy catcher; estimating the acting force of the virtual energy catcher on a bridge; remaining the PD (Proportional-Differential) control for an outer control ring of a levitation control system of a magnetic-levitation train on the premise that the stability of the levitation of the magnetic-levitation train is ensured; overlapping control current which is equivalent to the acting force of the virtual energy catcher on the bridge to current feedback of an inner control ring of the levitation control system, so as to achieve the inhibition for the magnetic-levitation train-bridge self-induced vibration. With the adoption of the method, the stability of a magnetic-levitation train-bridge coupling system can be achieved, thus the self-induced vibration can be avoided, and as a result, the capacity for the magnetic-levitation train passing over the bridge is improved; in addition, an energy catcher and other devices are prevented from being mounted on the bridge, the operation is simple and the cost is low.

The invention relates to a virtual inertia control system and a virtual inertia control method for a double-fed pumped storage generator set. The virtual inertia control system comprises a Washout filter module, a proportional differential regulator module and a one-order low pass filter module, wherein the Washout filter module is used for blocking a steady state input signal, so that the control process of the control system is not influenced by a steady frequency deviation; the proportional differential regulator module is used for controlling an output power reference value of the double-fed pumped storage generator set through frequency modulation auxiliary power, so that the output power reference value of the double-fed pumped storage generator set is associated with the power grid frequency; when the power grid frequency is changed, the output power reference value of the double-fed pumped storage generator set is correspondingly adjusted so as to realize frequency modulation of the power grid frequency; and the one-order low pass filter module is used for eliminating a high-frequency noise signal so as to reduce the interference of the external signal on the control system. According to the virtual inertia control system and the virtual inertia control method for the double-fed pumped storage generator set provided by the invention, the operating stability of the set and the power grid frequency stability can be improved.