61 results about "Proportional differential" patented technology

The invention discloses a finite-time active-disturbance-rejection control method for a multi-unmanned-aerial-vehicle hanging transportation system. According to the finite-time active-disturbance-rejection control method, a finite-time super-spiral sliding-mode observer is used for carrying out observation compensation on load errors and lumped disturbance of the load errors, a finite-time sliding-mode controller is constructed, total tension for controlling load movement is determined, and an optimal tension distribution scheme is solved. External disturbance is introduced, a load is taken as a virtual leader, a leader following cluster model is constructed, a finite time reduced-order proportional differential observer and a finite time controller are designed, formation finite time control is carried out, and an expected trajectory of each unmanned aerial vehicle is determined; an actuator fault model and a virtual control quantity are introduced, an unmanned aerial vehicle dynamics model is constructed, and a lumped disturbance reconstruction state error system is introduced; and designing a finite-time reduced-order generalized parameter estimation observer and a finite-time nonsingular terminal integral sliding mode fault-tolerant controller, carrying out unmanned aerial vehicle position loop control and attitude loop control, and realizing finite-time active-disturbance-rejection control of the multi-unmanned aerial vehicle hanging transportation system.

The invention provides a crawler-type photovoltaic cleaning robot control method based on fuzzy logic and a proportional differential integral corrector, and relates to the field of robot control. A current course straight line is obtained through an image acquisition system in cooperation with an image algorithm, a current yaw angle error and a current transverse error are obtained, fuzzy reasoning is carried out on the yaw angle error and the transverse error to obtain a coefficient, and a control signal is obtained by combining two proportional differential integral correctors; and the control signal is subjected to hard constraint to obtain a correction value, and a motor control signal is generated to control a motor of the crawler-type photovoltaic cleaning robot so as to enable the crawler-type photovoltaic cleaning robot to run along the texture of the photovoltaic panel. Motion information can be obtained only through an image acquisition system, and the hardware structure is simple; the pose data obtained through an image algorithm is small in fluctuation, the crawler-type photovoltaic cleaning robot can be better controlled, and the cleaning effect on the photovoltaic panel is improved.

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 an SVC (static var compensator) control method of a high-power power supply system based on a predictive active disturbance rejection mechanism, which comprises the following steps of: establishing a combined operation time domain model of the high-power power supply system and a static var compensator, and acquiring delay parameters in advance by utilizing a system identification method; predicting and calculating a reactive instruction signal of the static var compensator based on the voltage reference signal of the load side of the power supply system and the direct current side current; inputting the predicted reactive instruction into a linear active disturbance rejection controller, estimating the total disturbance of the system in real time through an extended state observer, generating a compensated control signal in combination with a proportional differential combination control law, and driving the system to output a tracking and predicting reactive instruction; and the tracking prediction reactive instruction acts on the static var compensator to form closed-loop anti-interference control. Through cooperation of prospective reactive power instruction generation based on a load side voltage reference signal and disturbance real-time compensation of a linear active disturbance rejection control framework, a grid side reactive power impact value is reduced, and bus voltage stability is enhanced.

A distributed control system coupled to a hybrid renewable power system including an AC power section, a DC power section, and a primary load. The distributed control system includes current-controlled inverter to control flow of power between the DC power section and the AC power section using a pair of power flow control signals. The current-controlled inverter includes a proportional-integral controller to generate the pair of power flow control signals. The distributed control system includes a discrete frequency controller to perform a load frequency control of the hybrid renewable power system using a pair of load frequency control signals. The load frequency control controls frequency oscillations of the primary load. The discrete frequency controller is a discrete-time fuzzy tuned fractional-order proportional derivative controller that generates pair of load frequency control signals based on primary load frequency, desired load frequency, and rate of change of the primary load frequency.

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 invention discloses a gear pump control method, device and equipment and a storage medium, and the method comprises the steps: obtaining the reverse electromotive force in the operation process of a motor in the operation process of a gear pump, calculating the actual value of the voltage for driving the motor to operate based on the reverse electromotive force, and calculating the deviation between the actual value and the input value of the voltage for driving the motor to operate; the deviation is used as an operation factor, the input value is used as a target, proportional differential integral control is carried out, the deviation between the input value and an actual value is continuously measured, the input value is continuously fed back and adjusted according to the deviation, a stable actual value is obtained, and the actual value of the voltage reflects the rotating speed and the output flow of the gear pump. Under the condition that a sensor is not needed, high-precision and stable control over the output flow of the gear pump is achieved, and cost is reduced.

The invention discloses a flexible cooperative control method for an air exhaust system, a medium and equipment, and relates to the technical field of air exhaust system control, and the method comprises the steps: constructing a second-order control system of the air exhaust system; defining an optimization problem of the air exhaust system, and designing a penalty function; designing a flexible control algorithm of the air exhaust system, designing an augmented objective function according to the penalty function and the flexible control algorithm, and converting an optimization problem; designing an ADRC controller according to the second-order control system; performing optimization iteration on parameters of the augmented objective function according to ADRC, and continuously updating a converted optimization problem; and cooperative control of the air exhaust system is carried out by combining the optimization problem which is continuously updated and converted and a proportional differential controller. The control efficiency and robustness of the air exhaust system are improved, and the safety of the compressor of the air exhaust system is improved.

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 invention discloses a large-aperture space telescope flexible load vibration suppression method and device based on preset performance control. The method comprises the following steps: establishing a three-inertia system dynamic model for describing a large-aperture space telescope; converting the three-inertia system dynamic 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 adopting a full-drive system theory; adopting a pole assignment method to improve the amplitude margin and the phase angle margin of the three-inertia generalized full-drive system model; fitting response output of the three-inertia generalized full-drive system model after the amplitude margin and the phase angle margin are improved by adopting a BP neural network, and designing a preset performance function of a three-inertia system; the preset performance function is used as a tracking error boundary of the three-inertia system, proportional differential is used as a nonlinear controller for preset performance control, closed-loop control over the three-inertia system is achieved, and then vibration suppression of the flexible load of the large-aperture space telescope is indirectly achieved.

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.

The present invention discloses a humanoid robot dynamic jumping and balance control method, electronic equipment, and medium. The method comprises the following steps: planning the trajectory of the center of mass and the sole of the foot of the humanoid robot during jumping; modeling the humanoid robot as a single rigid body, taking the position, angular offset, linear velocity, and angular velocity of the robot's center of mass as state variables, and taking the ground contact force and the ground contact torque as control quantities, constructing a model predictive control problem, and converting the problem into a standard QP problem for solution to obtain the optimal ground reaction force and torque; constructing a whole-body motion control model, utilizing the desired end state and the optimal ground reaction force to obtain the joint position, velocity, and feedforward joint torque; controlling the humanoid robot to perform jumping motion according to the joint position, velocity, and joint torque; the joint torque being the sum of the feedforward torque and the feedback torque, and the feedback torque being calculated by proportional differential control; and adopting a stride strategy to achieve landing stability of the robot after the humanoid robot lands.

The present invention discloses an anti-rotation control method for an under-actuated tethered assembly based on hierarchical sliding mode, which is applicable to the attitude control of the assembly system formed after a flexible net captures space debris. Considering the uncertainties in the dynamic parameters of space debris, the errors in the measurement of the target initial attitude, and the existence of external disturbance forces, the present invention supplements and improves the dynamic model of the assembly, and proposes an attitude control method for the assembly based on hierarchical sliding mode. This method stabilizes the entire under-actuated tethered assembly system by applying torques to the actively controlled service satellite. At the same time, in order to improve the stability efficiency of the system, a radial propulsion force is applied to suppress the swing of the service satellite in the radial direction. The control method proposed by the present invention simplifies the control input parameters, and the space debris can be de-spun through the tether only by adjusting the attitude of the service satellite. Compared with the traditional proportional derivative controller, the control performance and robustness of the control method in the present invention are better.

The application is suitable for the technical field of vehicle control, and provides a control method and device of an electric vehicle and the electric vehicle, the method comprising: obtaining an expected target speed value of the electric vehicle; performing feedforward control and proportional differential (PD) control on the expected target speed value to obtain an input voltage value of a motor in the electric vehicle; determining a current time speed value of the electric vehicle according to the input voltage value, so as to perform speed closed-loop control at the next time according to the current time speed value. The proportional differential (PD) control is obtained by removing the integral part on the basis of the existing PID control, and the feedforward control is introduced, the input voltage value of the motor is obtained by combining the feedforward control and the proportional differential (PD) control, the speed closed-loop control of the electric vehicle is realized by controlling the input voltage value, so that the electric vehicle has no overshoot in the riding process, the speed overshoot phenomenon and the dragging feeling are effectively avoided, and the user experience is improved.

The application provides a robot variable stiffness control method and device and a storage medium, and relates to the technical field of robots. The method comprises the following steps: acquiring actual position parameters and actual speed parameters of each joint in a robot; performing position and speed control on each joint based on a proportional integral differential (PID) controller according to the actual position parameters and actual speed parameters of each joint and a planned control track, wherein the PID controller comprises a proportional differential (PD) controller for performing position control on each joint and a proportional integral (PI) controller for performing speed control on each joint, the PD controller and the PI controller are in communication connection with a current controller, the application example can simplify control logic, the variable stiffness control of the robot can be realized without designing an impedance control system model, and in the control process, the oscillation phenomenon caused by improper design of inertia, damping and stiffness coefficient can be avoided, and the control effect can be effectively improved.

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 invention discloses a variable fractional order active-disturbance-rejection control method applied to a second-order controlled system, and relates to the field of second-order controlled system control, and the method comprises the steps: building a variable fractional order expansion state observer according to a state equation of the second-order controlled system; according to the variable fractional order expansion state observer, a fractional order proportional differential controller is established, and variable fractional order active disturbance rejection control applied to the second-order controlled system is completed. According to the invention, the problem of contradiction among the anti-interference performance, the anti-noise capability and the stability margin in the prior art is solved.

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 discloses a ship navigation control method and device, a storage medium and equipment, and belongs to the technical field of ship navigation control, the current position and course angle of a ship are obtained, and the corresponding control method is executed according to judgment of the current position and the current course section. During linear navigation, a proportional differential adjustment method is introduced, namely, the rudder angle change of the ship is controlled and adjusted through the deviation correction value between the current course angle and the target course when the due north is 0 degree, so that the ship converges to the target course quickly; during folding sailing, an arc leg tangent to the two linear legs is inserted into the original folding line leg according to the minimum turning radius of the ship through a method of inserting the arc leg, so that the ship can steer conveniently. Through the two modes, the fitting degree of the ship and the preset ship route when the ship moves along different ship routes is optimized.

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 invention is suitable for the technical field of vehicle control, and provides a control method and device of an electric vehicle and the electric vehicle, and the method comprises the steps: obtaining an expected target speed value of the electric vehicle; performing feedforward control and proportional differential (PD) control on the expected target speed value to obtain an input voltage value of a motor in the electric vehicle; and according to the input voltage value, determining the speed value of the electric vehicle at the current moment so as to carry out speed closed-loop control at the next moment according to the speed value at the current moment. An integral part is removed on the basis of existing PID control to obtain proportional differential PD control, feed-forward control is introduced, the feed-forward control and the proportional differential PD control are combined to obtain an input voltage value of a motor, and speed closed-loop control over the electric vehicle is achieved by controlling the input voltage value, so that the electric vehicle is free of overshoot in the riding process, and the riding speed of the electric vehicle is improved. The speed overshoot phenomenon and the dragging feeling are effectively avoided, and the user experience feeling is improved.

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.