366 results about "Regulator" patented technology

A robot control method, comprising: acquiring the current state parameters of a robot to be controlled at the current moment; calling a state regulator to determine, on the basis of a preset dynamics model and the current state parameters, basic control parameters for each joint of said robot; performing parameter filtering processing on the basic control parameters to obtain safety control parameters for each joint of said robot; on the basis of the safety control parameters for each joint, determining motion control parameters for each joint of said robot; and on the basis of the motion control parameters for each joint, controlling each joint of said robot at the current moment. Further provided is a robot control apparatus, an electronic device, a computer-readable storage medium, and a computer program product.

The invention relates to the technical field of servo control, in particular to a high-precision current closed-loop control system and method for a servo driver, and the method comprises the steps: collecting three-phase current, rotor position, winding temperature and bus voltage, and constructing a state data set; constructing a parameter identification model fusing physical prior and an attention mechanism, deducing inductance and flux linkage parameters influenced by temperature, saturation and cross coupling, and correcting a motor model in real time; the correction parameters are injected into an FOC decoupling and feedforward link, and a self-adaptive PI regulator is linked to set the gain of a current loop on line; calculating a d-q axis voltage command according to the update model to respectively control excitation and torque components; an extended state observer is introduced to estimate load abrupt change and parameter disturbance, feed-forward compensation is carried out, and three-phase PWM is generated through anti-Parker and SVPWM; and an inverter nonlinear compensation model of a dead zone and switch delay is constructed, PWM is pre-distorted and output to a power device, and robust and low-ripple current closed-loop control of the servo motor is realized.

The invention discloses a synchronous generator excitation method based on mathematical modeling and gain scheduling, and relates to the technical field of synchronous generator control, and the method comprises the steps: building a synchronous generator global dynamic mathematical model comprising the electromagnetic dynamic characteristics of a stator winding, a rotor winding and a damping winding through a modeling module; a discretization simulation platform is constructed in a Matlab / Simulink environment by utilizing a simulation module, model parameters are corrected, dynamic adjustment is realized through a gain scheduling excitation controller, an automatic voltage regulator (AVR) adopts PID (Proportion Integration Differentiation) control and comprises a voltage deviation integral separation strategy, and a power system stabilizer (PSS) dynamically adjusts parameters of a lead-lag compensator based on active power. According to the method, the deviation between a model and an actual system can be reduced by more than 30%, the electromechanical oscillation damping ratio within the rated power range of 10%-150% is increased by 25%-40%, the harmonic content of exciting current is reduced to be lower than 5%, the stability of an electric power system and the electric energy quality are remarkably improved, the engineering practicability is high, and the method is easy to transform and upgrade on an existing synchronous generator.

The invention belongs to the technical field of electronic measuring instruments, and particularly relates to an output protection method of a source meter, which comprises the following steps of: configuring an operation mode of a digital controller; executing closed-loop control of the main regulator; the arbiter continuously monitors the output state, and intelligently arbitrates and switches the main regulator, the clamping regulator and the output channel according to the measurement feedback value, the clamping threshold value and the over-limit threshold value, thereby achieving the precise clamping and over-limit protection of the output. By adopting the technical scheme, the flexibility, refined protection and adaptability of source table output control can be remarkably improved, the hardware cost is reduced, and the system reliability is improved.

The invention relates to the field of metal plastic forming control, and discloses a self-adaptive control system and method for forging and pressing aviation precision forgings, and the system comprises an online dynamic model identification module which identifies a process fingerprint representing the characteristics of a current blank at the initial stage of machining; the target curve self-adaptive regulator is used for regulating a reference energy dissipation rate curve according to the fingerprint and generating a personalized reference curve; the model prediction controller performs rolling optimization by using continuously updated model parameters and taking the reference curve as a tracking target, and outputs an optimal speed instruction; and the event triggering and constraint dynamic modulation module is used for actively tightening the operation constraint applied to the controller before a forging pressure sudden increase event is pre-judged through a parallel monitoring model prediction error. According to the method, through combination of target self-adaption and constraint dynamic modulation, control over the forging and pressing process is achieved, forging pressure overshoot can be effectively restrained, and the forming precision and batch-to-batch quality consistency of forge pieces are remarkably improved.

The invention provides a control method and a driving system of a high-speed magnetic suspension fan. The control method comprises the following steps: starting a magnetic suspension bearing active controller; acquiring three-phase current, rotating speed and rotor position signals of the high-speed magnetic suspension fan; determining a target phase current when two phases of the permanent magnet motor are conducted according to the three-phase current and the rotor position signal; the direct-current side voltage is converted into a rotating speed given value according to the direct-current side voltage-power curve relation, the difference value between the rotating speed given value and the rotating speed of the high-speed magnetic suspension draught fan is a first error value, and a current given value is output after the first error value passes through a first PI regulator; a difference value between the target phase current and the current given value is a second error value, the second error value passes through a second PI regulator, a duty ratio is output, the duty ratio is compared with the triangular carrier wave, and a PWM pulse signal is generated according to a comparison result; the PWM pulse signal controls on and off of a power switch device of the machine side medium voltage power converter; therefore, acceleration and deceleration operation of the high-speed magnetic suspension fan is controlled.

The invention discloses a flexible joint mechanical arm AISMC compensation control method under singular perturbation decomposition, and belongs to the field of flexible joint mechanical arm control, and the method comprises the following steps: S1, building a flexible joint mechanical arm dynamic model containing uncertain composite disturbance, and decoupling the model into a slow variable subsystem and a fast variable subsystem; s2, estimating lumped matching disturbance in the slow varying subsystem by using a compensation function observer; s3, constructing an integral sliding mode surface and a self-adaptive reaching law with dead zone correction for the slow-varying subsystem; designing a linear quadratic regulator for the quick-change subsystem, defining a performance index, and solving a Riccati equation to obtain an optimal control law; s4, superposing the slow-varying subsystem control law and the fast-varying subsystem control law to obtain integral control input; and S5, performing simulation verification. By adopting the flexible joint mechanical arm AISMC compensation control method under singular perturbation decomposition, trajectory tracking precision, robustness and stability are considered, and the method has a wide application prospect.

The present invention relates to the technical field of compressor performance testing and testing equipment manufacturing. Disclosed are a system volume-adjustable device and method for evaluating the starting characteristic of a refrigeration compressor. The evaluation device comprises a sample under test, a test refrigeration system and a test control system. By means of controlling a high-pressure-end volume regulator, a low-pressure-end volume regulator and a condensing coil, the evaluation device precisely adjusts a refrigeration system volume, so as to match the test requirements of different compressors for the refrigeration system volume, and provide a volume-adjustable substitute refrigeration system for starting characteristic testing. The present invention synchronously collects transient characteristic parameters such as intake and exhaust pressure, inter-phase voltage, phase line current and housing vibration acceleration at the instant of a compressor start, and non-transient characteristic parameters such as the in-housing temperature of a variable-frequency driver, the temperature of a power module and the temperature of a rectifier bridge, so as to accurately measure and evaluate the starting characteristics of the refrigeration compressor in specific environments.

The invention relates to the technical field of intelligent control, in particular to an oil field production preparation station and injection station double-PID intelligent cooperative adjustment method, which comprises the following steps: acquiring initial proportionality coefficients, initial integration time and dead zone parameters of preparation station PID control and injection station PID control; based on all the obtained initial parameters, performing double-PID linkage adjustment on the injection station and the preparation station; analyzing the correlation degree between the liquid level height data of the storage tank of the injection station and the output pressure data of the preparation station, and determining the double-station control imbalance degree; all the double-station control imbalance degrees obtained at each collection moment are filtered, the overall change condition of the double-station control imbalance degrees before and after filtering and the influence degree on proportionality coefficient adjustment are analyzed, a feed-forward compensation factor is determined, and the proportionality coefficient of injection station PID control is adjusted. The invention aims to realize intelligent control of the flow regulator of the injection station and accurate regulation of the frequency of the efflux pump of the preparation station.

A control unit 6 of a bellows pump device 1 determines whether or not a second bellows 14 (first bellows 13) is in a predetermined expanded state when the first bellows 13 (second bellows 14) contracts to a mid-contraction state, on the basis of respective detection signals of a first detection unit 29 and a second detection unit 31, and when a determination result of the determination is negative, the control unit 6 performs next pressure increase control of controlling a second electropneumatic regulator 52 (first electropneumatic regulator 51) such that an air pressure of a pressurized air to be supplied to a second suction-side air chamber 26B (first suction-side air chamber 26A) of a second driving unit 28 (first driving unit 27) at next expansion of the second bellows 14 (first bellows 13) is increased.

The invention discloses a natural fault-tolerant control method for multivariable combined diagnosis of a symmetric six-phase permanent magnet synchronous motor, and the method comprises the steps: firstly, calculating an electrical angle and a mechanical rotating speed according to a motor encoder signal; secondly, obtaining a d-q plane torque current reference value through rotating speed closed-loop control; thirdly, six-phase current of the motor is collected, and the actual current value of the decoupling sub-plane is calculated; then, a d-q plane voltage reference value is obtained through a proportional-integral regulator; then, x-y plane voltage and a-b plane current are collected in real time, and an output result of the fault diagnosis module is obtained; then, x-y plane voltage reference values in different modes are selected according to output results of the fault diagnosis module; then, a six-phase voltage reference value is obtained through inverse decoupling transformation; and finally, obtaining a driving signal of a six-phase inverter according to comparison between the modulated wave and a set carrier wave, and realizing the natural fault-tolerant control method for the symmetric six-phase permanent magnet synchronous motor without current reconstruction.

The invention provides a conduction tester for a wire harness connector, and particularly relates to the technical field of electrical testing of connectors, the conduction tester comprises a testing table plate and a tester body mounted on the top surface of the testing table plate, one side of the tester body is provided with an accommodating cabin, and one side of the tester body is provided with a display and a main controller; according to the conduction tester of the wiring harness connector, the limiting sliding block is stably matched with the limiting sliding rail on the cabin wall of the containing cabin, the probe seat can be accurately aligned with the connector in the clamping groove seat through the servo air cylinder, the probability of poor contact caused by manual insertion is greatly reduced, it is guaranteed that the test is smoothly carried out, and meanwhile the testing efficiency is improved. Through the cooperation of the pressure sensing part, the main controller and the force value regulator, the driving force of the linear driving part can be kept in a proper range, and the stable contact state of the probe and the connector is ensured, so that the test result is more reliable, and the test error caused by the contact problem is reduced.

The invention discloses an industrial intelligent control system and method, relates to the technical field of industrial automatic control, and mainly aims to solve the problems of low data cross-layer interaction efficiency, system global optimization, poor safety, poor expansion capability, difficulty in function upgrading and difficulty in fusion of AI control and traditional control in the existing industrial intelligent control scheme. The system comprises a basic control layer, an intelligent I / O layer and an intelligent control layer. The basic control layer comprises an extended I / O cabinet, a common controller and a main control network A / B; the intelligent I / O layer comprises an intelligent I / O cabinet and an intelligent I / O switch; the intelligent control layer comprises an intelligent controller, a credibility regulator, a hyper-fusion module and an intelligent middle table, an end-edge-cloud intelligent collaborative architecture is constructed, the computing power of a DCS is enhanced, the development collaborative safety capability of an intelligent algorithm of the system is improved, and safety fusion and smooth transition of AI intelligent control and traditional control are promoted.

The application discloses a crystallizer cycle liquid level control method and a storage medium and a computer device, and the method comprises the following steps: converting a frequency characteristic vector of liquid level fluctuation data into a time domain signal, inputting a PID controller after pre-compensating the time domain signal through a feedforward controller; when the liquid level of molten steel in a target crystallizer is controlled based on the PID controller and the pre-compensated time domain signal, the parameters of the PID controller are adjusted in real time based on a fuzzy parameter regulator until the liquid level adjustment execution structure is regulated based on the PID controller to control the liquid level of the molten steel in the crystallizer to meet the control requirement. By adding the fuzzy parameter regulator in the PID control architecture and formulating fuzzy rules based on field big data analysis, the control parameters are changed in real time, different control effects can be achieved in different control stages, and the fuzzy feedforward parameter regulator is added, the output of the feedforward controller is adjusted according to the change speed of the signal, and the control accuracy of the liquid level fluctuation is improved.

This paper proposes a fixed-time formation control method for underactuated underwater vehicles based on an event-triggered mechanism. A virtual AUV is designed to track a leader AUV that only provides position information. An adaptive speed regulation law is also designed for the virtual AUV, enabling the follower AUV to track a reference position via the virtual AUV without requiring the leader's speed information. Furthermore, an event-triggered mechanism is introduced to intelligently trigger the follower AUV's control input. This method designs an adaptive speed regulator for the virtual AUV, transforming the formation control problem into a trajectory generation and tracking problem. An event-triggered mechanism is added to the controller to reduce the number of executions and minimize actuator wear and resource waste. Theoretical analysis demonstrates that all tracking errors in the closed-loop system converge to the neighborhood of the origin within a fixed time. This method has the advantages of low information transmission, low computational complexity, and low energy consumption, making it valuable for implementation in marine engineering.

The invention belongs to the technical field of motor control, and discloses a control method for switching an open loop to a closed loop of a permanent magnet synchronous motor, which is used for switching the permanent magnet synchronous motor from speed loop open-loop operation to rotating speed current double-closed-loop operation. Calculating an included angle delta between the shafting of the virtual synchronous rotating coordinate system dvirqvir and the shafting of the real rotor synchronous coordinate system dq; and then instantaneous switching of a command value of a current regulator, instantaneous switching of a current space voltage vector, switching of an angle variable used by coordinate transformation, initialization of a previous value of a low-pass filter, initialization of an integral term of the current regulator and initialization of an integral term of a speed regulator are executed in sequence, and open-loop switching and closed-loop switching of the permanent magnet synchronous motor are completed. According to the invention, the switching time is effectively shortened, and the switching stability and universality are improved.

The invention discloses a path tracking control method and device, equipment, a medium and a product, and relates to the field of path tracking control. The method comprises the steps that the state quantity of a target vehicle at the current moment and a preset reference path are acquired; determining a convergence trajectory based on the designed nonlinear particle model according to the state quantity at the current moment; based on a long time domain translational motion regulator and a first cost function, performing variable optimization according to the convergence trajectory and a preset reference path; determining a predicted state quantity based on a high-precision dynamic model according to the state quantity at the current moment; solving a quadratic programming problem according to the predicted state quantity and the optimized variable to obtain an optimized output quantity; the optimized output quantity is a front wheel steering angle at the next moment; the quadratic programming problem is solved by integrating linear constraints based on a second cost function; and determining a response result of the target vehicle according to the optimized output quantity so as to realize path tracking of the target vehicle. The invention aims to realize path tracking control.

The invention relates to the technical field of motor control, and discloses a vector control application of a direct drive motor, which comprises the following steps: S1, collecting stator current, rotor speed and bus voltage signals of the motor, and carrying out filtering preprocessing on the collected signals; and S2, constructing a self-adaptive flux linkage observation model, estimating a stator flux linkage in real time based on stator current and bus voltage signals in combination with rotor rotating speed information, and correcting stator resistance and inductance parameters through a model reference self-adaptive algorithm. According to the method, the motor parameters are corrected in real time through the self-adaptive flux linkage observation model, parameter drift caused by factors such as temperature change and magnetic saturation is effectively counteracted, and the accuracy of flux linkage estimation is improved; the improved PI regulator realizes online self-tuning of control parameters through a fuzzy control algorithm, can quickly adapt to changes of dynamic characteristics of the motor, and shortens the regulation response time of flux linkage and torque; and the resistance of the system to external interferences such as load fluctuation, power supply voltage change and the like is enhanced.

The invention provides an amplitude-phase regulator debugging method and device, an upper computer and a storage medium, and belongs to the technical field of automatic control. The method comprises the steps that a zero calibration instruction is issued to an amplitude-phase regulator; sequentially issuing a plurality of first set attenuation values to the amplitude-phase regulator, and drawing a first curve fluctuation diagram of the attenuator in the to-be-tested frequency band based on a plurality of first actually measured attenuation values returned by the test instrument; sequentially issuing a plurality of first set phase shift values to the amplitude-phase regulator, and drawing a second curve fluctuation diagram of the phase shifter in the to-be-tested frequency band based on a plurality of first actually measured phase shift values returned by the test instrument; selecting a curve fluctuation graph with a relatively large fluctuation degree value as a target curve graph, and performing frequency band division based on the target curve graph to obtain a plurality of sub-frequency bands to be measured; and in each sub-frequency band to be tested, debugging the attenuator and the phase shifter respectively. According to the amplitude-phase regulator debugging method and device, the upper computer and the storage medium provided by the invention, the debugging efficiency of the amplitude-phase regulator can be improved, and the debugging difficulty can be reduced.

The present disclosure relates to the technical field of compressor performance tests and detection apparatus manufacturing, and discloses a device and method for testing starting characteristics of a refrigeration compressor with adjustable system volume. The device includes tested samples, a test refrigeration system and a test control system. The testing device realizes accurate adjustment of volume of the refrigeration system by means of control of a high-voltage terminal volume adjuster, a low-voltage terminal volume adjuster and condensing coils, and matches test requirements of different compressors for the volume of the refrigeration system, such that a substitute refrigeration system with adjustable volume is provided for testing the starting characteristics.

The invention relates to the technical field of sealing performance detection, and discloses a detection system and a detection method for detecting the two-way leakage rate of a spherical sealing valve of an aircraft bleed air system. The system comprises an air inlet device, a sealing device and a detection device, the gas inlet device provides clean test gas with controllable pressure; the sealing device is used for fixing the spherical sealing valve and simulating two sealing states of the spherical sealing valve in the high-pressure stage regulator to form two independent test gas paths; the detection device is connected with an outlet of the sealing device, is used for quantitatively or qualitatively detecting leaked gas and comprises a flow monitoring unit and a pressure difference monitoring unit; the sealing device can respectively test the sealing performance of the ceramic ball and the lift valve seat and the sealing performance of the ceramic ball and the valve mounting seat by replacing or adjusting the limiting structure; according to the invention, component-level bidirectional sealing performance detection is realized, the test precision and the maintenance efficiency are improved, defects can be identified before assembly, and the rework rate is reduced.

Techniques for detecting service regulator failures comprising receiving time series data from a plurality of sensors in a system. Receiving hydraulic model data associated with the system. Identifying a correlation between first time series data associated with a first sensor of the plurality of sensors and second time series data associated with a second sensor of the plurality of sensors. Determining that the first sensor and the second sensor are disposed downstream of a device for controlling a pressure of a product of the system. Determining a likelihood of a failure of the device is greater than or equal to a threshold. Generating an event and displaying descriptive information identifying the event and one or more response tools for responding to the event.

The invention provides a permanent magnet synchronous motor rotating speed control method and system, and belongs to the technical field of motor control. The method comprises the following steps: firstly, constructing a discrete time mathematical model of a motor and an external source system comprising a lumped reference signal and lumped interference, and establishing a composite system model according to the discrete time mathematical model; then, constructing a dimensionality reduction observer to estimate an external source signal, and performing state and input transformation in combination with a regulator equation; thirdly, constructing a constraint set of the transformation system, and decomposing a state variable into a nominal component, a deterministic error component and an uncertain error component; a time-varying constraint tightening set is dynamically constructed according to the error, a model prediction control optimization problem with dynamic tightening constraint is solved online, and a nominal control quantity is obtained; and finally, combining the nominal control quantity and the estimated external source signal to synthesize an actual control voltage. According to the method, interference can be effectively suppressed, system security constraints are strictly ensured, recursion feasibility and closed-loop stability of control are ensured, and the dynamic response speed is increased.

A system for controlling an internal state of in a tumbling mill (10) having a shell (20) that rotates around an axis (60) at a speed of rotation (fROT) for grinding a charge of material (30) by tumbling the material in the rotating shell; said shell (20) having an internal shell surface (22) including a first number (L) of protrusions (310) configured to engage material as the shell (20) rotates about the axis (60), the system comprising a status parameter extractor (450) being configured to detect occurrence of an event signature (Sp(r); Sp) in a time sequence of vibration sample values (Se(i), S(j), S(q)); said status parameter extractor (450) being configured to generate data indicative of a first temporal relation (RT(r); TD; FI(r)) between said said event signature occurrence, and two other occurrences; and a regulator for controlling an angular toe position (FI(r), ATOE) based on a toe position reference value (FIREF(r)), said first temporal relation (Rr(r); TD; FI(r)), and a toe position error value (FIERR(r)).

The application relates to the technical field of sealing performance detection, and discloses a detection system and a detection method for detecting bidirectional leakage of a spherical sealing valve of an aircraft bleed air system; the system comprises an air inlet device, a sealing device and a detection device; the air inlet device provides pressure-controllable and clean test gas; the sealing device is used for fixing the spherical sealing valve and simulating two sealing states of the spherical sealing valve in a high-pressure stage regulator, thereby forming two independent test gas paths; the detection device is connected to the outlet of the sealing device and is used for quantitatively or qualitatively detecting leakage gas and comprises a flow monitoring unit and a differential pressure monitoring unit; the sealing device can test the sealing performance of a ceramic ball and a poppet valve seat and the sealing performance of the ceramic ball and a valve mounting seat by replacing or adjusting a limiting structure; the application realizes component-level bidirectional sealing performance detection, improves test precision and maintenance efficiency, can identify defects before assembly, and reduces the rework rate.

Phase-redundant voltage regulator device (300) comprising: a plurality of controller phases (126A, 126B, 227A, 227B, 227C, 227D), each containing an electrically connected controller (116) to receive an input voltage at a controller input (240) and to provide a corresponding output voltage at a controller output (242); a control logic (366); and a set of phase groups of the plural controller phases, which contains a first and a second phase group (374, 376), wherein each phase group contains: a common controller input (V IN ), which is electrically connected to the control inputs of the phase group; a common controller output (V1; V2) which is electrically connected to controller outputs of the phase group; at least one redundant control phase; at least one defined controller phase (126A, 126B) from the plurality of controller phases; at least one replacement controller phase (227C; 227D) of a set of replacement controller phases; and a multi-phase controller (MPC) (122) electrically connected to each specified controller phase of the phase group, the MPC being configured to provide phase fault signals (308A, 310A; 308B, 310B) and a shared current phase control signal (I SHARE )(304A, 306A; 304B, 306B), which were received from each specified controller phase of a corresponding phase group, is transmitted to the control logic (366); wherein the set of substitute controller phases from the plural controller phases contains a first and a second substitute controller phase (227A, 227B), wherein each substitute controller phase contains (227A, 227B, 227C, 227D): a secondary output OR switching unit (118A) which is electrically connected and configured to limit the current flow into a secondary output (206) of the substitute controller phase; a first output switching unit (217) configured to electrically connect the controller output (242) of the substitute controller phase to a first common controller output (V1) in response to a first phase enable signal (316A; 316B); and a second output switching unit (219) configured to electrically connect the controller output (242) of the substitute controller phase to a second common controller output (V2) in response to a second phase enable signal (318A; 318B); where the control logic (366) is electrically connected to: MPCs (122) of each phase group (374; 376) of the set of phase groups, wherein the control logic is configured to the I SHARE -receives phase control signals (304A, 306A; 304B, 306B) from the MPCs and exchanges phase error signals (302A, 308A, 310A; 302B, 308B, 310B) with them; and Substitute controller phases (227A, 227B) of the set of substitute controller phases, wherein the control logic is configured to activate phase enable signals (316A, 318A; 316B, 318B) to the substitute controller phases (227A, 227B) as well as I SHARE -Transmits phase control signals (314A; 314B) to these and receives phase error signals (312A; 312B) from them; wherein the control logic is configured to electrically connect a substitute controller phase (227A, 227B) to a phase group (374; 376) containing a failed controller phase (126A, 126B) in response to receiving a phase fault signal (308A, 310A; 308B, 310B) from an MPC (122).

The application relates to the technical field of fan control, in particular to a fan control method, system, program, device and motor vehicle. First, the target rotating speed, the estimated clutch input rotating speed of the fan after the influence of the rotating speed and the slip rate, and three control modes are intelligently selected according to the clutch input rotating speed: if the target rotating speed is not higher than the rotating speed, the energy-saving disconnection mode is entered; if the target rotating speed is higher than the rotating speed but not higher than the slip-influenced rotating speed, the intelligent closed-loop mode is entered; otherwise, the high-efficiency on-off mode is entered. In the core intelligent closed-loop mode, the method combines the steady-state feedforward control amount based on the target rotating speed, the transient feedforward control amount based on the real-time rotating speed and the change rate, and the feedback control amount generated by the parameter-adjustable adaptive regulator, and the three are combined into the final control instruction. The application realizes fast, accurate and energy-saving control of the fan rotating speed. The problems of slow response, easy oscillation and high energy consumption in the prior art are solved.

The position-torque double closed-loop servo system parameter optimization control method provided by the invention is stable and rapid in dynamic response. On the basis that a position regulator is composed of first-order advanced feedback of a unit proportionality coefficient and regulation with proportion and integration as main components, a simplest expectation mathematical model of a closed-loop single-zero-point type 3 (a forward channel of the system has three integration links) control system is provided, and the maximum phase angle margin of the system is used as an optimization target. And deriving an analytic formula of system open-loop gain optimization setting, and further providing a position regulator parameter optimization setting control method which enables the position-torque double-closed-loop servo system to have low-overshoot, stable and rapid performance on step response. The method has important guiding significance on design of the position-torque double-closed-loop servo system requiring stable and rapid dynamic response, product development (including experimental equipment), on-site commissioning, debugging and the like, and meanwhile, the design theory of the motor position-torque double-closed-loop servo system is also perfected.

In a position regulator (31) for a valve regulator (1) of a process plant (100), the position regulator (31) comprises a first signal input (11) for a guiding signal, such as a process regulating signal (p g ) of a process regulator (120) of the process plant (100) and a second signal input for a position actual signal (i) associated with a regulating valve (35), wherein the position regulator (31) is arranged for generating a regulating parameter (g), in particular a gas pressure, for an actuator (33) actuating the regulating valve based on the guiding signal and the position actual signal (i) and comprises a control output for the regulating parameter (g), in particular a gas pressure, it is provided that the position regulator (31) is arranged for calculating an approximation signal (a p ) from the guiding signal by means of a configurable regulator model associated with a specific regulator, in particular the process regulator (120), wherein the regulator model is configured such that a signal generated from the approximation signal (a p ) by the specific regulator corresponds to the guiding signal.

The present application relates to a kind of permanent magnet shielding motor vector control energy efficiency optimization method considering magnetic field lagging phase angle, belong to permanent magnet shielding motor control field.It is characterized by: by analyzing shield sleeve eddy current effect, the analytical expression of magnetic field lagging phase angle is derived using electromagnetic field theory;The lagging phase angle is introduced into permanent magnet flux linkage term to be corrected, and the eddy current loss of shield sleeve and stator iron loss are combined into equivalent iron loss component, and a system controllable loss model is constructed;Under the constraint of constant torque, the analytical expression of total controllable loss about direct-axis current is derived and the optimal direct-axis current given value is solved.The actual application introduces angle compensation in the coordinate transformation link of vector control system, and the optimal direct-axis current given value is sent into current regulator, the accurate decoupling of dq axis current is realized, the total loss of motor is reduced, so as to improve the overall efficiency of motor control system.