620 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 relates to the technical field of copper rod blank detection, in particular to a defect detection method and device for a copper rod blank, and the method comprises the following steps: S10, formulating a quality grade table of the copper rod blank; the copper rod blank is placed on a conveying roller way, and the conveying roller way is started; s20, the speed of a conveying roller way is adjusted, and when the copper rod blank is driven to move to the position in front of a detection area in the conveying direction, an electromagnetic rotation driving device and an electromagnetic induction detection module are started; s30, a second control unit and a second current regulator are used for controlling starting of a second electromagnetic coil, an electromagnetic sensor detects a defect signal, induced voltage is calculated, and defect information of the copper rod blank is collected; s40, calculating an intensity factor X1, a damage degree factor X2 and an influence degree factor X3 according to the defect information; the defect fraction Q of the copper rod blank is calculated according to the formula Q = W1 * X1 + W3 * X2 + W3 * X3; and rating the copper rod blank corresponding to the quality grade table. The method effectively reduces the omission ratio of the defects of the copper rod blank, and accurately recognizes the internal defects.

The invention discloses a self-adaptive tactile feedback robot force-position hybrid control system and method, and relates to the technical field of industrial robot precision control. Comprising a bionic tactile sensing module, the output end of the bionic tactile sensing module is connected with a pulse coding module, the output end of the pulse coding module is connected with a force-position cooperative controller, and the output end of the force-position cooperative controller is connected with a dynamic impedance regulator. Dynamic decoupling control over the contact force and the position error is achieved through a double-closed-loop framework, accurate control over the force and the position is taken into consideration for the robot in the complex and changeable assembling environment, and the problem that force control and position control interfere with each other in a traditional control method is solved.

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 discloses a double-fed variable-speed pump turbine full-working-condition multi-control-mode refined mathematical model building method which comprises the steps that a double-fed asynchronous motor model is built through Park transformation; establishing a pump turbine full-working-condition refined mathematical model which comprises a pump turbine full-characteristic curve model and a water diversion pipeline model; establishing a doubly-fed variable-speed unit adjusting system model which comprises an excitation control system model, a pump turbine unit speed regulator model and a joint controller model; and based on the established model, changing module connection logic according to different control strategies, and completing the construction of the whole model. All-working-condition operation of the pump turbine can be achieved, and the dynamic response characteristics of the variable-speed unit for different fluctuation transition processes and the frequency modulation coping strategy and the power adjusting mechanism of the variable-speed unit are obtained.

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 relates to an extended state type permanent magnet synchronous motor rotor position and speed estimation method. The invention relates to the technical field of motor control, and provides an extended state type counter electromotive force observer which takes alpha-beta axis current and alpha-beta axis total disturbance of a permanent magnet synchronous motor as system variables, alpha-beta axis actual current and action voltage as given values, and total disturbance of a system as observer output. And the back electromotive force of the permanent magnet synchronous motor is a main component for observing disturbance. The expansion state type phase-locked loop cancels a traditional PI regulator, the observed alpha-beta back electromotive force serves as phase-locked loop input, an observation angle error is obtained through calculation, and then the angle and speed of the motor are obtained and serve as output. In the angle compensation link, the phase difference between the observed counter electromotive force and the actual counter electromotive force is calculated according to the observer bandwidth and the motor rotating speed, a compensation angle is obtained through calculation, and accurate observation within the full-speed range is achieved.

The invention relates to the field of permanent magnet synchronous motor control, in particular to an RANF adaptive harmonic suppression method based on dustpan line optimization, which comprises the following steps: S1, establishing a d-q axis control model for a permanent magnet synchronous motor, listing voltage, current and electromagnetic torque equations, giving a harmonic current equation, and adopting an ANF adaptive notch extraction algorithm to obtain a harmonic current control model for the permanent magnet synchronous motor; obtaining estimated values of specific-order harmonic amplitude and phase, and generating harmonic compensation quantity from the estimated values by adopting a PI regulator so as to realize a steady-state indifference-free harmonic suppression effect; and S2, in order to solve the problem that the ANF adaptive harmonic suppression algorithm is difficult to follow the d-q axis current rapidly changing along with the direct current amount, an RANF adaptive harmonic suppression algorithm adopting an R regulator is proposed, the ANF following performance is greatly accelerated, and the practicability of the ANF is improved. When the motor load or the rotating speed changes, quick response can be achieved, system instability is avoided, the dynamic stability of the system is remarkably improved, and the application scene of ANF adaptive harmonic suppression in the permanent magnet synchronous motor is widened.

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.

An elevator fault diagnosis method based on digital twinning belongs to the field of elevator fault diagnosis, and comprises the following steps: 1, collecting elevator vibration signals; secondly, a numerical model of the elevator in the vertical direction is constructed, a kinetic equation of a system is established firstly, and then kinetic energy, potential energy and a dissipation coefficient of the system are calculated; 3, improving a PINNs model, introducing a physical information regulator into a loss function, and introducing a reactivation algorithm to optimize the loss function; (3.2) designing a reactivation algorithm to obtain an optimal solution of the model; fourthly, a small number of elevator fault vibration signals collected in the first step are input into a PINNs model with motion equation constraints, and simulated elevator vibration data are obtained; and fifthly, the improved GCN model is used for elevator fault diagnosis. According to the method, data which are difficult to acquire in reality can be effectively acquired, and the fault diagnosis accuracy is effectively improved.

The embodiment of the invention discloses a tractor farm tool unit control method and device, electronic equipment and a storage medium. The method comprises the steps that a state space expression of a control system of a tractor farm tool unit is established; the state variables of the control system comprise the tractor course deviation, the farm tool course deviation and the farm tool transverse deviation of the tractor farm tool unit relative to the target operation path, and the control variable of the control system is the front wheel rotation angle of the tractor; acquiring a state feedback controller of the control system by adopting a linear quadratic regulator based on the state space expression; based on the real-time tractor course deviation, the real-time farm tool course deviation and the real-time farm tool transverse deviation, a real-time target front wheel rotation angle is determined through a state feedback controller; and performing real-time regulation and control on the tractor front wheel rotation angle of the tractor farm tool unit based on the real-time target front wheel rotation angle. According to the embodiment of the invention, the farm tool can better track the target operation path.

The present invention relates to an escapement mechanism (1) arranged to supply mechanical impulses from a driving source to an oscillating regulator (2) of a clock movement via a leaf spring (6) operating in buckling around an inflection point (I). The mechanism comprises a winding rocker (10), a release rocker (12), and a locking rocker (14). The leaf spring (6), in normal operation, is capable of accumulating energy from the driving source transmitted by winding elements (40a, 40b) during a winding phase, remaining in a wound state during a locking phase, and then releasing the accumulated energy to the oscillating regulator (2) during a pulse phase preceded by a release phase. The locking rocker (14) comprises two locking arms (56a, 56b), each equipped with a locking member. (58a, 58b) arranged to cooperate with a locking member (46a,46b) respective complement of the cocking lever (10) to block said cocking lever (10) during the locking phase. Each locking arm (56a, 56b) of said locking rocker (14) has, at its free end, an inclined plane (66a, 66b) configured to cooperate with the starting inclined plane (61a, 61b) provided correspondingly on the arming rocker (10) during a self-start phase during which an activation of the drive source causes the arming rocker (10) to move, the free passage of which is permitted by the locking rocker (14) which was previously positioned by the detent rocker (12) under the influence of the oscillating regulator (2) at rest, said angular movement of the arming rocker causing a displacement of the locking rocker (14) by pushing one of the starting inclined planes (61a, 61b) on the corresponding inclined plane (66a, 66b) of the locking rocker (10),so that said locking lever (14) rotates the oscillating regulator (2) out of the lifting angle, the escapement mechanism (1) positioning itself in a position corresponding to a locking phase ready to be followed by an unlocking phase and a pulse phase of normal operation.

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 invention provides auxiliary equipment for computer maintenance and a control method thereof, and relates to the technical field of computer maintenance, the auxiliary equipment comprises a placing mechanism, the placing mechanism comprises a working frame, a mounting plate is arranged on the working frame, a placing plate is arranged on the working frame, and a turning plate is arranged on the working frame on one side of the placing plate. A computer component is fixed through an adsorption disc of the clamping mechanism, the clamping angle is adjusted through an adjuster and a pulling frame, a turnover frame of the containing mechanism is matched with an adjusting sliding device to drive a clamping plate to turn over the component to the optimal maintenance position, and horizontal positioning of a machining plate is finely adjusted through the sliding adjusting device; the welding mechanism adjusts space coordinates of a welding device in a multi-stage mode through a rotating device and an adjusting frame, and accurate butt joint of welding spots is completed through a fine adjustment device. Splashes are dynamically shielded by a protective cover plate of the protective mechanism in the whole process, a safe operation space is formed, all the modules are linked through a hinge, a sliding rail and an adjusting handle, and stable clamping, multi-angle welding and real-time protection in the maintenance process are achieved.

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 parameter-adjustable cleaning system of a combine harvester and a regulation and control method of the parameter-adjustable cleaning system, and relates to the technical field of parameter-adjustable cleaning systems.The cleaning system comprises a loss rate sensor for collecting the loss rate, an impurity rate sensor for collecting the impurity rate, and a control module for controlling the parameter-adjustable cleaning system; the processor determines the optimal fan rotating speed, the first optimal opening degree and the second optimal opening degree based on the loss rate and the impurity rate and sends out a first control instruction based on the optimal fan rotating speed, sends out a second control instruction based on the first optimal opening degree and sends out a third control instruction based on the second optimal opening degree, and the fan rotating speed regulator works based on the first control instruction. And the rotating speed of the fan is adjusted to the optimal rotating speed of the fan, the first screen piece adjuster works based on the second control instruction, the opening degree of the upper screen is adjusted to the first optimal opening degree, and the second screen piece adjuster works based on the third control instruction, and the opening degree of the lower screen is adjusted to the second optimal opening degree. The control effect can be improved, and the harvesting loss can be reduced.

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 provides a permanent magnet motor position-free control system DC bias compensator and a compensation method, and the compensator comprises an error calculation module which is used for comparing an original sampling current and an observation current of an alpha-beta coordinate system, and generating an error signal; the QPR regulator module is used for regulating the error signal through a quasi-proportional regulator QPR and outputting a direct-current bias observation value; the input compensation module is used for processing the direct-current bias observation value through the voltage and the counter electromotive force to obtain observation current, and the observation current is transmitted back to the error calculation module to form closed-loop negative feedback regulation; and the direct-current bias compensation quantity generation module is used for converting the direct-current bias observation value in closed-loop negative feedback regulation into the direct-current bias compensation quantity through a relation equation of a direct-current bias sampling value and a direct-current bias component and complex frequency variable conversion. And the direct current bias component in the original sampling current of the alpha-beta coordinate system is accurately compensated in a closed-loop negative feedback regulation mode.

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.

Provided is a numerical control device 1 capable of reducing positional deviation between a focal point position F and a machining point 12. The numerical control device 1 is connected to a machining head 50 that is capable of controlling the focal point position F on the basis of an external input. The numerical control device 1: is provided with a machining nozzle 60 that emits a beam; controls a drive shaft of a machine 3 that uses the beam to machine a cut surface 10 of a workpiece 5; is provided with an interpolation processing unit 22 that performs interpolation on the basis of machining program commands to the drive shaft; and is additionally provided with a focal point position adjusting unit 30 that adjusts the focal point position F such that the focal point position F is a fixed position on the workpiece 5, on the basis of a groove angle θ calculated from a rotational axis position obtained by the interpolation processing unit 22, and a preset distance G0 between the machining nozzle and the workpiece.