455 results about "Stabilization control" patented technology

The invention relates to the technical field of automatic control, and discloses a pressure closed-loop self-calibration method for an ultrahigh-speed jet injection process, and the method comprises the steps: initializing a system, and building a pressure and temperature combined compensation model; a high-precision sensor is used for collecting real-time pressure and temperature data; by calculating a pressure deviation intelligent switching control strategy, PID is combined with feed-forward compensation in a steady state, and a deep reinforcement learning algorithm is switched to realize quick response in a transient state; automatically triggering closed-loop self-calibration according to operation time or a deviation threshold value, executing zero point and full scale calibration and updating compensation parameters; and carrying out residual analysis by using a digital twinborn model to realize fault diagnosis and early warning. According to the invention, the problems of low control precision and poor long-term stability of an ultra-high-speed jet flow process under nonlinear and large-lag working conditions are solved, and high-precision stable control and system self-adaptive calibration under a wide speed range are realized.

The invention relates to the technical field of sensor data fusion, in particular to a real-time dynamic attitude stability control method and system based on multi-sensor fusion, and the method comprises the following steps: collecting multi-source sensor data, and correcting to generate a synchronous sensor data set; calculating a stability coefficient, a signal quality coefficient and a consistency coefficient, weighting the signal quality coefficient and the consistency coefficient to generate a dynamic fusion weight coefficient, executing weighted fusion based on the weight, outputting a fusion attitude state estimation result through adaptive extended Kalman filtering, and generating an optimization control instruction sequence by combining with dynamic constraint model rolling optimization; according to the method, a dynamic weight mechanism based on noise and signal strength is introduced to achieve self-adaptive fusion, the synchronization precision and reliability are improved by combining consistency verification, abnormal signals are corrected through self-adaptive filtering, the attitude estimation stability is enhanced, and the performance of the system is improved. And a control instruction is generated through rolling optimization, so that rapid and accurate adjustment is realized, and attitude keeping and control consistency in a complex environment is improved.

The invention discloses a satellite attitude system anti-interference finite time control method under complex dynamic disturbance, and the method comprises the steps: building a rigid satellite attitude maneuver control model according to satellite attitude dynamics and kinematics equations; designing a self-adaptive fine disturbance observer to estimate the total disturbance of a satellite attitude system by combining the influence of the external disturbance variable on the rigid satellite attitude maneuver process, and outputting an estimated value of the external disturbance variable; a three-stage segmented sliding mode control method is designed, dynamic continuity of a three-stage sliding mode is ensured, and segmented sliding mode control output is obtained; and compensating the segmented sliding mode control output by using an estimated value of an external disturbance variable output by a self-adaptive fine disturbance observer to realize satellite attitude stable control. According to the method, the problem that the stability of the satellite is reduced in the attitude maneuvering performance process when external disturbance exists is solved, better observation performance and shorter attitude stabilization time are achieved, and the control precision of the satellite is effectively improved.

The embodiment of the invention provides a method and device for stably controlling an airplane in the auxiliary landing process, computer equipment and a medium, and the method comprises the following steps: judging whether the airplane is in a gliding stage, if so, activating a gliding stage control law, and if not, controlling the airplane to stably control the airplane through the gliding stage control law. The aircraft is controlled through the elevator centering instruction and the horizontal stabilizer automatic trimming instruction until the aircraft quits the gliding stage, and the gliding stage control law is quitted; if the aircraft enters the pull-up stage from the glide stage, activating the leveling stage control law, generating an elevator control instruction based on the steering column displacement and the steering column displacement nonlinear gain through the leveling stage control law, generating a rudder control instruction based on the pedal displacement signal and the pedal displacement nonlinear gain, and controlling the elevator control instruction and the rudder control instruction according to the pedal displacement signal and the pedal displacement nonlinear gain. And controlling the aircraft through the elevator control instruction and the rudder control instruction until the aircraft is grounded. According to the scheme, the landing quality and safety are improved through the staged aircraft auxiliary landing control law.

The invention discloses a welding wire production control system and method based on visual feedback, and belongs to the technical field of precision machining. The system comprises a multi-mode intelligent sensing subsystem, a self-adaptive model prediction controller and a safety and exception handling subsystem, and a two-stage control architecture of a quality closed loop and an execution closed loop is constructed. According to the method, the microcosmic roughness, macroscopic geometry, defects and other multi-dimensional quality characteristics of the surface of the welding wire are obtained in real time through multi-modal sensing and fused into a comprehensive quality index; carrying out rolling optimization by adopting a model prediction control algorithm for updating parameters on line, and generating a control instruction; meanwhile, trend early warning based on statistical process control and sudden fault diagnosis based on model residual analysis are operated in parallel, and active safety protection is achieved. According to the method, the problems of unstable quality, control lag and passive safety caused by supplied material fluctuation and tool time variation in the welding wire flaking machining process are solved, and self-adaptive accurate control and intelligent safety protection in the machining process are achieved.

The invention belongs to the technical field of compressors, and particularly relates to an MVR (mechanical vapor recompression) vapor compressor, a detection control system with multi-stage recognition capability is introduced on the basis of compressor basic equipment, and the system collects vapor parameters, mechanical states and process state data in real time through a multi-dimensional state sensing module; the operation stage identification module intelligently divides the system operation process into an initial starting stage, a transition stage and a stable operation stage according to the data; and the self-adaptive control module calls a corresponding preset strategy set according to the identified different stages and dynamically adjusts the rotating speed and the compression ratio of the compressor, for example, low-speed soft start is executed in the initial stage of start, smooth tracking adjustment is performed in the transition period, and accurate and stable control is implemented in the stable operation period. Self-adaptive and refined regulation and control of the whole process from starting to stabilization of the system are achieved, mechanical and electrical impact is effectively reduced, variable working condition adaptability and operation stability are improved, and the overall energy efficiency is optimized.

The invention provides a flying robot control method and device based on force feedback and a medium, and the method comprises the steps: deploying a six-dimensional force torque sensor at an operation end effector of a flying robot, and obtaining and screening effective torque data in real time to obtain a force error signal; a compensation layer based on the Lyapunov self-adaptive law is utilized, the total disturbance is cooperatively estimated in combination with double observers, and the disturbance serves as a feed-forward quantity to be injected into an attitude controller; and calculating the adjustment amount according to the target impedance model and the force error, and generating an execution mechanism control instruction. According to the technical scheme provided by the invention, stable control of air interaction operation can be realized, and the anti-disturbance capability and interaction force control precision of the flying robot are effectively improved.

The invention discloses a spacecraft Hall propulsion device test working medium flow stability control system, which comprises a sensing module for detecting working condition state parameters of working medium supply equipment, and an adaptation module for exploring current working condition control parameters by combining detection data of the sensing module and similar working condition control parameter empirical data fusion, the adjusting module is used for receiving the control parameters and dynamically adjusting the adjusting weight of the adjusting device according to different phase change periods, an experience library unit and a self-adaption unit are arranged in the adaption module, the experience library unit provides experience data of similar working conditions and control parameters, and the self-adaption unit provides self-adaption data of the control parameters. And the autonomous adaptation unit fuses and explores control parameters by constructing a neural network adaptation model, so that working condition automatic identification and control parameter autonomous adaptation under the environment that the working medium type or the working medium state rapidly changes are realized; the problems of low control precision and slow response speed caused by manual presetting of control parameters of different working media in a traditional control technology are solved, and stable control of the working medium flow is realized.

The invention belongs to the technical field of multi-agent cooperative intelligent control, and particularly relates to a multi-mechanical-arm cooperative control method under unknown disturbance, which comprises the following steps: establishing a dynamic model of a strict feedback nonlinear multi-mechanical-arm cooperative system; constructing a communication topological structure of the system through a virtual coupling mechanism; constructing a unified system collaborative error model; introducing a preset time function and a global preset performance function, mapping errors to an adjustable constraint performance space, and ensuring that all error signals are dynamically converged in a performance range set by a user; a task layer shape control force and a pose control force are designed under a distributed gradient descent method framework, a task layer overall control force is constructed, and multiple mechanical arms are driven to move cooperatively and keep a stable formation in a task space; designing a joint layer distributed adaptive control law under unknown disturbance through passive characteristics of a nonlinear system; according to the method, cooperative convergence and stable control of the multi-mechanical-arm system within the preset time can be achieved under unknown disturbance.

The invention relates to the technical field of control engineering, and discloses a swing suppression stability control method and system for a rotary clamping jaw mechanism, and the method comprises the steps: collecting a motor current and a motor rotation angle of a servo driver corresponding to the rotary clamping jaw mechanism; the actual driving torque of the rotary clamping jaw mechanism is calculated, the angular acceleration of the rotary clamping jaw mechanism is calculated, and a load self-adaptive dynamic model of the rotary clamping jaw mechanism is established; the swing angular displacement and the swing angular velocity of the rotary clamping jaw mechanism are analyzed; defining a feedback gain of the rotary clamping jaw mechanism to calculate a target compensation torque of the rotary clamping jaw mechanism; and converting the target compensation torque into a compensation current instruction of the rotary clamping jaw mechanism, generating a composite control current instruction of the compensation current instruction and a preset basic current instruction, and executing swing suppression stable control of the rotary clamping jaw mechanism. According to the invention, the stability and accuracy of swing suppression control of the rotary clamping jaw mechanism can be improved.

The invention discloses an intelligent driving steering wheel cooperative stability control system and method, and aims to solve the problem of vehicle instability easily caused by low-adhesion road surfaces such as ice, snow, wet and slippery road surfaces, the system recognizes an instability trend in a prospective manner through multi-source information fusion, and adopts a three-level decision-making mechanism. At the guiding early warning level, risk early warning is carried out through high-frequency pulse vibration in a specific direction of a steering wheel; in the collaborative intervention level, dynamic progressive tactile waves are generated in a tactile actuator array at a specific position through innovative design, a traction force is simulated to visually guide a driver to follow and steer, and meanwhile, rapid, smooth and efficient vehicle stability recovery is achieved in combination with steering wheel base damping adjustment and feedforward angle compensation control. According to the method, the cognitive load of the driver is reduced, the man-machine cooperation efficiency and the driving safety are improved, and the method has a good engineering application prospect.

The invention discloses an earth-moon translation point orbit spacecraft formation relative motion configuration design and control method, and belongs to the technical field of spacecraft orbit dynamics and control. The method comprises the following steps: firstly, constructing a double-layer dynamic model consisting of a circular restrictive three-body problem model and a high-precision ephemeris model, and defining an orbit amplitude difference and a phase difference as configuration parameters; then, according to different track amplitude difference and phase difference combinations, three types of natural relative motion configurations are set, a periodic track is rapidly generated under a circular restrictive three-body problem model, and multi-circle correction is conducted through a high-precision ephemeris model and two-stage multiple targeting; a hierarchical constraint model is established for a controlled task surrounding a fixed position, a plane and a space, and a control pulse is solved by adopting a two-stage optimization strategy. According to the method, efficient design and stable control of formation configuration in a complex dynamic environment are realized, and the method is suitable for various translation point orbit tasks.

The invention relates to the technical field of automobile steer-by-wire system control, in particular to a trajectory tracking control method based on data-driven fuzzy value iteration. For nonlinearity and uncertainty of a steer-by-wire (SBW) system, a T-S fuzzy technology is adopted to construct a local linear model of the SBW system. Constructing a fuzzy augmented tracking system by introducing a reference signal; secondly, a fuzzy discount coupling algebraic Riccati equation based on a Hamilton-Jacobi-Bellman equation is deduced; and a data-driven fuzzy tracking value iteration (VI) algorithm is designed, and the tracking control problem of the system is solved through online iteration. The algorithm has the prominent characteristics that the dependence on system dynamics information is completely eliminated, and closed-loop trajectory tracking control can be realized without an initial stable control strategy. The method can be widely applied to the fields of intelligent driving, automatic driving steering control and the like, and is particularly suitable for scenes with uncertain system models and difficult control initialization.

The invention discloses a multi-degree-of-freedom flying mechanical arm aerial operation stability control method and system, and relates to the technical field of aircraft control. The method comprises the steps that attitude information and current contact force of a flying mechanical arm are obtained; constructing an attitude control model according to the attitude information; constructing an impedance model according to expected inertia, damping, a stiffness matrix, a tail end pose, a tail end speed, a tail end acceleration, a tail end reference trajectory, the current contact force and the expected contact force; calculating a joint control moment according to the impedance model; calculating a comprehensive performance index according to the attitude control model and the impedance model; and according to the comprehensive performance index and the joint control torque, stable control over the flying mechanical arm is conducted. The attitude control model and the impedance model can be combined to calculate the comprehensive performance index so as to adjust the control parameters of the flying mechanical arm, so that stable control of the flying mechanical arm is realized, and the control precision and the flight stability are improved.

The invention provides a dynamic risk perception prediction stability control system and method for a cold-chain logistics transport vehicle, and belongs to the technical field of vehicle control. Comprising three core modules: a physical-data mixed residual state predictor, a quantitative stability evaluation module based on a maximum Lyapunov index, and a self-adaptive nonlinear model prediction controller fusing predetermined performance control. And finally, the control instruction is distributed to the four in-wheel motors through a multi-target torque distributor. According to the method, the prediction precision is remarkably improved, continuous risk quantification is realized, and meanwhile, the control performance and the system robustness are synchronously improved.

The invention provides a multi-mode composite stability control method for a three-degree-of-freedom photoelectric servo turntable, which comprises the following steps of: using gyroscope information, combined inertial navigation information and image feature information; through composite control of multiple modes such as carrier angle disturbance negative feedback, carrier linear motion translation compensation and evaluation and compensation of errors from image feature information, the limitation of a single-mode control method is effectively overcome, the advantages of each single-mode control method are fully played, performance complementation is realized, and the system performance is improved. And the precision of optical axis stability of the photoelectric detector is improved. According to the method, when a single data source fails, the high-precision stability of the optical television shaft can still be kept, the robustness of servo stability and the adaptability to a complex dynamic environment are improved, and the method conforms to the development direction of photoelectric intellectualization.

The application provides a finite time robust stabilization control method for a nonlinear singular time-delay system, comprising the following steps: selecting a Hamilton function for the nonlinear singular time-delay system; converting the Hamilton function of the nonlinear singular time-delay system into an equivalent differential algebraic form by combining a state decomposition method; designing a robust controller; substituting the robust controller into the equivalent differential algebraic form to obtain a strictly equivalent dissipative Hamilton form of the system; and selecting a Lyapunov function to verify the accuracy of the robust controller based on the strictly equivalent dissipative Hamilton form. The application provides a finite time robust stabilization control method for a nonlinear singular time-delay system, studies a more complex nonlinear singular system than a linear singular system, considers the influence of time delay on the system, and gives a new finite time robust stabilization control method for the system under the condition of adding external disturbance.

The application relates to the technical field of filling control, and discloses a filling optimization method and equipment for polyurethane foam sealant based on an intelligent algorithm. The method comprises the following steps: Kalman filtering is performed on five types of parameters collected by a sensor; pretreated data are input into a convolutional neural network to extract features and identify working conditions; flow pressure is divided and controlled based on a feature vector and a working condition result, and control parameters of an actuator are analyzed; a filling process is divided according to a control strategy, two kinds of adaptive algorithms are adopted to generate control instructions; the instructions are transmitted to four types of actuators, and feedback data are collected to obtain state information. Through the segmented adaptive control technology, the application solves the problems of over-regulation of filling force or large dynamic deviation caused by the existing single control method, realizes high-precision and stable control of the filling process, and improves the filling efficiency and the filling quantity precision.

The invention belongs to the field of vehicle control, and particularly relates to a vehicle longitudinal stability control method based on optimal sliding rate fusion compensation prediction. According to the method, the mapping relation between the utilization adhesion coefficient and the sliding rate in the vehicle driving process is analyzed in combination with road test data of a vehicle under different road conditions in advance, and the change rule of the error of the optimal sliding rate and the maximum utilization adhesion coefficient of the vehicle under an interpolation method along with the real-time slope and the prediction interval is fitted. Then collecting the wheel speed information of the current vehicle, and predicting the optimal sliding rate and the maximum utilization adhesion coefficient of the current vehicle by adopting an interpolation method; and after slope-based correction and prediction area-based correction and weighted fusion are carried out on the torque increment, a designed cost function is combined, and the acceleration and the sliding rate of the vehicle can follow the expected torque increment and are executed by adopting a catfish Rhododendron optimization algorithm to solve and execute the torque increment. According to the method, the problems of insufficient prediction precision and relatively large delay of the optimal sliding rate in the longitudinal stability control of the existing electric vehicle are solved.

The invention discloses a pressure control method and system for a marine ammonia fuel supply system based on model-free self-adaptive control, and the method employs a model-free self-adaptive control scheme based on tight format dynamic linearization, and carries out the real-time collection of system pressure and valve control quantity data. And dynamically estimating a pseudo partial derivative phi (k) on line to capture system characteristics, and designing an adaptive control law to calculate a valve opening instruction according to the system characteristics. A dual-robust mechanism is formed by introducing an estimation weight factor mu and a control weight factor lambda, and noise interference and controlled quantity mutation are effectively suppressed. The method can automatically adapt to system dynamic change and external disturbance, high-precision and strong-robustness stable control over the ammonia fuel supply pressure is achieved under the complex ship working condition, and the safety and reliability of the ammonia power ship are remarkably improved.

The invention discloses a multi-dimensional monitoring and control method and system for a new energy stability control execution station, and the method comprises the steps: configuring two sets of stability control devices at the new energy stability control execution station, and collecting the operation state information of a current collection line; each set of stability control device judges the reliability in real time, issues the data information of the device to another device, and receives the data information of the other device; each set of stable control device sets the cutting priority on line based on the operation state information of each current collection line, calculates the total cuttable capacity and sends the total cuttable capacity to a superior station; after the new energy stability control execution station receives the amount needing to be cut sent by the superior station, undercut amount judgment is sequentially conducted from high to low according to the cutting priority sequence of all the current collection lines till the undercut amount is not larger than an undercut fixed value or traversal of the cuttable elements is finished, and the stability control device acts to cut off the corresponding current collection lines. Accurate calculation of collected and uploaded information and accurate execution of stability control measures of the new energy stability control execution station are realized.

This application belongs to the field of collaborative robot control technology, specifically disclosing a human-machine compliant interactive stability control method and system for achieving stiffness jumps. The method includes: real-time acquisition of the collaborative robot's end-effector interaction force and end-effector Cartesian velocity input to a fuzzy inference function to obtain human intention coefficients; calculation of the desired total stiffness and desired total damping at the current moment based on the human intention coefficients, and decomposition them into time-varying components and time-invariant basis components, respectively; employing an energy tank method to ensure system stability, calculating the filling rate of the energy tank based on the power dissipated by the basis damping when the energy tank is not full; if the energy tank is not depleted, using an energy exchange control method to replenish the collaborative robot with the energy required for time-varying stiffness and time-varying damping, and obtaining the desired velocity, desired position, and joint angle of the collaborative robot at the next moment. This method can dynamically and rapidly adjust admittance parameters according to the operator's intentions while ensuring the collaborative robot system remains strictly passive.

The invention discloses a spacecraft attitude stability control method based on a liquid neural network. The method comprises the following steps: S1, establishing a spacecraft attitude dynamic model under multi-source complex disturbance; s2, designing a conventional spacecraft attitude stability controller, and constructing a data set in combination with the attitude dynamics model; s3, training and obtaining a liquid neural network interference observer by adopting a liquid time constant network and a neural circuit strategy architecture; s4, designing a spacecraft attitude stability controller based on a liquid neural network disturbance observer, and proving the stability of a closed-loop system by using a Lyapunov function; s5, verifying the estimation effect of the liquid neural network interference observer and the stability effect of the spacecraft attitude control system through simulation; results show that the method has the advantages that interference of the spacecraft attitude can be effectively estimated, stable control over the spacecraft attitude can be achieved, high real-time performance, low power consumption and high robustness are achieved, and the spacecraft attitude stable control efficiency can be improved.

The invention discloses a multi-specification galvanization airflow and zinc layer stable control device, and belongs to the technical field of steel pipe galvanization, the multi-specification galvanization airflow and zinc layer stable control device comprises a bottom plate, the upper surface of the bottom plate is in bolted connection with a support, the support is movably connected with an equipment plate through an electric sliding rail, and the lower end of the equipment plate is provided with a clamping module; an air knife module is arranged on the lower surface of the equipment plate; and the upper surface of the bottom plate is in bolted connection with a material box. When the multi-specification galvanization airflow and zinc layer stable control device works, a steel pipe is arranged on a clamping roller in a sleeving mode, then the clamping roller is clamped through a clamping module, then an equipment plate descends, a workpiece enters a material box, the equipment plate ascends after galvanization, at the moment, stirring blades can slightly stir the material box, zinc residues are not precipitated, and the stability of the galvanization airflow and the zinc layer is improved. Meanwhile, the filter plate can move towards the middle position of the material box to cover the material box, so that the zinc slag does not fall into the material box, and in the working process of the filter plate, the filter plate can be pushed by the push rod, so that the filter plate slightly shakes, and the zinc slag is discharged.

The invention provides a dynamic paper stabilizing system and a dynamic paper stabilizing method of a rewinding machine. The dynamic paper stabilizing system comprises a rack, a plurality of groups of core rollers, a plurality of groups of guide rollers, a paper stabilizing mechanism and a controller, wherein the paper stabilizing mechanism is composed of a rolling diameter detection device and an execution assembly, the rolling diameter detection device monitors the diameter change of a raw paper roll in real time, the execution assembly comprises a supporting frame, a driving piece and a paper stabilizing rod, and the controller dynamically adjusts the position of the paper stabilizing rod according to a detection signal to enable the paper stabilizing rod to be close to or away from the paper surface. Therefore, floating and wrinkling of the paper tape in the rewinding process are effectively restrained. By means of the system, automatic paper stabilizing control over the whole process from the full roll to the empty roll of the raw paper roll can be achieved, the rewinding quality and production efficiency are remarkably improved, and the adaptability, stability and automation level of the rewinding machine are greatly improved.

The application discloses a portal lifting stable control feedback system and method applied to a forklift AGV, and the system comprises an IMU, an abnormality judgment module, a speed planning module, a feedforward item determination module, a PID control module and a valve control module. The IMU outputs acceleration data; the abnormality judgment module determines a portal lifting abnormality judgment result according to the acceleration data; the speed planning module obtains a target speed and determines a target acceleration when the portal lifting is not abnormal; the feedforward item determination module determines vertical motion state corresponding data of the portal at the current moment according to the acceleration data, and determines a feedforward item according to the target acceleration and the vertical motion state corresponding data; the PID control module determines a compensated speed tracking control instruction according to the target speed and the feedforward item; and the valve control module determines a proportional valve opening degree according to the control instruction, and executes deceleration stop control when the portal lifting is abnormal. The application can improve the consistency between the portal lifting control and the actual motion state and the operation stability.

This invention relates to the field of servo control algorithm design for aircraft airborne pods, providing a method and system for calculating external disturbance reactance based on servo motor current feedback. The method acquires three-phase currents Ia, Ib, and Ic, and electrical angle θ, and obtains two-phase currents Id and Iq through Clarke and Park transforms, defining Iq as the external disturbance reactance estimate IQ. A setpoint r(t) and deviation e(t) = r(t) - IQ are established, and the PID controller output u(t) is calculated. u(t) is used as the q-axis control reference and written to the driver. In voltage control mode, it is mapped to Vq and Vd for inverse transformation and PWM modulation; in current control mode, it is mapped to the q-axis current reference Iqref and converted into corresponding voltage commands by the driver's current loop, driving the servo motor to generate electromagnetic torque to cancel out disturbance reactance. This invention eliminates the need for complex motor models and high-end inertial sensors, has low computational complexity, and can quickly and accurately estimate disturbances, ensuring stable control performance of the aircraft pod in complex flight environments.

The utility model relates to the technical field of ship stabilization, and discloses a rotating wheel type small ship stabilization device which comprises a ship body provided with a ship bottom bin, and further comprises a momentum wheel rotationally installed at the position vertically above the gravity center of the ship body; the motor is fixedly mounted in the mounting seat and is used for driving the momentum wheel to rotate; and a main control chip and an attitude sensor are arranged in the electric control box. According to the rotating wheel type small ship stabilization device, stabilization control is achieved by controlling movement of the momentum wheel, and compared with a traditional hydraulic cylinder, the rotating wheel type small ship stabilization device has the advantages of being higher in cost performance, safe and reliable in performance, easy to maintain and manage and the like, and has wider market application prospects.

This invention provides an air spring control method and system based on air pressure estimation, relating to the field of vehicle air suspension control technology, aiming to solve the technical problems of high installation cost and large indirect measurement error of air pressure sensors in existing air spring control systems. The method includes: acquiring basic information about the piping layout of the vehicle's air spring system based on the actual vehicle piping arrangement; installing multiple air pressure sensors in air springs at different locations on the vehicle to acquire raw air pressure data at different vehicle heights and under different driving conditions; fitting air pressure calculation parameters based on the raw air pressure data and air pressure estimation formula; calculating the estimated air pressure value of each air spring under different vehicle heights and driving conditions based on the fitted air pressure calculation parameters and the basic piping information; and accurately adjusting and stably controlling the vehicle height based on the estimated air pressure value.

The application discloses a kind of photovoltaic module solidification buffer equipment warehousing and delivery dynamic control method, equipment includes buffer unit, loading / unloading lifting conveyor and buffer conveyor;Buffer unit contains N storage frame, storage frame is equipped with M layer band avoiding notch support rod, the third conveying module of buffer conveyor can avoid notch lifting material.The control method determines the task priority according to the buffer unit occupancy rate: low inventory priority warehousing, high inventory priority delivery, medium inventory executes according to instruction sequence;Buffer conveyor idle module can seamlessly switch tasks when warehousing / delivery.At the same time, through multi-objective optimization model (with conveying speed, layer distribution as variable, optimize time, energy consumption, occupancy balance) and discrete event simulation collaborative control, if condition is not met, use ant colony algorithm to solve iteratively, it can also deal with failure and defect material exclusion, realize efficient and stable control.