189 results about "Stabilizing controller" patented technology

The invention relates to an intelligent electric vehicle path tracking model prediction control method, belonging to the technical field of control. The aim of the invention is to adopt the intelligent electric vehicle path tracking model prediction control method, wherein the model prediction control method can take account of the safety constraints of a whole vehicle simultaneously and realizeseclectic optimization among vehicle path tracking performance, safety and whole vehicle performance effectively. The method gives thought to intelligent electric vehicle path tracking model building in limited conditions and yaw stabilization controller design based on model prediction control as well as the tracking performance of the vehicle, the safety of the vehicle, the whole vehicle performance, driving comfort and saving and control of energy in the process of carrying out control strategy deduction, and improves the dynamic performance of the whole vehicle. The method gives thought tothe tracking performance of the vehicle (path following and speed following), the safety of the vehicle (preventing slipping, locking, sideward inclining or drifting), the whole vehicle performance (accelerating and braking performance), driving comfort (the change of torque cannot be too great) and saving and control of energy (saving energy on the premise of meeting the performance). The dynamicperformance of the whole vehicle is improved.

The present invention relates to a magnetic suspension reaction flywheel open-loop high-accuracy unbalanced vibration control system. It includes the following several portions: displacement sensor, displacement signal interface circuit, rotating speed detection device, magnetic bearing controller, magnetic bearing power amplification drive circuit and flywheel position identification device. The magnetic bearing controller includes axial bearing controller and radial bearing controller, the radial bearing controller is formed from two portions of stabilization controller and unbalanced vibration controller, in which the unbalanced vibration controller can be used for making compensation for displacement feedback of stabilization controller.

A six degree-of-freedom trajectory linearization controller (TLC) architecture (30) for a fixed-wing aircraft (46) is set forth. The TLC architecture (30) calculates nominal force and moment commands by dynamic inversion of the nonlinear equations of motion. A linear time-varying (LTV) tracking error regulator provides exponential stability of the tracking error dynamics and robustness to model uncertainty and error. The basic control loop includes a closed-loop, LTV stabilizing controller (12), a pseudo-inverse plant model (14), and a nonlinear plant model(16). Four of the basic control loops (34, 36, 40, 42) are nested to form the TLC architecture (30).

A magnetic levitation flywheel high-precision active vibration control system comprises a displacement sensor, a current sensor, a magnetic bearing controller and a PWM modulation and a power amplifier, wherein, the magnetic bearing controller comprises stabilization of the controller, eccentric estimation, magnetic force compensation and action of a switch. The magnetic levitation flywheel high-precision active vibration control system introduces the eccentric estimation and the magnetic force compensation on the basis of the stable control and utilizes the unbalance vibration parameters of a flywheel to carry out the compensation of the unbalance amount and the displacement negative stiffness of the flywheel within the entire rotation speed range, thus realizing the control of the unbalance vibration of the flywheel within the entire rotation speed range and allowing the flywheel to be operated around a principal axis of inertia with high precision during the whole process of speed increasing and speed reducing.

A control apparatus for a vehicle's driving device including (A) a non-step speed change portion including (a1) a differential device that distributes an output of an engine to a first electric motor and a transmission member, and (a2) a second electric motor provided in a power transmission path from the transmission member to drive wheels, and (B) an automatic speed change portion constituting a portion of the power transmission path, the control apparatus including a vehicle behavior stabilization controller for stabilizing a behavior of the vehicle when the behavior of the vehicle is unstable; a coupling device which is selectively switchable to (a) a released state thereof in which the coupling device places the non-step speed change portion in a non-step speed change state thereof in which the non-step speed change portion is operable as an electric CVT (continuously variable transmission), and (b) an engaged state thereof in which the coupling device places the non-step speed change portion in a stepwise speed change state thereof in which the non-step speed change portion is not operable as the electric CVT; and a vehicle-stabilization-related switching controller which switches, when the vehicle behavior stabilization controller performs a vehicle behavior stabilization control, the coupling device to the released state thereof.

The invention relates to a control system of a vehicle-mounted pick-up stable platform. A gyro, a potentiometer and a motor are installed on the vehicle-mounted pick-up stable platform and respectively used for sensing the angular speed of the platform, measuring the angle of the platform and driving the platform to rotate. The control system of the vehicle-mounted pick-up stable platform comprises a signal processing module, a power module, a stability controller, a locking controller and two feed-forward controllers; the stability controller, the power module, the motor and the gyro on the platform as well as the signal processing module form a stable loop of the system; the locking controller, the stable loop, the motor and the potentiometer on the platform as well as the signal processing module form a locking loop of the system; and the system can effectively isolate the interference caused by vehicle-mounted angular movement, inhabit the drift caused by the gyro, and improve the dynamic performance of the system.

The invention provides a combined magnetic-pole-type composite excitation power generation device for an automobile, and belongs to the technical field of automobile motor electric appliances. The combined magnetic-pole-type composite excitation power generation device for the automobile consists of a rotor, a stator, a front end cover, a rear end cover and an electronic voltage stabilizing controller; a power generator rotor adopts a combined-type magnetic pole structure, the starting resistance and operation noises of the power generator are reduced, also a radial permanent magnetic field and a salient pole electromagnetic field share the same rotor iron core, the generated magnetic field is combined in series in an air clearance of the power generator, the magnetic field is high in intensity, and the power density of the power generator is high; when in operation, through regulating the dimension and direction of the electrified current of a salient pole electric excitation rotor, the overlapped magnetic field of the permanent magnetic field and the electric excitation magnetic field can be regulated; and the output voltage of the power generator in wide rotation speed and wide load range is kept to be stable, and a direct-current power supply is provided for electric devices for modern automobiles.

A vehicle stability model predictive control method belongs to the technical field of control. The object of the vehicle stability model predictive control method is to establish a vehicle yaw kineticmodel in consideration of road unevenness and design a yaw stability controller by a model predictive control algorithm so as to prevent an electric vehicle against rollover and drift in a poor working condition and a sharp turn. The method comprises steps of establishing a mechanical and kinetic model and a yaw stability controller of an electric vehicle in consideration of road unevenness. In aprocess of formulating a torque distribution strategy, the method considers vehicle safety (preventing skid or lock, rollover or drift), vehicle performance (acceleration and braking performance), and driving comfort (torque change cannot be too large and the vertical force change value cannot be too high), saves control energy (saving energy under the premise of satisfying performance), and improves the kinetic performance of the vehicle.

A power supply apparatus which supplies power to an amplifier, includes: a regulator stabilizing a voltage of the power supplied to the amplifier; and a stabilizing controller obtaining an amplitude level of an input signal inputted to the amplifier and controlling a stability of the voltage by the regulator based on the amplitude level.

The invention discloses an automatic balancing magnetic suspension rotor system based on displacement stiffness force lead compensation. The automatic balancing magnetic suspension rotor system comprises an automatic balancing module, a stabilization controller, a magnetic bearing power amplifier, an electromagnet rotor and a displacement sensor, wherein the automatic balancing module comprises a generalized wave trap and a lead compensator; the generalized wave trap extracts unbalanced information in a rotor displacement signal; and the lead compensator performs lead feed-forward compensation.. Automatic balancing control is introduced on the basis of stabilization control of the magnetic suspension rotor, a simplified inverse model of the power amplifier is constructed based on the frequency characteristics of the magnetic bearing power amplifier, the influence of the low-pass characteristics of the power amplifier on the displacement stiffness force compensation precision is eliminated, the common-frequency bearing force is greatly reduced, and the automatic balancing precision of the magnetic suspension rotor is obviously improved. The automatic balancing magnetic suspension rotor system based on the displacement stiffness force lead compensation is simple and practicable and is particularly suitable for an actual magnetic suspension rotor system.

The invention discloses a wind power generating set with a vertical shaft. The wind power generating set comprises an electric generator, a system bracket, a vertical shaft, a blade bracket, a group of lift-type blades and a group of resistance-type blades, wherein the lift-type blade and the resistance-type blades are uniformly arranged on two peripheries with different diameters by taking the vertical shaft as a centre respectively; the lift-type blades are arranged on the outer periphery; the resistance-type blades are arranged on the inner periphery; and a centrifugal speed stabilizing controller used for automatically adjusting the windward area of the resistance-type blades is also arranged at the top of each resistance-type blade. The wind power generating set can take advantage of lift and resistance at the same time to normally generate electricity at a low wind speed; and when the wind speed is increased, the centrifugal speed stabilizing controller can rotate the resistance-type blades by corresponding angles to reduce the windward area, so the wind power generating set has the characteristics of strong wind resistance, no limitation of wind direction and safe and stable running. The wind power generating set is applied to both the 1kW to 10kW small-sized wind power systems and the megawatt-grade large-scale wind power systems.

The invention is concerned with the active series connection equal-press controlling equipment for the power switch, the characteristic is: sets the active equal-press absorb module for the series power module, the active equal-press absorb module crosses and parallel connects with the C and E end of each main power tube Vi-j; sets the driving controlling module, the outputting controlling signal of the driving controlling module accesses each power module and the active equal-press absorb module. The invention is lower power consumption, simple circuit.

The invention relates to a stability control method for a time-delay-variable bilateral teleoperation system. Models of two main ends and an auxiliary end of the bilateral teleoperation system are established; according to three coexisting channels, each channel transmits speed and force information to the opposite side, a wave variable method is used to ensure the channel stability in each channel, and channel stability controllers are designed; and a time delay is predicted, an obtained time variable gain is input to the two channel stability controllers, and stability control of the time-delay-variable teleoperation system is realized. The method is easy to realize and apply, and can be mainly applied to stability control of the time-delay-variable bilateral teleoperation system. The method has high robustness for linear and nonlinear teleoperation systems, and the time delay prediction method can be used to obtain an extremum of a time delay change rate easily.

The present invention relates to a Lagrange dynamic model of a space tether system and a controller. Aiming at the modeling problem of the space tether system, six parameters consisting of three attitude angles, a tether surface internal angle, a tether surface external angle, the tether length and the like are considered, the Lagrangian method is employed to detailedly deduce the generalized force model of the tether, and a generalized state stability controller is designed. The Lagrange dynamic model of space tether system and the controller can solve the tether system target attitude modeling problem when a platform is equivalent to the target quality; and the designed controller can realize the control of the tether system generalization state variables after target capture.

The invention provides a dragged target attitude stability control method based on thrust control of a tethered space tug. The method includes following steps: 1, performing a system hypothesis, wherein the tethered space tug is an integral body including a tug, a target, and an elastic-connection tie rope, and the tug and the target are located at two ends of the tied rope; 2, calculating a reference trajectory based on optimization; 3, deducing a robust global terminal sliding mode controller; and 4, adding an anti-saturation module and a thrust prediction and correction module. By the above steps, the robust global terminal sliding mode controller obtained in step 3 and the anti-saturation module and the thrust prediction and correction module obtained in step 4 are combined so that the designed dragged target attitude stability controller based on thrust control of the tethered space tug and the control method thereof are obtained, the controller designed by the method can satisfy the constraint demand, and the loosening of the tied rope is also prevented by the designed thrust prediction and correction module.

The invention provides a multi-mode movement conversion method for a humanoid robot. The humanoid robot comprises a robot state sensor, a movement database, a movement control converter and a movement stability controller. By the adoption of the multi-mode movement conversion method for the humanoid robot, the humanoid robot can be controlled to move in multiple modes, switching between various modes of movement is achieved, the humanoid robot can be applied on more occasions, and the environment adaptability of the humanoid robot is improved.

A running machine that can prevent overturning of a body in the case of occurrence of an abnormality is provided. The running machine substantially supports the body with coaxially arranged drive wheels, and can drive while maintaining the balance of the body. A control module of the machine comprises a stabilization controller that computes a first torque command for maintaining the balance of the body and a travel controller that computes a second torque command for driving the running machine. A sum of the first torque command and the second torque command is inputted into the motors. When an abnormal condition detector detects occurrence of an abnormal condition, a safe mode controller prohibits the travel controller from outputting the second torque command. This could enable all torque that the motors can output to be used to maintain the balance of the body when occurrence of an abnormal condition is detected. Therefore, even when occurrence of an abnormal condition is detected, the balance of the body can be maintained. Or even if the balance cannot be maintained, it is possible to extend duration before overturning. During the duration, by pulling out a safety wheel from the body, for instance, overturning of the body can be prevented.

The invention discloses an automotive ECO driving status prompting system and method. The prompting system comprises a clutch pedal sensor, a brake pedal sensor, an accelerator pedal sensor, an engine rotation speed sensor, a vehicle speed sensor, an engine control unit, an electronic bodywork stabilizing controller, a bodywork controller and a meter, wherein the engine control unit is connected with the clutch pedal sensor, the brake pedal sensor, the accelerator pedal sensor and the engine rotation speed sensor and connected with the bodywork controller through a CAN bus; the electronic bodywork stabilizing controller is connected with the vehicle speed sensor and connected with the bodywork controller through the CAN bus; the bodywork controller is connected with the meter through the CAN bus. The prompting method comprises the steps that according to acquired signals, gear information and fuel consumption information are calculated; ECO degree calculation in an empty load state, a half load state and a full load state is performed, and whether a vehicle is in an ECO state or not is judged and displayed. According to the automotive ECO driving status prompting system and method, the ECO degree of the current vehicle and whether the vehicle is in the ECO state or not can be prompted more accurately.

The invention discloses a method for inhibiting position domain periodic interference of an electromechanical servo system based on time sampling, belongs to the technical field of servo control, and solves the problem that the accuracy of equipment is seriously affected by the position domain periodic interference in the conventional electromechanical servo system. According to the technical main points, the method comprises the following steps: performing frequency characteristic testing and modeling on a controlled object by the electromechanical servo system; designing a stabilizing controller for an obtained controlled object model; testing the position domain periodic interference of the electromechanical servo system by utilizing a closed loop system with the stabilizing controller to obtain the frequency and the amplitude value of the position domain periodic interference; designing a position domain repetitive controller according to the tested frequency of the position domain periodic interference, and performing discretization on the position domain repetitive controller; setting parameters of the repetitive controller and designing a low-pass filter; embedding the repetitive controller which is subjected to the discretization into the electromechanical servo system, so that the purpose of inhibiting the position domain periodic interference is achieved. The method disclosed by the invention is applicable to inhibiting the position domain periodic interference of the electromechanical servo system.

The invention discloses a non-linear expansion state observer-based active suspension output feedback control method, and belongs to the field of vehicle active suspension control. The non-linear expansion state observer-based active suspension output feedback control method comprises the following steps of 1, building a universal uncertainty non-linear one second vehicle active suspension systemmodel; 2, respectively designing a vertical motion non-linear expansion state observer and a pitching motion non-linear expansion state observer; 3, designing control rate of an output feedback stablecontroller according to unmeasured state and uncertainty distribution estimation which are obtained by the non-linear expansion state observer; and 4, adjusting a design parameter of the output feedback stable controller until an expected control effect is achieved. By the non-linear expansion state observer-based active suspension output feedback control method, the problem that the consideration of non-linearity and uncertainty of a suspension system is not enough by a simplification model in the prior art to cause that the performance of the controller is reduced, the accessibility of information used by the controller is neglected by an existing control method and the control method is difficult to apply to practice are solved, meanwhile, the convergence speed and the control accuracyof the controller can be improved, and the performance of the suspension system is further improved.

The invention discloses a stability and energy-saving control system for a distributed drive electric automobile, and belongs to the technical field of control. The stability and energy-saving controlsystem for the distributed drive electric automobile aims to achieve the purposes of improving operation stability of the distributed drive electric automobile and reducing energy consumption by a master-slave control structure and vehicle dynamic control. The system is divided into a driving layer and a driven layer, the driving layer comprises a vehicle reference state module and a vehicle operation stability controller. The stability and energy-saving control system for the distributed drive electric automobile is based on the master-slave structure, the operation stability control and theenergy-saving control of the automobile can be combined, the energy consumption is reduced as much as possible on the premise of ensuring the operation stability of the automobile, and the influenceon the power performance of the automobile is reduced. The operation stability controller actively adjusts the front wheel steering angle of the automobile, independent control over the yaw velocity and the mass center yaw angle of the automobile is realized to a certain extent, and the maneuverability and the stability of the automobile are improved.

This invention relates to three phase stabilizing regulator comprising microcomputer sampling controller, control circuit and three phase compensation transformer. The characters are: secondary winding of each phase of the transformer having only one coil, and series connected between power source and load; each primary winding having more than one coils and taps, each tap being connected to corresponding phase and zero line of input three phase power source by corresponding contactor of control circuit or contact of solid relay. The main control point is that: phase voltage and/or line voltage in regular or irregular order combination is imposed upon each coil of primary winding of compensationt ransformer, to achieve even compensation, lowering working current in primary winding of compensation transformer. Advantaegs are: simple structure, low cost, high stability precision.

The present invention relates to a compound layered anti-disturbance attitude stable control method for an assembled spacecraft. The compound layered anti-disturbance attitude stable control method is designed according to disturbance brought by rotational inertia uncertainty and unmodeled dynamics in an attitude stable control process of the assembled spacecraft. The method includes the following steps that: an assembled spacecraft kinematics and dynamics model under a multi-source disturbance environment is built; a disturbance observer is designed according to disturbance brought by rotational inertia uncertainty and unmodeled dynamics in the assembled spacecraft kinematics and dynamics model to evaluate the disturbance; an assembled spacecraft anti-windup attitude stable controller is designed, and a control instruction which can make the three-axis attitudes of the assembled spacecraft stable is solved; and the disturbance observer and the assembled spacecraft anti-windup attitude stable controller are compound, so that the compound layered anti-disturbance attitude stable control method of the assembled spacecraft can be realized. The compound layered anti-disturbance attitude stable control method for the assembled spacecraft of the invention has the advantages of strong anti-interference ability and high reliability, and is suitable for attitude stable control of novel assembled spacecrafts.

The embodiment of the invention provides a free-floating space mechanical arm stability control method after target acquisition. The method comprises the steps that a kinetic equation of a free-floating space mechanical arm and a target load is obtained; equivalent kinetic parameters of a combined entity system after target acquisition are obtained; a kinetic equation of the combined entity systemafter target acquisition is obtained according to the kinetic equation of the free-floating space mechanical arm and the target load and the equivalent kinetic parameters of the combined entity system; and a stability controller applicable to space rigid mechanical arms and space flexible mechanical arms after target acquisition is obtained according to the kinetic equation of the combined entitysystem after target acquisition. According to the technical scheme provided by the embodiment of the invention, the posture of a base can be stable after the free-floating space mechanical arm completes target acquisition, flexible vibration suppression can be achieved, and accordingly, stability control over the combined entity system is achieved.

The invention relates to an assembly spacecraft closed loop feedback optimal control distribution method which is designed oriented to the problems of executing mechanism installation deviation, executing mechanism saturation and energy restriction of an assembly spacecraft. The assembly spacecraft closed loop feedback optimal control distribution method comprises the steps that firstly, an assembly spacecraft posture kinematic and dynamic model including executing mechanism installation deviation is established; secondly, an assembly spacecraft anti-saturation and posture stable controller is designed for the assembly spacecraft posture kinematic and dynamic model, and an assembly spacecraft three-axis virtual posture stable control instruction is obtained through solving; thirdly, an open loop optimal control distribution method is designed based on the virtual control instruction, and distribution is made to meet the restriction condition of energy optimum; finally, based on the open loop optimal control distribution method, the closed loop feedback optimal control distribution method is designed to reduce distribution errors brought by executing mechanism installation deviation. The assembly spacecraft closed loop feedback optimal control distribution method has the advantages of being high in reliability and low in energy consumption, and is suitable for control distribution among multiple executing mechanisms of the assembly spacecraft.