2300 results about "Systems modeling" patented technology

The invention provides an optical storage and charging cooperative control method and system based on multi-energy complementation. The method comprises the following sub-steps: respectively establishing a photovoltaic power generation model, an energy storage system model and a charging load model; acquiring historical illumination information, charging information and electricity price information, constructing a prediction model based on a neural network, and predicting and outputting illumination intensity, charging load demand power and electricity price in a future time period; constructing a target optimization function by taking the annual net cost and the power deviation rate as optimization targets; according to the method, the cooperative optimization control of the photovoltaic power generation, energy storage and charging system is realized, the annual net cost is reduced, the power deviation is reduced, the energy storage and charging cooperative control strategy is established, the target optimization function is solved by adopting the improved whale optimization algorithm, and the charging and discharging power sequence is generated according to the optimal solution obtained by solving and is input to the system for execution. And the operation efficiency and reliability of the whole system are improved.

The invention provides a dynamic self-optimization and adaptive learning method for a large model of a water conservancy system, and the method comprises the steps: data collection and preprocessing, model construction and initialization, real-time monitoring and model evaluation, difference analysis and adaptive adjustment strategy generation, model updating and optimization, continuous learning and knowledge accumulation, etc. According to the method, through dynamic data driving, intelligent difference analysis and self-adaptive optimization, conversion of a water conservancy system model from static passive to dynamic active is realized. Compared with the prior art, the method has accuracy, real-time performance, economical efficiency and sustainability, provides a landing technical path for intelligent upgrading of a water conservancy system, and has wide application potential in the fields of flood control and disaster reduction, agricultural irrigation, clean energy production and the like.

The invention discloses a low-voltage ride-through control method of a flywheel energy storage system, which is based on a low-voltage ride-through control strategy of model predictive current control (MPCC) so as to improve the low-voltage ride-through capability of the flywheel energy storage system when a power grid fails. A future current value is predicted through system modeling and a prediction algorithm, so that effective control is realized. The MPCC-based machine side-power grid side coordination control strategy can quickly respond to the voltage sag of the power grid, provide reactive power support, stabilize the voltage of the direct current bus, and ensure the safe and reliable operation of the flywheel energy storage system during the voltage sag period of the power grid. A traditional pulse width modulation (PWM) technology is abandoned, the optimal switching state is directly selected through a limited control set, and hardware implementation of a power grid side converter is simplified. A differential control strategy aiming at a power grid symmetric fault (three-phase voltage sudden drop) and an asymmetric fault (single-phase grounding) is provided, the method is suitable for a complex power grid fault scene, and the system universality is improved.

The invention discloses a conversion method and system based on SysML and Modelica model semantic mapping. The method comprises the following steps that S1, a Modelica standard model library is imported into a SysML modeling tool; s2, completing the definition of behavior elements, and forming an SysML model instance; s3, exporting a Modelica model which can be executed by the Modelica simulator; s4, establishing a mapping relation table between SysML model elements and Modelica model elements; s5, when a change event occurs in the SysML model, updating the content of the corresponding Modelica model; s6, the Modelica model is imported into the SysML model, and a corresponding SysML model instance is generated; s7, simulation result mapping and behavior modeling generation are executed, a state transition diagram structure is formed, and structure updating of internal block diagrams in the system model is completed. According to the method, bidirectional conversion and joint simulation optimization between models are realized, and the method is suitable for cross-platform modeling, collaborative design and functional verification scenes of a complex system.

The invention belongs to the technical field of material structure optimization, and discloses an enhanced structure design method and system for a three-period minimal curved surface, and the method comprises the steps: modeling a geometric model of the three-period minimal curved surface, and exporting the model; expanding a design domain of the geometric model to obtain a corresponding expanded design space of the three-period minimal curved surface; a design space file is converted into an analysis data structure, a general expression mode is constructed for the three-period minimum curved surface, an equal geometric element stiffness matrix is solved by using a Gaussian integral method and the elastic performance of each point in a design domain and assembled into a global stiffness matrix, and the structural response of the model is solved; constructing a local density distribution function in the Bayesian unit, and assembling all LDDFs to obtain a global density distribution function for presenting structural topology; and constructing a stiffness maximization topological optimization mathematical model for the TPMS, calculating an objective function and analyzing sensitivity, and carrying out iterative updating on design variables in the optimization model based on an optimal criterion method to obtain a reinforced structure configuration.

The invention provides a work ticket auxiliary decision-making method and system, and relates to the technical field of electric power operation, and the method comprises the steps: collecting and fusing the multi-source data of an electric power operation system, and obtaining the multi-modal data of the electric power operation system; obtaining deep semantic features of the multi-modal data according to the multi-modal data through a large-scale language model, a data feature extraction model and an image feature extraction model; matching according to the deep semantic features through a preset knowledge graph to obtain knowledge graph nodes and relationships related to the multi-modal data; determining an initial auxiliary decision of the work ticket of the power operation by combining a preset deep reinforcement learning network; inputting the data into a power operation system model for simulation to obtain an execution effect; and optimizing the initial auxiliary decision according to the execution effect and the expected execution effect to obtain a final auxiliary decision of the work ticket. According to the invention, the accuracy and consistency of decision making are improved, and the intelligent degree of auxiliary decision making of the work ticket is improved.

The invention relates to a cross-domain knowledge migration cold start recommendation method based on dynamic intention perception. A system model of the method comprises a decoupling feature extractor based on graph convolution, an intention bridging network, a self-adaptive knowledge fusion mechanism and a recommendation generation unit. The method comprises the following steps: firstly, decomposing expressions of a user and an article into a plurality of intention subspaces through a decoupling feature extractor; then, establishing a soft mapping relation between intention subspaces of a source domain and a target domain by using an intention bridging network to realize intention alignment of fine granularity; the migration degree of source domain knowledge is dynamically adjusted through an adaptive knowledge fusion mechanism, and differentiated migration strategies are adopted for different users and articles; and finally, stable learning and smooth knowledge migration of the intention mapping relation are ensured by adopting a three-stage progressive training strategy of a recommendation generation unit. The problems of non-correspondence of intention semantics, negative migration and the like in traditional cross-domain recommendation are effectively solved, the recommendation effect is remarkably improved, and the method is particularly suitable for a cold start scene with sparse target domain data.

The invention relates to the technical field of mechanical arm control, and particularly discloses a multi-axis motion control method based on a six-axis hydraulic mechanical arm, and the method comprises the following steps: establishing a kinetic model and a hydraulic system model of the six-axis hydraulic mechanical arm, generating a motion track in a Cartesian space or a joint space based on a preset task demand, and generating a multi-axis motion model of the six-axis hydraulic mechanical arm; the track smoothness is optimized through an S-type acceleration and deceleration algorithm; a deviation coupling synchronous control strategy is adopted, and position, speed and pressure signals of all hydraulic cylinders are collected in real time. According to the multi-axis motion control method based on the six-axis hydraulic mechanical arm, through multi-layer modeling, multi-algorithm fusion and intelligent optimization, the core problems of synchronous errors, non-linear interference, high energy consumption and the like in multi-axis cooperative control of the hydraulic mechanical arm are solved, high-precision, high-robustness and low-energy-consumption industrial-grade motion control is achieved, and the multi-axis motion control method is suitable for industrial production. The method is suitable for heavy-load carrying, precision assembling and other complex scenes.

The invention provides a self-adaptive constraint model active mismatch prediction control method based on voltage and current ripple resistance of a power converter in a hybrid energy storage system, and the method comprises the steps: building an island DC micro-grid system model, collecting the voltage and current information of a system, and designing a model prediction control frame of a power loop and a cost function of the model prediction control frame; designing a model predictive control framework of the current loop and a cost function of the model predictive control framework; designing an active model mismatch mechanism to enhance the response capability to dynamic change; determining an optimization problem with a normal value, and designing an adaptive constraint optimization algorithm to dynamically adjust constraint parameters and optimize control performance; and designing a steady-state and dynamic-mode trigger for adapting to the running state of the system. According to the invention, the trajectory tracking precision of the system under dynamic and steady-state working conditions can be significantly improved, current ripples caused by control delay can be effectively eliminated, damage to electrical equipment due to overlarge ripples can be avoided, and the service life of the equipment can be prolonged.

The invention discloses a hybrid power flow calculation method and device based on a cross entropy algorithm, and belongs to the technical field of optimization algorithm and machine learning crossing. The method comprises the steps that system modeling and parameter initialization are carried out, and a state space, an action space and a target function are defined according to a specific application scene; setting and initializing row parameters; entropy algorithm-guided sample generation and elite screening: iteratively optimizing power grid parameters through probability distribution, and quickly approaching a global optimal solution; the strategy optimization target of the strategy gradient algorithm is that a dynamic strategy network is constructed based on optimized power grid parameters, and the running state of the power grid is adjusted in real time to deal with uncertainty; performing sample multiplexing and distribution fusion of importance sampling: setting a double-buffer mechanism and performing sample fusion and multiplexing; and parameter updating and convergence judgment. According to the method, global search is carried out through the cross entropy algorithm, local optimization is carried out through the strategy gradient algorithm, the sample utilization rate is improved through the importance sampling method, and cooperative processing of global optimization and local optimization is achieved.

The invention discloses a multi-user sharing-oriented multimedia network video recommendation method, which comprises the following steps: firstly, constructing multi-user characteristics by utilizing collected program information in a multi-user sharing environment, and constructing a leading user label according to the similarity of the program characteristics and the continuity of user watching behaviors, so that separation of multi-user mixed logs is realized; performing periodic multi-user identification prediction of future sessions; secondly, building a user interest mining model based on a time-varying LinUCB algorithm to learn interest changes of a user for each program theme, and enhancing the personalized ability and efficiency of a recommendation system from three aspects of parallel calculation, adaptive control of an exploration coefficient and incremental updating based on LSTM; and finally, establishing an article quality model based on a non-time-varying LinUCB algorithm to further ensure the program quality, and integrating the two algorithms into a final recommendation system model by adopting a cross weighting strategy to form a final program recommendation list. The novelty and accuracy of the recommendation result are ensured.

The invention discloses a cloud control self-driving automobile control method considering automobile cloud communication time delay. By constructing a time delay prediction model based on historical communication delay data, the back-and-forth communication time delay at the current moment is accurately predicted, and forward compensation is carried out on the vehicle state by adopting an iterative prediction formula in combination with a vehicle transverse dynamic model. According to the method, a process disturbance correction item is introduced, system modeling errors caused by environment disturbance are effectively corrected, and the state prediction precision is improved. And deducing a future vehicle state through the predicted time delay step number in combination with a historical vehicle state and control input so as to realize dynamic compensation of the time delay influence. The method effectively solves the problems of control lag and state information lag caused by communication delay in vehicle-cloud cooperative control, improves the control real-time performance and precision of a cloud control automatic driving system, enhances the robustness and safety of the system in a complex environment, and is suitable for automatic driving scenes with high dynamic and high safety requirements.

The invention relates to the technical field of new energy power systems, and discloses a new energy consumption software model construction method based on a simulation platform, and the method comprises the steps: firstly dividing new energy consumption system units, determining the topological structure and operation parameters of the new energy consumption system units, and constructing a multi-physics field coupling simulation model; then, carrying out distributed parallel solution on the model, defining a global optimization target, constructing a joint optimization and network reconstruction model, respectively adopting a deep reinforcement learning algorithm and graph neural network optimization, and generating an optimization scheme through multi-agent collaboration; whether the optimization target converges is verified, if yes, control parameters are output, and if not, optimization variables are updated to continue optimization; and finally, the optimized parameters are imported into the digital twin platform calibration model integrated with the block chain technology, and hyper-parameters are adjusted. The method improves the accuracy of a new energy consumption system model, optimizes the system operation, enhances the cooperative stability, and promotes the efficient utilization of new energy and the sustainable development of a power system.

The invention discloses an optimal design method for a floating wind power-wave energy multi-energy complementary power generation platform, which comprises the following steps of: constructing an integrated and parameterized system model which is a fully-coupled and parameterized numerical model comprising all key components of the floating wind power-wave energy multi-energy complementary power generation platform; all key design parameters influencing the system performance are set as parameterized variables; establishing a multidisciplinary coupling dynamic simulation model; defining a multi-objective optimization problem including decision variables, objective functions and constraint conditions; the decision variable selects a group of core variables from the parameterized variables as optimization input; and combining the multi-objective optimization problem with a multidisciplinary coupling dynamic simulation model, executing a multi-objective optimization cycle, and generating and deciding a Pareto optimal solution set to obtain typical design schemes with different characteristics. According to the method, the global optimization design of the floating wind power-wave energy multi-energy complementary power generation platform can be realized.

The invention provides a reliability-aware dependent task unloading method based on topology reconstruction in industrial internet edge computing, which comprises the following steps of: constructing a system model covering an edge cloud network platform, an industrial cloud platform and internet of things equipment, and establishing a transmission delay model and a reliability model; constructing a task unloading mathematical model with the maximum reliability level; the method comprises the following steps: modeling a micro-service dependency relationship into a weighted directed acyclic graph based on a network flow theory, and carrying out topology reconstruction on micro-services applied to the Internet of Things through a Ford-Fulkerson approximation algorithm to obtain a micro-service grouping structure formed by minimum cut division; the micro-service grouping structure serves as priori knowledge to be input into the deep Q network, the deep Q network is used for solving a task unloading mathematical model, a task unloading strategy is dynamically adjusted, resource allocation is optimized, and an optimal calculation unloading scheme in the industrial internet edge calculation environment is obtained. The micro-service deployment is optimized, the communication overhead is reduced, and the system reliability and the resource utilization rate are improved through real-time network state dynamic decision making.

The invention discloses an engine additive component service life prediction method based on modal polycondensation and expansion, and the method specifically comprises the steps: firstly, achieving the grid discretization of an initial defect structure based on a finite element method, and carrying out the local refinement of a defect region; performing modal polycondensation on the overall model to obtain a low-dimensional system model, and performing rapid calculation under the low-dimensional model to obtain modal response; establishing a conversion relation between a displacement vibration mode and a stress vibration mode, and obtaining full-field stress by utilizing modal response and based on modal extension; and solving a stress intensity factor-time history of the crack tip by adopting a stress extrapolation method, obtaining a delta K-R-n three-variable rain flow matrix by utilizing a rain flow counting method, and finally carrying out residual life evaluation through an iLAPS model. According to the method, system dynamics, fracture mechanics and modal order reduction technologies are fused, a new efficient and accurate fatigue life prediction path adapting to complex working conditions is provided for additive manufacturing components with defects, and the method has remarkable engineering application value and popularization potential.

The invention discloses a self-adaptive safety control method of a nonlinear MIMO system under intermittent DoS attack, which comprises the following steps: establishing a nonlinear MIMO system model suffered from intermittent DoS attack, and the system model is in a strict feedback form and comprises an unknown nonlinear function and bounded external disturbance; the DoS attack causes periodic interruption of a communication link from a sensor to a controller, so that actual measurement data is unavailable in an attack activation period; designing a switching type adaptive state estimator; coordinate transformation is carried out by introducing a filter, and a system error is decomposed into a tracking error and a dynamic surface filtering error; a Lyapunov function is constructed; performing stability analysis in stages; designing an adaptive law to update unknown parameter estimation values of the FLS; and a final event triggering controller is designed, and the event triggering controller is combined with a virtual controller to track an error compensation term and an FLS approximation term. The problem that the state cannot be measured is solved.

The invention relates to the technical field of power supply, and particularly discloses a peak and frequency regulation heat supply method for a multi-element energy storage coupling coal power unit, which is used for solving the problems that only active frequency is optimized, electric heating coordination and charge state constraint are lacked and time delay compensation is insufficient in the prior art. The method provided by the invention comprises the steps of system modeling, controller design, coupling constraint, adaptive parameter adjustment, delay compensation and distributed consensus. According to the method, a dual-domain electric power-thermal interconnection model is constructed, a cooperative controller based on delay compensation distributed model prediction control is designed, electric-thermal cooperative penalty and charge state constraint are introduced into a target function, a prediction window and weight parameters are adaptively adjusted, and network delay is identified and compensated online. And a consensus algorithm is adopted to realize multi-region power-heat collaborative optimization.

The invention relates to a four-axis unmanned aerial vehicle PID parameter setting method based on a whale optimization algorithm, and belongs to the technical field of unmanned aerial vehicle control. The method aims at solving the problems that in the traditional PID parameter setting process, experience is relied on, time is consumed, and optimal parameters are difficult to obtain. According to the method, the whale optimization algorithm is introduced, and the characteristics of high global search capability and high convergence speed are utilized, so that the parameters of the four-axis unmanned aerial vehicle PID controller are automatically optimized. The method comprises the steps that firstly, a kinetic model of the four-axis unmanned aerial vehicle is established, a control target of a PID controller is determined, PID parameters serve as optimization variables, and a fitness function is defined to evaluate control performance; then, performing global search in a parameter space by using a whale optimization algorithm, and gradually optimizing PID parameters by simulating a whale predation behavior; the optimized PID parameters are applied to a flight control system of the four-axis unmanned aerial vehicle, and stable attitude, height and position control is achieved. The method has the advantages that PID parameters are automatically set through the whale optimization algorithm, the low efficiency and subjectivity of a traditional trial and error method are avoided, and the parameter setting efficiency and precision are remarkably improved; meanwhile, for an unmanned aerial vehicle control system with high nonlinearity and complexity, the WOA can adjust parameters based on actual feedback under the condition that accurate modeling of the system is not needed, and dependence on system modeling is reduced.

The invention relates to a beam forming design method of an active RIS-assisted ISAC system, and belongs to the field of communication perception integration. A multi-user large-scale multiple-input single-output system model assisted by communication and perception integration and a system model based on an ISAC system assisted by an active RIS are constructed, and a beam forming vector and a reflection coefficient of the active RIS are respectively optimized by adopting an alternating optimization algorithm. According to the method, the propagation blockage problem is solved, the system performance is further improved, the multiplicative fading effect problem of the passive RIS is solved by using the active RIS, the weighted minimum mean square error algorithm, the continuous convex approximation algorithm and the positive semidefinite relaxation algorithm are combined, the system effectiveness is improved to the maximum extent, and the system performance is improved to the maximum extent. The system utility is the sum of the weighted sum rate of the system and the target detection power, the target detection capability is remarkably enhanced while the weighted sum rate of the user is improved, and a new solution is provided for performance optimization of the ISAC system.

The invention relates to the field of factory intelligent cooling, and discloses an MPC-based large factory intelligent cooling system and a cooling control method, the system comprises a data acquisition module, an AI control module, a cooling tower control module, a cooling water pump control module and a cooling-water machine control module; the data acquisition module acquires outdoor environment temperature and humidity, cooling tower outlet water temperature, cooling water pump inlet and outlet water temperature difference and flow and water chiller operation state data in real time. The AI control module constructs a system model through real-time data, predicts and optimizes by using an MPC algorithm, and calculates optimal values of the running frequency of a cooling tower fan, the running frequency of a cooling water pump and the power of a cooling-water machine compressor by adopting sequential quadratic programming, so as to realize cooperative dynamic control of equipment in the system; the overall operation efficiency of the cooling system under the outdoor temperature and humidity change condition is effectively improved, and the overall energy consumption of the system is minimized in real time.

The invention discloses a multi-agent system adaptive neural network cooperative fault-tolerant control method, and belongs to the field of nonlinear multi-agent system control, and the method comprises the steps: constructing a multi-agent system model for outputting a system state; the multi-agent system comprises a leader and a follower; designing a distributed sliding mode estimator, inputting the system state into the distributed sliding mode estimator, obtaining an estimated value of the leader trajectory, and calculating an estimated error of the leader trajectory; converting the estimation error into a first-order error variable and a high-order error variable through an error conversion module; based on the first-order and high-order error variables, a self-adaptive law and a self-adaptive fault-tolerant controller are obtained by adopting a back-stepping recursion technology; and the adaptive fault-tolerant controller is used for controlling the system state output by the multi-agent system model. A self-adaptive fault-tolerant control strategy is constructed, the stability and tracking performance of the system are ensured, and all signals in the closed-loop system are kept bounded under the condition that the state does not violate constraints.

The invention provides a distributed formation control method driven by a recursive balance network under a communication attack, and relates to the technical field of cooperative control of a multi-agent system, and the method comprises the steps: constructing a distributed multi-agent system model, and constructing an RBN controller heterogeneous communication network architecture and a DoS attack model; the RBN controller design is optimized, the distributed RBN controller architecture is realized, the stability of the RBN controller is analyzed based on the shrinkage mapping theory, and the exponential convergence of the system state difference is proved by constructing a Lyapunov function; training the optimized RBN controller by adopting a difficulty priority confrontation training strategy, designing a multi-objective loss function, and dynamically adjusting the training weight of each difficulty level; and simulating the distributed multi-agent system optimized by the above steps, testing the robustness of the distributed multi-agent system under incremental DoS attack intensity, and performing comparative analysis of heterogeneous and isomorphic communication network configuration and comprehensive performance comparison of an RBN controller and a traditional MPC method.

The invention relates to an unmanned aerial vehicle group-oriented sensing communication integrated network multi-resource joint scheduling method, and belongs to the technical field of wireless communication, and the method comprises the steps: building a system model of multiple UAV-ISAC tasks, and defining a joint optimization problem; extracting spatio-temporal features from the dynamic heterogeneous graph in which the unmanned aerial vehicle, the user and the sensing target are abstracted as nodes and the relationship is abstracted as edges; taking the features as input, and adopting a layered multi-agent reinforcement learning architecture to solve the joint optimization problem on line; in the architecture, resource allocation and trajectory planning actions are generated through cooperation of a central Actor and all unmanned aerial vehicle Actors, and system performance is evaluated by a central Critic; constructing a multi-target weighted reward function, stabilizing a training process by combining experience playback and a Mini-batch sampling mechanism, and updating network parameters in parallel; and obtaining an optimal resource allocation and unmanned aerial vehicle trajectory strategy through training. The sensing performance is improved, the communication quality is guaranteed, and the defects in the aspect of dynamic resource scheduling in the prior art are overcome.

The invention is suitable for the technical field of mobile edge computing, and provides a hybrid energy WPT-MEC system-based task unloading and resource allocation method, which comprises the following steps of: establishing a system model; an optimization problem with the goal of minimizing the long-term average power grid energy consumption is drawn up and converted into a Markov decision process; implementing an action space reduction strategy, and executing data normalization processing; constructing an enhanced depth deterministic policy gradient (EDDPG) algorithm; and generating and outputting an optimal strategy according to a real-time system state by using the trained network. According to the method, the wireless power transmission (WPT) technology, the green energy harvesting technology and the mobile edge computing technology are combined, so that the energy use duration and the computing capacity of the wireless equipment are improved. The online decision-making mechanism based on the EDDPG algorithm can dynamically optimize task unloading and resource allocation strategies, adapts to a dynamic environment, reduces energy cost and environmental pollution, and provides reliable technical support for large-scale deployment of the Internet of Things.

The present invention discloses a method for constructing an intelligent computation engine of an artificial intelligence cross-platform model based on knowledge self-evolution. The method comprises: determining source and target moments; dividing a discrete manufacturing system data set; initializing a dynamic discrete manufacturing system model; preprocessing data and constructing a task pool; constructing a meta learning framework; migrating a trained neural network to new tasks; iterating until convergence and storing model parameters; and testing in a new environment. This invention shortens the convergence time of model parameters, significantly benefiting the training of dynamic discrete manufacturing models subject to temporal disturbances in actual production.

The invention provides a fault diagnosis method and system for a spindle box of a high-speed gear milling machine based on fault mechanism simulation and data fusion. The method mainly comprises the following steps: S1, calculating a tooth profile wear curve of a gear based on an Archard wear principle; s2, three-dimensional modeling software is used for building system models in different wear states, and simulation data sets under different wear degrees are obtained with the help of dynamics simulation software; s3, establishing a data acquisition system to obtain an experimental vibration data set under the actual working condition of the spindle box; s4, constructing a spindle box fault diagnosis model by using the analogue simulation data set obtained in the step S2; and S5, performing fault diagnosis on the experimental vibration data set obtained in the step S3 by using the spindle box fault diagnosis model constructed in the step S4, and identifying the health condition of the spindle box system. Important data support is provided for a main axle box fault diagnosis and health management system, and the diagnosis accuracy and reliability are improved.

The invention discloses a nonlinear multi-agent system sampling consistency control method and system and a medium, and the method comprises the following steps: S101, obtaining system model parameters, including a nonlinear function # imgabs0 #, a pulse gain # imgabs1 #, a sampling period # imgabs2 #, a communication topological graph # imgabs3 # and a leader-follower kinetic equation; s102, verifying an assumed condition; s103, constructing a Lyapunov function # imgabs4 #, and analyzing the stability of an error system in combination with pulse disturbance; s104, deriving a consistency condition through a Lyapunov method and a pulse theory, calculating key parameters, and determining a pulse gain and a sampling period constraint; s105, selecting parameters meeting conditions; s106, constructing a sampling controller containing pulse disturbance; and S107, implementing the controller and performing numerical simulation. According to the invention, the anti-pulse disturbance capability is strong: through the design of the pulse gain # imgabs5 #, the instantaneous interference of an input channel is effectively counteracted, and the robustness of the system is improved; a sampling data control strategy is adopted, a control signal is updated only at a discrete sampling moment, and the communication burden is reduced.

The invention belongs to the technical field of electromagnetic transient simulation, and particularly discloses an electromagnetic transient simulation decoupling method and system based on small-step synthesis and a medium, and the method comprises the steps: obtaining a to-be-simulated power system model, extracting a topological structure, electrical parameters and control parameters, and setting a simulation step length; the method comprises the following steps: dividing a system into a plurality of subsystems, and inserting decoupling branches among the subsystems; constructing a discrete time state space model based on the decoupling branch, dividing a simulation step size into small steps, performing small-step modeling on the state space model, and establishing a small-step state updating relationship; synthesizing the plurality of small-step models into a synthetic state transition matrix and an input matrix under the corresponding simulation step size through an iteration mode; and decoupling simulation calculation between the subsystems and the decoupling branches is carried out based on the composite matrix, and parallel simulation of the multiple subsystems is completed. Compared with the existing artificial delay branch method, the method can effectively relieve the problem of unstable numerical value caused by improper step length selection and violent interface fluctuation.

The invention relates to the technical field of mobile robot control, and discloses a wheeled robot trajectory tracking anti-interference control system, which comprises a nonlinear dynamics modeling module used for establishing a nonlinear dynamics model of a wheeled robot so as to describe the motion characteristics of the robot under the influence of ground friction force, sliding force and modeling errors; the disturbance estimation module is used for estimating external disturbance and system modeling errors in real time through an extended state observer and providing disturbance compensation data for the controller; and the sliding mode control module is used for realizing rapid convergence of track deviation by constructing a sliding mode surface and enhancing the anti-interference capability of the system by dynamically adjusting the sliding mode gain. According to the invention, through nonlinear dynamic modeling, disturbance estimation, sliding mode control and model prediction control fusion and real-time trajectory optimization, high-precision trajectory tracking is realized, and the anti-interference capability and the dynamic environment adaptability are enhanced.