25 results about "Variable structure control" patented technology

The invention provides an aviation permanent magnet synchronous motor control architecture based on master-slave redundancy and model prediction, belongs to the field of aviation electric propulsion control systems, and aims to solve the problems of extreme environment parameter drift, single-fault shutdown, multi-target control conflict, fault diagnosis lag and the like of an existing system. The control architecture comprises a master-slave dual-redundancy control unit, a wide-temperature-range adaptive model prediction control unit, an electromagnetic interference adaptive suppression unit and a multi-dimensional fault tolerance unit. According to the invention, a DSP + FPGA heterogeneous redundant architecture is matched with two-out-of-three voting logic, so that fault non-perception switching is realized; an extended Kalman filter observer is embedded to update motor parameters on line, and take-off / cruise / landing three modes are preset; interference at the frequency band of 100kHz-10MHz is controlled and suppressed through adaptive notch filtering and a sliding mode variable structure; a long short-term memory network is fused to realize accurate diagnosis of early faults, and the system is adaptive to aviation scenes such as electric general aviation aircrafts and unmanned aerial vehicles.

The invention provides a method suitable for an environmental bin heating test, and belongs to the technical field of environmental bin heating test, the method comprises the steps: determining a temperature measurement position through a graph theory topology optimization sensor arrangement algorithm, constructing a temperature field graph, configuring a Beckfu controller to collect temperature data at high frequency, and carrying out sliding window statistical test processing; a high-power main heater and a low-power auxiliary heater are installed at the top and the bottom of the environment bin respectively to form a closed-loop circulation system, temperature control partitions are divided according to the temperature deviation value, and a fuzzy sliding mode variable structure control algorithm is adopted to calculate partition heater control instructions. A control instruction is input into the thermal field dynamic balance optimization model for global collaborative optimization, an optimal power distribution scheme is output, a variable-power staged heating strategy is executed to achieve rapid temperature rise and fine temperature adjustment, and the technical problem that the test precision is reduced due to uneven temperature field distribution in the environment bin heating test process is solved.

The invention relates to the technical field of overhead working equipment control, and discloses a motion control method of an overhead working truck. According to the method, horizontal and vertical position and attitude signals of a hanging frame are collected in real time through a multi-sensor module mounted on the hanging frame. And carrying out real-time fusion on the multi-sensor signals by adopting a self-adaptive data fusion algorithm to obtain comprehensive pose information of the lifting frame. And horizontal and vertical driving signals are respectively generated through fuzzy proportional-integral-differential control and a sliding mode variable structure control algorithm, so that accurate motion control is realized. A motion coupling compensator is introduced, a driving signal is dynamically corrected to suppress mutual interference between horizontal movement and vertical movement, and the positioning precision and stability are improved.

A servo loop angular velocity follow-up type partition discrete variable structure control method, comprising: obtaining the angular velocity of a table body on X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope installed on the table body and acquiring the angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system; performing partition variable structure control based on the size of the angular velocity component of an actuator according to the angular velocity component and the angle of internal relative rotation, and respectively calculating the resultant rotation angular velocity ω p of the table body on Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on X x axis and the resultant rotation angular velocity ω p3 of an outer frame on Y yk′ axis. The present application can avoid the occurrence of singular values in the servo loop decoupling process, ensure the stabilization of the platform table body relative to the inertial space, and has the advantages of full attitude, high precision, and relatively smooth interval switching.

A compliant continuous variable structure control method under the condition of a servo loop frame limiting condition, comprising: obtaining the angular velocity of a table body on an X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope mounted on the table body and obtaining the angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system; calculating the resultant rotation angular velocity ω p of the table body on the Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on the Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on the X x axis and the resultant rotation angular velocity ω p3 of an outer frame on the Y yk′ axis according to the angular velocity component and the angle of internal relative rotation; the present application can ensure that the platform table body is stabilized relative to the inertial space and has the advantages of full attitude and high precision.

The invention belongs to the technical field of homogenizer control, and particularly relates to an operation parameter control method of a non-intrusive material homogenizer, which comprises the following steps: acquiring a load current of a main driving motor and a revolution phase of a revolution arm in real time; acquiring an interpolation current value when a system track passes through a preset Poincare section by monitoring a revolution phase and utilizing a linear interpolation method; performing normalization processing on the interpolation current value and constructing a Poincare feature point; calculating manifold dispersion based on the Poincare feature points in the sliding window; and adaptively calculating the target revolution speed of the next period by using an exponential function according to the manifold dispersion, and performing variable structure control on the homogenizer. According to the method, the intrinsic rheological characteristics of the material can be effectively stripped from the strong periodic mechanical noise, the problem of phase lag caused by filtering in the prior art is solved, and mixed end point judgment and self-adaptive energy consumption control of the homogenizer are realized.

This invention provides a control architecture for aerospace permanent magnet synchronous motors based on master-slave redundancy and model prediction, belonging to the field of aerospace electric propulsion control systems. It aims to solve problems in existing systems such as extreme environment parameter drift, single-fault shutdown, multi-objective control conflicts, and fault diagnosis lag. The control architecture includes a master-slave dual-redundant control unit, a wide-temperature-range adaptive model prediction control unit, an electromagnetic interference adaptive suppression unit, and a multi-dimensional fault-tolerant unit. This invention employs a DSP+FPGA heterogeneous redundancy architecture combined with a 3-out-of-2 voting logic to achieve seamless fault switching; it embeds an extended Kalman filter observer to update motor parameters online, preset takeoff / cruise / landing three modes; it suppresses interference in the 100kHz~10MHz frequency band through adaptive notch filtering and sliding mode variable structure control; and it integrates a long short-term memory network to achieve accurate early fault diagnosis, adapting to aerospace scenarios such as electric general aviation aircraft and drones.

The invention provides a singular perturbation decomposition and dual-mode compound control method for a multi-connecting-rod flexible mechanical arm, and relates to the technical field of robots. The method comprises the following steps: establishing a dynamic model of the flexible mechanical arm; singular perturbation decomposition is adopted, and the flexible mechanical arm dynamic model is decomposed into a fast-varying subsystem and a slow-varying subsystem; designing a self-adaptive sliding mode variable structure controller for the quick change subsystem; carrying out stability analysis on the adaptive sliding mode variable structure controller; designing a fuzzy controller for the slow-varying subsystem; performing stability analysis on the fuzzy controller; and simulation verification is conducted on the flexible mechanical arm, comparison verification is conducted on multiple control algorithms of the flexible mechanical arm from the three angles of the joint position, the joint output torque and the tail end position error, and the stability of the flexible mechanical arm is verified. According to the method, the dynamic model of the flexible mechanical arm can be decomposed into the fast-varying subsystem and the slow-varying subsystem, and the control precision and stability of the multi-degree-of-freedom flexible mechanical arm are effectively improved.

The present application relates to a massage chair motor speed regulation method, device and medium, belong to motor control technology field, including the following steps: obtaining the acceleration data of massage chair motor;Construct three-axis acceleration synthesis model and the acceleration data is as three-axis acceleration synthesis model input, output comprehensive acceleration;Based on the comprehensive acceleration obtains the motor speed of massage chair motor;Calculate the speed deviation of the motor speed and the reference speed, based on the deviation obtains the sliding mode surface;Based on the sliding mode surface adopts PID algorithm to obtain the PWM duty ratio of massage chair motor.The present application combines sliding mode variable structure control and adaptive PID algorithm, can real-time adjust control parameter according to the speed deviation, ensure that the motor speed is stable under various load conditions.

The application discloses a kind of three-rotor layout micro unmanned aerial vehicle high dynamic attack guidance and control method, comprising the following steps: establishing the linear time-invariant system dynamics model of micro unmanned aerial vehicle, setting initial path;Linear time-invariant system dynamics model is updated based on the initial path, and path is obtained;Micro unmanned aerial vehicle parameter uncertainty function and the sliding mode variable structure controller based on learning law are constructed;Nonlinear robust adaptive control is realized based on path, unmanned aerial vehicle parameter uncertainty function and the sliding mode variable structure controller based on learning law.The application can complete high dynamic path planning under the condition of obstacle, target motion parameter and micro unmanned aerial vehicle itself maneuverability constraint, ensure guidance accuracy, ensure that unmanned aerial vehicle realizes stable flight under the interference of external environment and internal system uncertainty factor.

The present invention provides a power control method and apparatus for an underwater thruster motor, comprising: acquiring underwater environmental pressure values ​​and underwater thruster motor stator temperature values ​​to generate a comprehensive compensation coefficient; identifying the influence of hydrodynamic disturbances on motor flux linkage based on the rotational speed signal fed back by the underwater thruster motor rotor position sensor, and dynamically correcting flux linkage commands using a sliding mode variable structure control algorithm to suppress flux linkage distortion; adaptively allocating the current components of the motor stator direct axis and quadrature axis according to the thrust requirements of the vehicle, combined with the comprehensive compensation coefficient and the corrected flux linkage commands, and generating a basic drive signal; performing high-frequency shaping on the basic drive signal to output an adapted voltage pulse sequence, and controlling the motor electromagnetic torque to track the target value corresponding to the thrust requirements in real time. This invention improves the operational stability and control accuracy of the underwater thruster motor.

This invention provides a relay protection action control method for line circuit breakers considering fast-switching current limiters, belonging to the field of relay protection technology. Based on phase space reconstruction, this invention judges the system oscillation trend and initiates an optimization process. Transient characteristics and operating parameters are input into a physical constraint prediction model to obtain predicted values ​​of the transient recovery voltage rise rate corresponding to different current limiting depths. Using the constraint that the predicted value is lower than the safety boundary value, an improved particle swarm optimization algorithm is used to search for the optimal current limiting depth. The current limiting depth is set using a differentiated control mode based on the ratio of the predicted value to the safety boundary value. Combined with sliding mode variable structure control, the current limiting resistor's input rate is dynamically adjusted. Furthermore, online parameter fine-tuning continuously optimizes the prediction accuracy, solving the technical problem of interruption failure caused by the transient recovery voltage rise rate exceeding the line circuit breaker's tolerance capacity after the current limiting device is activated.

The invention provides a concrete transportation unmanned vehicle control method and system for a cooling tower cylinder wall, and relates to the technical field of building construction.The method comprises the steps that vehicle operation parameters and track characteristic parameters are obtained in real time; calculating the total required torque, and judging whether the vehicle is in a driving working condition, a braking working condition, a steering working condition or a slip working condition; if the vehicle is in the driving working condition, distributing the torque to each wheel by adopting an adaptive particle swarm algorithm based on simulated annealing to reduce the energy consumption of the motor as a target; if the vehicle is in the braking working condition, a multi-target genetic algorithm based on a variable weight coefficient is adopted, energy recovery maximization and braking stability are dynamically balanced, and torque is distributed to all wheels; if the vehicle is in the steering working condition, self-adaptive model predictive control based on a dynamic model is adopted, and torque is distributed to all wheels; and if the wheel is in the slip working condition, an improved sliding mode variable structure control algorithm is adopted, the preset slip rate is taken as a target, and the torque of each wheel is independently controlled by the torque.

A four-axis inertial stabilization platform servo loop discrete variable structure control method, taking a hybrid discrete variable structure control as an example, comprises the following steps of: obtaining angular velocity components of a platform body on X p axis, Y p axis and Z p axis and obtaining an angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system according to angular velocity output by a gyroscope mounted on the platform body; performing partition variable structure control based on the size of an actuator angular velocity component and combining angle limitation according to the angular velocity components and the angle of the internal relative rotation, so as to respectively calculate a resultant rotation angular velocity ω p of the platform body on the Z z axis, a resultant rotation angular velocity ω p1 of an inner frame on the Y y axis, a resultant rotation angular velocity ω p2 of a middle frame on the X x axis and a resultant rotation angular velocity ω p3 of an outer frame on the Y yk′ axis. The method can avoid singular values in a servo loop decoupling process and ensure that the platform body is stable relative to inertial space.

A controller based on a variable structure comprises: a switching function calculation unit for receiving a position reference received from the outside of a motor and a plant to be controlled and a position feedback from the motor and plant, so as to calculate a switching function used for variable structure control; a variable structure high-order external disturbance estimation unit for estimating external disturbance applied to the motor and plant on the basis of the switching function, and outputting an estimated external disturbance signal; and a variable structure current command generation unit for generating a current command applied to the motor and plant, on the basis of the position reference, the position feedback from the motor and plant, the switching function, and the estimated external disturbance signal. Accordingly, the influence on a difference between a system model and an actual load model of an external disturbance compensator can be reduced.

The invention provides a trajectory tracking control method and device, electronic equipment and a computer readable storage medium. The method comprises the steps that a control model of an operation arm and a control model of a workbench are established through the Lagrange method; establishing a sliding mode variable structure controller for improving the sliding mode reaching law; and the sliding mode variable structure controller with the improved sliding mode reaching law is used for carrying out trajectory tracking control on an operation arm and a workbench. The improved reaching law sliding mode variable structure control designed by the invention can greatly reduce the generation of high-frequency buffeting, avoid the adverse effect of the high-frequency buffeting on the system, improve the ability of the system to quickly respond to input, and improve the control precision and robustness, and the trajectory tracking control effect is more ideal compared with the trajectory tracking control effect obtained before improvement and PD control.

The application provides a multifunctional shelter power supply method and system suitable for field operation. Through the deployment of environmental sensors, external environmental parameters are collected, combined with real-time power consumption data inside the shelter, and an operating condition report is generated. Based on the operating condition report, a differential evolution algorithm is used for multi-objective optimization analysis, a life cycle cost analysis technique is introduced, resource utilization is maximized, and an optimal energy combination is generated. Based on the optimal energy combination, a sliding mode variable structure control algorithm is used to dynamically adjust the working parameters, and through power demand side management technology, an energy conversion and distribution log is generated. Based on the energy conversion and distribution log, the operating state is continuously monitored, normal fault diagnosis is performed, operating data is recorded, and an optimized power supply scheme is generated. The technical scheme provided by the application can improve energy utilization efficiency and system stability, and ensure long-term reliable operation of the power supply system.

The application discloses a brake force adjusting method based on an electromagnetic valve and belongs to the field of automobile braking, and comprises the following steps: S1, comprehensively considering electromagnetic characteristics, hydraulic characteristics and mechanical movement characteristics of the electromagnetic valve, establishing a dynamic model of multi-physical field coupling containing electromagnetic force, valve core movement and hydraulic force, so as to describe a dynamic relationship between a valve core position of the electromagnetic valve and brake force; S2, obtaining optimal structure parameters of the electromagnetic valve through a finite element simulation method; S3, based on the optimal structure parameters of the electromagnetic valve and the dynamic model of multi-physical field coupling, generating a PWM signal by adopting a fractional order sliding mode variable structure control algorithm; and S4, controlling an electromagnetic coil current through the PWM signal. By adopting the brake force adjusting method based on the electromagnetic valve, high-precision, fast-response and strong-robustness adjustment of brake force is realized.

The application discloses a 5G remote variable-structure control multi-degree-of-freedom swing mechanical arm, which comprises a fixed rod, a supporting rod, a rotating rod, a micro motor one, a rotating pin, a rotating block, a micro motor two, a gear, a gear ring, a round rod, a micro bearing, a T-shaped block, a clamping groove, a T-shaped rod, a spring one, a clamping block, a micro push rod, an inclined block one, an inclined block two, a magnetic ring one, a magnetic ring two and a spring two. The micro motor two is started, the micro motor two drives the gear to rotate through variable-structure control input current, further drives the gear ring to rotate, drives the rotating rod to rotate, rotates the supporting rod, makes the T-shaped block enter the inside of the circular groove, when the limiting groove on the T-shaped block is aligned with the clamping block, under the elastic deformation of the spring one, the T-shaped rod is displaced to drive the clamping block to enter the inside of the limiting groove, the micro push rod drives the inclined block one to move, the inclined block one extrudes the inclined block two, the inclined block two moves, and the magnetic ring two moves to be adsorbed and attached to the magnetic ring one, convenient rotation, installation and limiting are realized.

The application discloses a kind of based on sliding mode self-disturbance rejection and improved PD's arm rotorcraft control method and system, wherein the method includes: respectively constructing the dynamics model of rotorcraft and mechanical arm;Improved PD controller is constructed according to the dynamics model of mechanical arm;Estimate the total disturbance estimation value of rotorcraft platform when mechanical arm acts;According to the dynamics model of rotorcraft, sliding mode self-disturbance rejection controller of position loop and attitude loop is constructed;According to total disturbance estimation value, input the sliding mode self-disturbance rejection controller for compensation, obtain output system control quantity, and it is converted into the speed control quantity of four rotors.The method uses extended state observer to observe the mechanical arm disturbance that rotorcraft platform is subjected to, and combines nonlinear sliding mode variable structure control real-time compensation disturbance generated by mechanical arm operation, while based on the improved PD controller of dynamics model design mechanical arm, improve the operation accuracy and stability of arm rotorcraft.

This invention discloses a singularity-free path continuous variable structure control method for an inertial stabilization platform servo loop, comprising: obtaining the position of the platform in the X-axis... p Axis, Y p Axis and Z p The angular velocity component on the shaft and the measured rotation angle β of the outer frame are obtained. xk , rotation angle β of the middle frame yk Inner frame rotation angle β zk Given the values ​​of the parameters of the compliant continuous variable structure and the active region corresponding to the path without singularities, the angular velocity correction value Δω of the compliant continuous variable structure is calculated; based on β xk β yk β zk And Δω, calculate ω z ω y ω x and ω yk′ ; will ω z ω y ω x and ω yk′ The output, after being fed to the linear controller, acts on the torque motors at each axis end of the inertial stabilization platform, thereby stabilizing the platform body relative to inertial space. This invention overcomes the platform swaying caused by switching between different control signals when using partitioned variable structure control, thus enhancing the stability of the platform body relative to inertial space and improving the accuracy of navigation calculations.

The present application belongs to the technical field of homogenizer control, and particularly relates to a non-intrusive material homogenizer operation parameter control method, comprising: collecting the load current of a main drive motor and the revolution phase of a revolving arm in real time; obtaining the interpolation current value when the system trajectory crosses a preset Poincare section by monitoring the revolution phase and using a linear interpolation method; normalizing the interpolation current value and constructing Poincare characteristic points; calculating the manifold dispersion based on the Poincare characteristic points in a sliding window; and using an exponential function to adaptively calculate the target revolution speed of the next period according to the manifold dispersion, and performing variable structure control on the homogenizer. The present application can effectively separate the material intrinsic rheological characteristics from strong periodic mechanical noise, solve the phase lag problem caused by filtering in the prior art, and realize the hybrid end point determination and adaptive energy consumption control of the homogenizer.

The application discloses a satellite attitude maneuvering sliding mode variable structure control method based on a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application discloses a satellite attitude maneuvering sliding mode variable structure control method based on a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application discloses a satellite attitude maneuvering sliding mode variable structure control method based on a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application discloses a satellite attitude maneuvering sliding mode variable structure control method based on a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application discloses a satellite attitude maneuvering sliding mode variable structure control method based on a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application discloses a satellite attitude maneuvering sliding mode variable structure control method based on a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application discloses a satellite attitude maneuvering sliding mode variable structure control method based on a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application discloses a satellite attitude maneuvering sliding mode variable structure control method basedon a segmented power approaching law, and belongs to the technical field of satellite attitude control. The application can meet the application requirement of multi-target observation, shorten the convergence time, improve the Euler angle precision, has the characteristics of good robustness, short convergence time and high control precision, effectively solves the problems that the prior art cannot solve the multi-target observation attitude maneuvering control in the short arc segment of the low-orbit satellite and cannot meet the multi-target observation attitude maneuvering requirement of the microsatellite.

The invention discloses a neural network adaptive sliding mode variable structure control method and system based on a memristor, and the method comprises the steps: constructing a sliding mode surface function containing a servo system tracking error and an error change rate, and calculating a sliding mode surface variable value; performing approximation estimation on unmodeled dynamics and external disturbance of the system by using a memristor neural network to generate an estimated value of the uncertainty of the system; based on the sliding mode surface variable value and the estimated value of the system uncertainty, dynamically adjusting a neural network weight updating rate and a sliding mode control gain through an adaptive law, and generating an adaptive control parameter; and synthesizing a final control law according to the sliding mode surface variable value, the estimated value of the system uncertainty and the adaptive control parameter, and outputting the final control law to an execution mechanism to realize tracking control of the servo system. According to the embodiment of the invention, the tracking precision, the response speed and the overall robustness of the servo system under complex disturbance can be improved.

The invention relates to an offshore wind energy coupling fused salt heat storage combined power supply method and system. The method comprises the following steps: initializing and calibrating sensors, acquiring multi-source sensing data, performing real-time compensation and unit conversion, and performing multi-sensor data fusion and Kalman filtering to obtain a reliable system state; the wind energy capture power is calculated in real time, and the rotating speed of a mechanical energy stirrer is determined through a sliding mode variable structure control algorithm; stirring heat generation and fluid dynamic optimization are carried out based on the rotating speed of the mechanical energy stirrer, and the heat storage amount and the SOC state are calculated; calculating the output power of the thermopile, adjusting the rotating speed of a variable-frequency water pump in combination with PID and a fuzzy control strategy, performing active temperature control, and determining the output state of a thermoelectric system; multi-mode coordination control is carried out based on a hybrid intelligent algorithm, and smooth switching of power supply operation modes is carried out; the efficiency is calculated in real time, and a digital twinborn model is constructed for parameter self-purification. The energy conversion link is obviously reduced, and the system efficiency and reliability are improved.