184 results about "Velocity controller" patented technology

The invention discloses a cascaded auto-disturbance rejection rotating speed stability control method with a quasi-resonance link based on propeller load, and the method comprises the following steps: S1, building a speed ring mathematical equation containing disturbance according to the basic structure and working principle of a surface-mounted permanent magnet synchronous motor; s2, according to aerodynamic characteristics of the propeller, establishing a mathematical model of tension and load torque of the propeller; s3, establishing a quasi-resonance cascade active-disturbance-rejection speed controller containing disturbance compensation according to the S1 and the S2, and performing stability analysis on a cascade expansion observer equation according to a Lyapunov stability theorem; and S4, a cascade active disturbance rejection control method with a quasi-resonance link is used to realize suppression of periodic and non-periodic disturbance of the rotating speed so as to realize high-performance speed control. According to the method, the motor and the propeller are integrally modeled, the influence of periodic disturbance and non-periodic disturbance on the rotating speed is considered at the same time, and the method has better dynamic performance and steady-state performance.

The invention discloses a force-position hybrid control method and device for a rope traction parallel robot and a medium, and belongs to the field of rope traction parallel robot control, and the method comprises the steps: 1, building a kinematics and dynamics model of the robot; step 2, dividing hierarchical priorities of contact force tracking, trajectory tracking and rope tension distribution subtasks according to operation task constraints of rich contact; 3, in the contact force tracking subtask, constructing an admittance controller based on a disturbance observer according to the deformation model, and tracking the contact force; 4, in the trajectory tracking subtask, according to a control target in a sliding mode surface form, constructing a sliding mode controller based on a disturbance observer and tracking a trajectory; step 5, constructing a motor speed controller according to the controller output quantity in the step 3 and the step 4 in combination with an artificial potential field-based rope tension distribution algorithm of the rope tension distribution subtask; and step 6, performing robot force-position hybrid control by using a motor speed controller to complete an operation task of rich contact.

A virtual gear shift control apparatus for an electric vehicle is disclosed. The apparatus includes a driving information detector that detect information indicating a vehicle driving state. The apparatus also includes a controller that generates a motor torque command for satisfying a driver's demand torque based on the vehicle driving information including the information detected by the driving information detector. The controller determines whether the vehicle driving state of the electric vehicle corresponds to a predetermined power-off condition, determines, in response to a determination that the vehicle driving state corresponds to the predetermined power-off condition, a coasting torque corresponding to a current virtual gear stage and a current virtual engine speed. The controller also generates a motor torque command using the determined coasting torque as a command value. The controller also controls a regenerative operation of a motor that drives the electric vehicle according to the generated motor torque command.

The invention discloses a permanent magnet synchronous motor adaptive sliding mode speed control method based on an improved reaching law, and belongs to the field of permanent magnet synchronous motor sliding mode speed control. A power item and a variable speed regulation function of the sliding mode surface are introduced into a constant-speed switching item and an exponential reaching item of a traditional exponential reaching law respectively, a hyperbolic sine function is used for replacing a switching function, and an improved reaching law with the fast reaching and buffeting suppression characteristics is obtained; designing a speed controller of the permanent magnet synchronous motor; designing a self-adaptive sliding mode disturbance observer independent of disturbance boundary information by adopting a double-layer self-adaptive structure, estimating total disturbance of a speed control loop, and taking an output value of the observer as speed controller compensation; the controller and the observer are applied to a permanent magnet synchronous motor vector control system. The method can effectively improve the speed control response speed and the steady-state performance of the permanent magnet synchronous motor.

The invention discloses a permanent magnet synchronous motor non-inductive control method, and belongs to the field of permanent magnet synchronous motor control. Comprising the following steps: firstly, selecting stator current in the permanent magnet synchronous motor, defining a system state equation and a mechanical motion equation of the permanent magnet synchronous motor, then designing an exponential sliding mode speed controller, and finally designing a hyperbolic tangent function-based super-spiral sliding mode observer to observe counter electromotive force. And obtaining the rotating speed of the motor by using an arc tangent function. According to the hyperbolic tangent function-based super-spiral sliding mode observer, smooth transition can be provided near a sliding mode surface, high-frequency switching caused by small interference is avoided, system buffeting is obviously reduced, the designed speed controller can quickly respond under the condition that the rotating speed is quickly changed or load disturbance is relatively large, and the system stability is improved. And meanwhile, the problem of integral saturation in a PI speed controller is avoided, the robustness of the system is improved, and the buffeting effect is inhibited.

The embodiment of the invention provides a traffic signal-based vehicle path planning method and related equipment, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring traffic light data of each intersection of a target driving path; according to the green light time interval of the traffic light data, time constraint calculation of multi-intersection continuous passing is carried out, and a time constraint of continuous green wave passing is obtained; performing speed calculation on each road section according to the time constraint to obtain a speed interval of each road section; performing quadratic programming on the speed interval by taking the energy consumption and the driving time as optimization objectives to obtain a global speed sequence; and performing multi-dimensional constraint and multi-target optimization on a speed controller of the vehicle according to the global speed sequence so as to control the vehicle to run on the target running path. According to the embodiment of the invention, the vehicle can be guided to realize continuous green light passing, and the driving efficiency and the driving comfort are improved while the driving energy consumption of the vehicle is reduced.

The invention belongs to the field of offshore boarding operation, and relates to a gangway ladder with a wave compensation function and an abutting control method thereof, the gangway ladder comprises a fixed gangway ladder, a gangway ladder telescopic control mechanism, a movable gangway ladder, a six-degree-of-freedom compensation platform, a gangway ladder rotation control mechanism, a gangway ladder rotation platform, a gangway ladder pitching control mechanism, a ladder end force sensor, an abutting device and a speed controller; and the speed controller sends the calculated driving instruction to the accommodation ladder telescopic control mechanism to switch the telescopic control mode of the movable accommodation ladder. The automatic compensation device is used in the automatic compensation stage after the accommodation ladder abuts against and makes contact with the accommodation ladder, so that the situation that contact points are possibly disconnected or disengaged due to the fact that the accommodation ladder is not stretched in time is avoided; when wave compensation is carried out, a speed control mode and a force control mode are adopted to cooperate with each other, the two control modes are switched under specific conditions to adapt to different conditions, and safety and stability are high.

An automated control system for a glider towed by a tug employs a sensor system (e.g., cameras mounted on at least one of the aircraft) to determine the relative position and velocity of the glider. A controller determines corrections to the flight characteristics of the glider in response to this data from the sensor system to maintain the glider on the surface of a limit sphere extending behind the tug with a predetermined radius based on the length of the tow cable. An interface to the flight controls of the glider maintains the desired flight characteristics of the glider provided by the controller.

A work machine is capable of making a working attachment operate accurately along a construction target surface in the vicinity thereof and of allowing an operator to operate the work machine while recognizing the load acting on a front work implement thereof when the working attachment is not in the vicinity of the construction target surface. To accomplish this, a controller calculates target velocitys for actuators on the basis of an operation amount from an operation input device, postures of a machine main body and the front work implement, and the distance between the working attachment and the construction target surface. The controller calculates operation command values for the actuators on the basis of the target velocities, calculates correction amounts for the operation command values on the basis of loads on the actuators sensed by a load sensor, and adds the correction amounts to the operation command values.

The invention belongs to the technical field of PID (Proportion Integration Differentiation) control optimization, and particularly relates to a control method based on a mechanical angular velocity regulating system, which comprises the following steps of: 1, constructing a mechanical angular velocity regulating system model, 2, constructing a red tail and algorithm mathematical model, and improving the red tail and the algorithm, and mainly improving the red tail and the algorithm. The method specifically comprises the following steps: S1, introducing an exponential penalty mechanism into a red-tail plinth algorithm, S2, improving a transition factor TF oscillation convergence problem of high-altitude soaring by using a cosine adaptive transformation factor, and S3, introducing normal distribution disturbance in a diving stage, adding random noise to explore a solution space, and solving the solution space by using the random noise. 3, parameters of an angular velocity PID controller of the mechanical angular velocity adjusting system are optimized through the improved red tail plinth algorithm, and 4, simulation and contrast test are conducted on the improved mechanical angular velocity adjusting system through MATLAB, and performance is verified.

The invention discloses a permanent magnet synchronous motor control method based on dynamic surface active disturbance rejection. Comprising the steps that a tracking differentiator tracks an expected position signal of the permanent magnet synchronous motor, and a tracking signal and a differential signal of the expected position signal are obtained and output; the dynamic surface expansion state observer is used for obtaining a state estimation value, giving an estimation value by taking a known factor and an uncertain factor as sum disturbance, and compensating the estimation value of the sum disturbance; according to the dynamic surface nonlinear state error feedback control law, the output value of a controller is obtained through the output of a tracking differentiator and the feedback value of the actual position, the total disturbance estimated value of the nonlinear expansion state observer is added into the system control law in a feedforward compensation mode, and the total control law of the system is obtained; the second-order dynamic surface active-disturbance-rejection permanent magnet synchronous motor speed controller is designed on the basis of a nonlinear active-disturbance-rejection controller by introducing a dynamic surface control thought into an extended state observer and transforming a nonlinear state error feedback control law, and engineering implementation is facilitated.

The invention provides a design and application method of a sliding-mode deadbeat reaching law, and relates to the technical field of electrical engineering, and the method comprises the steps: designing a sliding-mode deadbeat reaching law SMDRL, designing a control strategy through a deadbeat control principle, defining a state change law on a sliding-mode surface through a sign function, and achieving the design of the sliding-mode deadbeat reaching law SMDRL. It is ensured that the system state converges to the sliding mode surface at the fastest speed in a control period; an improved sliding mode deadbeat reaching law ISMDRL is designed, a traditional sign function is replaced with a hyperbolic tangent function, and parameters of the hyperbolic tangent function are adjusted according to the system state; the SMDRL and the ISMDRL are applied to a speed driving system of a permanent magnet synchronous motor (PMSM), and the speed driving system comprises a PMSM mathematical model, a sliding mode speed controller with a speed disturbance observer and model prediction current control. The SMDRL is introduced from the traditional sliding mode reaching law for the first time through theoretical derivation, the convergence time of the SMDRL is the shortest, and the SMDRL is applied to a permanent magnet synchronous motor speed driving system.

The invention relates to the technical field of servo loading, and discloses a rotating speed control method of a servo loading system, which comprises the following steps: constructing the servo loading system; the servo motor is driven to work at a constant torque; establishing a disturbance estimation model under servo loading disturbance; rotating speed data of the tested motor are obtained in real time, rotating speed errors are input into a speed PID controller, a basic control signal is generated, disturbance compensation and error response are fused, and a master control signal is constructed; pID parameters of a speed PID controller are optimized and adjusted on line through an improved fast exploration random tree algorithm; and fixing the speed PID parameter according to an error stability criterion, keeping the current control output, and readjusting the PID parameter when the disturbance trend changes. According to the invention, the rotating speed control precision and the operation stability of the servo loading system under complex disturbance conditions can be improved.

The invention discloses a construction method of a composite controller of a joint system of a collaborative robot. An initial value PI control module and an extreme value optimization self-adaptive PI control module form a speed controller, wherein the input of the speed controller is actual rotating speed, rotating speed error and dq-axis current, and the output of the speed controller is control voltage; a position sensorless control module composed of a sliding mode observer and an arc tangent function is constructed, and a position controller is composed of a nonlinear tracking differentiator, a nonlinear state error feedback controller, a neural network compensator, two adjustable gains and a three-order expansion state observer. The first-order differential tracker outputs the actual rotating speed according to the rotor position angle, and the position controller, the speed controller and the first-order differential tracker jointly form a composite controller; according to the invention, the conventional three-closed-loop control is simplified into a position-current double-closed-loop control method and is combined with a sensorless control method, so that the control system has very strong static and dynamic characteristics and robustness while the requirements on external hardware and motor parameters are reduced.

In some embodiments, a method of controlling speed of an ego vehicle in a vehicle platoon is provided. Cooperative adaptive cruise control (CACC) commands based on at least one of a vehicle-to-vehicle communication control received from a preceding vehicle and a feedback control based on a sensor output of a long-range sensor of the ego vehicle are provided to a speed controller. In response to detecting an occluded state, a minimum spacing value and a minimum relative velocity value between the ego vehicle and the preceding vehicle are determined based on information received before the detection of the occluded state; a safety speed based on the minimum spacing value and the minimum relative velocity value is determined; and an occluded adaptive cruise control command is provided to the speed controller to maintain a speed of the ego vehicle that is less than or equal to the safety speed.

The present invention provides an automatic adaptive control system for flow of an electronic belt scale, comprising: an inlet material belt conveyor, an electronic belt scale and an outlet material belt conveyor; the inlet material belt conveyor conveys front-end processed materials to the electronic belt scale, and transmits them to the rear-end outlet material belt conveyor after weighing and metering; wherein the electronic belt scale comprises a scale body belt, a control system, a belt drive motor and a belt speed sensor, the belt drive motor drives the scale body belt under the control of the control system, and the belt speed sensor detects the real-time speed of the scale body belt; the controller adjusts the control of the belt drive motor according to the comparison result of the real-time speed of the scale body belt detected by the belt speed sensor and the preset reference belt speed control value, so as to change the driving of the scale body belt by the belt drive motor.

The invention discloses a sliding mode observation method for load torque of a permanent magnet synchronous motor. The load torque is observed according to the rotor angular velocity and the q-axis current to obtain the load torque observation value. The load torque observation value output by the load torque observer is sent to the sliding mode speed controller. The sliding mode speed controller adopts an integral sliding mode control mode to compensate the load torque in a manner that the load torque given value includes the load torque observation value item. The load torque observer adjusts the feedback gain according to the change of the load torque given value. When the system speed changes, or the parameters change, the load is disturbed, resulting in the load torque given value changing or / and the load torque observation value changing, the observation error of the load torque can be quickly reduced and the load torque compensation can be realized, thereby effectively weakening the jitter of the system, and the dynamic response speed is fast, the robustness is high, and the control accuracy of the motor speed is improved.

This invention relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a tilting rotor omnidirectional UAV control method and related equipment. By acquiring the UAV's current pose information (including position, attitude, and body angular velocity) and desired pose information, the position controller generates a desired total force based on the position deviation, the attitude controller generates a desired angular velocity based on the attitude difference, and the angular velocity controller generates a desired total torque based on the angular velocity deviation, forming a three-level control closed loop. The control distributor uses a rotor configuration dynamics model to convert the total force and torque into desired thrust for each rotor, calculates the desired rotational speed based on the thrust-rotor speed correspondence, and controls the rotor rotation. This scheme achieves decoupling optimization of position and attitude control, improving pose control accuracy and response speed.

The invention relates to the technical field of agricultural machinery, in particular to a working speed self-adaptive control system of a wheat harvester, which comprises a calculation module, a data processing module, an execution module, an execution object, a working speed measurement module, a working condition feedback module and an automatic driving module, the vehicle-mounted computer is used for receiving and calculating the operation speed under the ideal load, and the data processing module is in two-way communication connection with the calculation module. In the invention, an ideal operation speed instruction is transmitted to the speed controller through the vehicle-mounted computer, the speed controller adjusts the operation speed of the threshing cylinder and the crawler wheel by automatically adjusting the opening degree of the proportional valve, the speed measuring module collects the operation speed information, and the vehicle-mounted computer compares the ideal operation speed with the actual operation speed. When the expected operation speed is different from the actual operation speed, the actual operation speed is adjusted in time, and the operation efficiency of the harvester is guaranteed.

The embodiment of the invention provides an unmanned surface vessel (USV) guidance and path tracking control method based on a full-drive system method, and aims to simplify the design of a controller and improve the control precision and efficiency. The method comprises the steps that a three-degree-of-freedom kinematics and dynamics mathematical model of the unmanned ship is established, and an LOS guidance law based on a reduced-order observer and a course angle and forward speed controller based on a full-drive system are designed. A simulation test on an MATLAB / SIMULINK platform shows that compared with a traditional PID controller and a backstepping controller, the method shows higher tracking precision and smaller control efficiency in linear path and curve path tracking scenes, and has remarkable theoretical value and engineering application prospects.

An electric motor controller system for modulating requested motor torque via oscillating the instantaneous torque, including a bi-stable torque controller; a proportional-integral (PI) velocity controller a proportional-integral-differential (PID) position controller; and sinusoidal zero-velocity table mapping.

The invention provides a multi-vehicle cooperative docking method, system and device and a storage medium, and relates to the technical field of vehicle engineering. The method comprises the following steps: firstly, acquiring position information, state information and expected docking distance of a plurality of vehicles which are divided into a pilot vehicle and a following vehicle, and constructing a pilot-following vehicle motion model according to the position information and the state information so as to control the docking distance between the following vehicle and the pilot vehicle to be equal to the expected distance as a target; and according to the pilot-following vehicle motion model, the position of the following vehicle is changed by using a feedback linearization speed controller, and when the docking distance is equal to the expected distance, the docking device of the following vehicle and the docking device of the pilot vehicle are controlled to carry out docking, so that multiple vehicles can keep dynamic driving at relatively stable positions, and the docking efficiency is improved. Therefore, multi-vehicle docking is achieved, and the process is flexible, high in real-time performance, high in efficiency and high in robustness.

A brake device may include: first and second wheel speed sensors disposed in each wheel of a vehicle and configured to measure a speed of the wheel; a controller configured to control braking of the wheels in response to a wheel speed signal output from at least one of the first wheel speed sensor and the second wheel speed sensor; a brake actuator disposed in each wheel of the vehicle and configured to brake the wheel; a first brake driving circuit and a second brake driving circuit configured to control a driving power supply of the brake actuator based on control of the controller; an actuator housing to which the first wheel speed sensor and the second wheel speed sensor are coupled, and in which the first brake driving circuit and the second brake driving circuit are accommodated; and a plurality of circuits configured to connect each of the first wheel speed sensor, the second wheel speed sensor, the first brake drive circuit, and the second brake drive circuit to the controller.

The invention discloses a speed control method and device, a motor and a storage medium, and the method comprises the steps: obtaining a preset reference rotating speed and a real-time rotating speed, and calculating a speed error and an error change rate at a current moment based on the preset reference rotating speed and the real-time rotating speed; actual weights and expected weights of the preset reference rotating speed, the speed error and the error change rate are confirmed, and a first correction weight, a second correction weight and a third correction weight are calculated based on the actual weights and the expected weights; calculating a time constant based on the first correction weight, the second correction weight and the third correction weight; and the time constant is substituted into a preset internal model speed controller, and the real-time rotating speed is adjusted through the preset internal model speed controller. Parameters of the internal model speed controller can be adjusted in a self-adaptive mode, and stability is improved.

A tunnel longitudinal and transverse full-section deformation monitoring device in a model experiment comprises a model box, a horizontal positioning support, a vertical adjustable positioning support, a longitudinal transmission mechanism, a displacement meter rotating mechanism, a speed controller and a data processing module, and an electric push rod of the longitudinal transmission mechanism controls a laser displacement meter of the displacement meter rotating mechanism to translate along the axis of a tunnel. A hollow shaft stepping motor of a displacement meter rotating mechanism is used for controlling a laser displacement meter to rotate in the circumferential direction of a tunnel, the laser displacement meter covers measurement of any point on the inner side of the tunnel, and therefore all tunnel deformation response data are obtained, intelligent data noise reduction filtering processing is conducted on the basis of a novel unsupervised generative adversarial network (GAN) model architecture, and the tunnel deformation response accuracy is improved. And the data quality and the deformation mode capturing capability are improved. The method is suitable for exploring the longitudinal and transverse global deformation conditions of the tunnel structure under various disturbance effects, can be flexibly adjusted according to the burial depth, size, horizontal position, monitoring density and the like of the tunnel required by the test, and has wide applicability.

A vehicle driving control apparatus and method are capable of eliminating problems in conventional stop control provided in an electric vehicle. The vehicle driving control apparatus includes a manipulation device, an input device, a driving information detector, and a controller connected thereto. The controller determines whether the vehicle speed detected by the vehicle speed detector is not higher than a predetermined reference speed for creep initiation, when the on state of the one-pedal mode is selected through the manipulation device and creep allowance in parking is set through the input device. The controller controls a motor configured to drive the vehicle such that the motor generates a creep torque in the on state of the one-pedal mode, in response to determining that the vehicle speed is not higher than the predetermined reference speed for creep initiation.

The present invention relates to the field of motor control, and specifically discloses a synchronous reluctance motor speed control method and system, including: constructing a mathematical model of a synchronous reluctance motor in a d-q rotating coordinate system; obtaining the operating state information of the synchronous reluctance motor based on the model; determining a modified convergence law and a global integral sliding surface; and constructing a speed controller to control the speed of the synchronous reluctance motor based on the operating state information of the synchronous reluctance motor, the modified convergence law and the global integral sliding surface. The present invention enables the system of the synchronous reluctance motor to converge quickly based on the improved modified convergence law, and reaches the global integral sliding surface at a preset speed, that is, reaches a stable state, reduces system jitter and improves the dynamic performance of the system, and because the present embodiment provides a globally defined modified convergence law and a global integral sliding surface, there is no singularity problem, which effectively improves the anti-interference and stability of the synchronous reluctance motor.

The present invention discloses an AGV trajectory tracking control method based on PSO Lyapunov function, studies the AGV trajectory tracking motion control, establishes and analyzes an AGV model, which mainly includes an AGV kinematic model, an AGV motion control error model, a laser radar observation model, and a DC motor model, clarifies the goal of designing an AGV trajectory tracking controller, and based on this goal, designs a controller based on PSO Lyapunov function, wherein the Lyapunov function is mainly introduced, and a Lyapunov function controller is designed by using the Lyapunov stability judgment basis, and a controller parameter regulator based on the PSO algorithm is designed to adjust the parameters in the kinematic controller, and a control method composed of a speed controller and a control parameter regulator is constructed, and the influence of the driving wheel speed on the system trajectory tracking is considered, and a PID controller is used to control the speed of two wheels to improve the trajectory tracking effect.

The invention relates to a control system for a motor operating a roof assembly, including a speed controller, a current controller, a motor and a performance feed forward module. The control system is configured for receiving a speed setpoint as input, feeding back a speed signal, and determining a speed error. Providing a current setpoint and feeding back a current output to the current setpoint, and providing a current error signal to the current controller. Feeding back a relative position signal and feeding forward, based on at least one performance profile determined from an absolute position signal, a current feed forward signal to the current setpoint. And generating, based on the current error signal and the relative position signal, a drive signal for driving a motor. The current error signal is based on the current setpoint, the current feedback and the current feed forward.

This invention relates to the field of asynchronous motor control technology, specifically to an asynchronous motor speed control method and system based on an improved Super-Twisting sliding mode algorithm. The method includes: (1) deriving the fourth-order nonlinear differential equation of a three-phase squirrel-cage asynchronous motor in a rotating coordinate system d-q based on rotor magnetic field orientation theory; (2) designing a linear sliding surface based on the error between the set speed and the feedback speed; (3) using the first-order differential equation of rotor speed in step (1) and the linear sliding surface described in step (2), and introducing a variable proportional differential term based on the traditional Super-Twisting sliding mode algorithm to design a fast Super-Twisting sliding mode speed controller; (4) constructing a variable exponential switching function to replace the sign function in the fast Super-Twisting sliding mode speed controller described in step (3), thus completing the design of the improved Super-Twisting sliding mode speed controller. This solution effectively solves the problems of slow response speed and poor control accuracy in existing systems, thereby improving the overall robustness of asynchronous motor control.