112 results about "Virtual control" patented technology

The application relates to the technical field of multi-spacecraft cooperative control, and discloses a multi-spacecraft grouping consistency restraint control method and device under optimized FLS, which comprises the following steps: acquiring the network topology of a heterogeneous multi-spacecraft system and constructing a multi-subgroup directed communication topology network, constructing a spacecraft attitude control system model based on modified Rodrigues parameters; approximating unknown nonlinear terms in the model through a fuzzy logic system, constructing a fuzzy logic system based on a gradient descent algorithm and Armijo line search criterion; constructing a restraint control term and using a backstepping method to construct a virtual control law, combining the output of the fuzzy logic system based on the gradient descent algorithm and the Armijo line search criterion to construct an actual control input law, so that grouping consistency restraint control of the heterogeneous multi-spacecraft system is realized. The application can improve real-time approximation precision and adaptive step length adjustment capability while guaranteeing grouping consistency, and can enhance topology applicability and task cooperation flexibility.

This invention discloses a ship dynamic positioning anti-interference control method considering vertical dynamic optimization, comprising: establishing a four-degree-of-freedom nonlinear dynamic model of the ship and obtaining the error vector by combining the desired pose; defining a virtual control law by backstepping and processing the velocity error using a first-order filter; approximating the uncertainties in the model based on an improved Actor-Critic reinforcement learning framework and designing an interference observer to estimate external disturbances; calculating the compensated desired acceleration by combining the approximation output of the uncertainties, the estimated value of the external disturbances, and the velocity error; obtaining the thruster pitch ratio based on the desired acceleration and generating the final control command through a thrust distribution model. This invention can effectively handle model uncertainties and external environmental disturbances in ship dynamic positioning, especially optimizing vertical dynamic performance and improving control accuracy, response speed, and system robustness.

The application discloses a kind of anti-network attack's multi-vehicle safety platoon control method and system, the method first establishes multi-vehicle queue dynamics model;Second, design fuzzy state observer to estimate vehicle state and unknown nonlinear dynamics;Then, introduce funnel function to build time-varying performance boundary, and the double constraints of vehicle anti-collision and keep communication are converted into funnel constraints of spacing tracking error;Then, based on backstepping method and funnel performance error, design virtual controller and adaptive law, and obtain adaptive safety controller to obtain control input;Finally, through Lyapunov stability analysis, the tolerance threshold condition that system can still maintain final consistent bounded stable after suffering replay attack is quantitatively obtained.The application simplifies design through funnel control, avoids complex barrier lyapunov function, and for the first time clearly provides quantified anti-interference ability to replay attack, enhances the network security and practicality of multi-vehicle queue system.

A recursive RISE control method and system for maglev train levitation systems is disclosed. The control method includes: constructing the dynamic equations and voltage balance equations of the electromagnets based on a single-point levitation system, and then constructing a dynamic model of the single-point levitation system accordingly; designing a virtual control law, and then designing a recursive RISE controller based on the backstepping method by combining the dynamic model of the single-point levitation system and the virtual control law; performing stability analysis on the RISE controller to obtain its stability conditions; and, based on satisfying the stability conditions, using the RISE controller to perform real-time control of the levitation gap of the maglev train levitation system. This invention has excellent anti-interference capabilities, reducing the impact of external interference or model uncertainty on levitation accuracy. Furthermore, by handling the nonlinear relationship between voltage and current through the backstepping method, this invention avoids the model mismatch problem caused by linearization.

This invention discloses a distributed optimization and safe formation control method for multiple robotic arms with nonlinear uncertainty. By establishing a dynamic model of the multi-robotic arm system with nonlinear uncertainty, a dynamic event triggering method with internal system information is constructed. Each robotic arm broadcasts its position information to its neighboring nodes only when the triggering condition is met. A predetermined reference trajectory is generated for each robotic arm system, converging to the global optimum and satisfying formation constraints. The position tracking error between the actual output of the robotic arm system and the predetermined reference trajectory at each moment is calculated. The virtual control law designed in the first step of the back-reasoning is used as the target to be optimized. A quadratic programming problem is constructed by combining the safety constraint boundary inequality built with the control obstacle function to obtain the safe virtual control law. In the second step of the back-reasoning, the velocity tracking error between the actual state of the robotic arm and the safe virtual control signal is calculated, constructing a back-reasoning controller based on the obstacle Lyapunov function. This invention overcomes the control instability risk caused by strong nonlinearity and achieves high-precision trajectory tracking.

The application provides an air conditioning water system control simulation system and method, the air conditioning water system control simulation system comprises a user interaction server, a virtual control system and a physical model of an air conditioning water system deployed on the same edge device, the physical model comprises a first substitution program for calling a target function and a second substitution program called by the target function; when the air conditioning water system control simulation is performed, the user interaction server acquires a control program corresponding to the target function written by a user and sends the control program to the virtual control system; and the virtual control system runs the control program based on the physical model to realize simulation test of the target function. Thus, the simulation test of the air conditioning water system is realized without physical simulation, so that the application can provide a reference for development of the water system control program, improve iteration efficiency of program development, verify reliability and stability of the control program in advance, and reduce the Bug rate in program development.

This invention relates to the field of industrial automation control technology, specifically to an automatic control system for a multi-station collaborative surface treatment equipment, comprising a process gene mapping module, a predictive trajectory interlock module, and a bus closed-loop feedback module. This invention constructs a process topology control chain, utilizes a virtual control entity and a global resource occupancy table for advance simulation on the control system clock axis, triggers a hardware / software interlock mechanism and generates a spatiotemporal decoupling control signal when occupancy conflicts are identified; and uses the bus closed-loop feedback module to verify the spatial consistency between the measured feedback vector and the virtual control entity, triggering emergency stop protection and forcibly reconstructing the control signal when the deviation exceeds the virtual-real mapping residual limit. This invention achieves global asynchronous parallel scheduling and closed-loop safety control of multiple tasks on the production line, effectively solving the problems of low collaborative efficiency and equipment resource deadlock.

This invention relates to the field of cooperative control technology, specifically to an adaptive event-triggered fixed-time consistency control method for multi-agent systems, comprising the following steps: S1, constructing a mathematical model of a nonlinear high-order multi-agent system with uncertain dynamics; S2, constructing a Lyapunov function containing a lower bound of uncertain parameters based on coordinate transformation; S3, designing an adaptive event-triggered controller with a positive bounded function using a backstepping control method, including a virtual controller, an adaptive law, and an event triggering mechanism; S4, proving through stability analysis that a high-order nonlinear multi-agent system with uncertain dynamics can achieve consistent output at a fixed time and avoid Zeno behavior. This invention's adaptive event-triggered fixed-time consistency control method for multi-agent systems solves the problem of consistent output at a fixed time for a class of high-order nonlinear multi-agent systems and extends existing results on consistent output at a fixed time.

The application discloses an adaptive tracking control method for a random nonlinear system based on output feedback, comprising the following steps of S1, constructing a mathematical model of a random nonlinear system with hysteresis input, unknown control direction, arbitrary switching and output constraint; S2, designing a linear state observer, and reconstructing unmeasurable states of the random nonlinear system by using output and control input of the random nonlinear system; S3, introducing a Nussbaum type function to process the unknown control direction, and constructing a barrier Lyapunov function to ensure that the output constraint is not violated; and S4, designing a framework based on a backstepping method, combining a radial basis neural network to approximate unknown nonlinear functions, designing a virtual control law, an adaptive law and an actual control law, and realizing adaptive tracking control of the output of the random nonlinear system on a reference signal.

This invention discloses an output feedback control method and system for a flexible joint manipulator. The method includes: constructing a general state-space model of the flexible joint manipulator; converting the state-space model of the flexible joint manipulator into a linear state observer, which is used to output the auxiliary estimation states of the link angular velocity and the motor angular velocity; defining trajectory tracking error variables step by step; based on the trajectory tracking error variables, link angular position, motor angular position, auxiliary estimation states of link angular velocity and motor angular velocity, deriving and constructing the first to third virtual control laws step by step using the backstepping method; and solving the final control input command according to the first to third virtual control laws to form a linear feedback closed-loop controller. This invention only requires conventional position sensors to achieve output feedback control, which can significantly improve the trajectory tracking accuracy and engineering robustness of the flexible joint servo system.

Provided is a servo adjustment apparatus that is capable of performing automatic servo adjustment with high accuracy and in a short time, without the need for an additional device. A servo adjustment system 1 that adjusts control parameter setting information of a servomotor controlled by a control apparatus of an industrial machine comprises: a servomotor model 30 which is a virtualization of the operation of the servomotor; a virtual control apparatus 20 that executes an evaluation program on the basis of the control parameter setting information to virtually control the servomotor model 30; and a servo adjustment apparatus 10 that determines the control parameter setting information on the basis of virtual feedback information, which is obtained by executing the evaluation program a plurality of times in the virtual control device 20 on the basis of different control parameter setting information.

The application relates to an event-triggered optimal line-of-sight (LOS) formation control method and system for an underactuated unmanned surface vehicle (USV) under unknown disturbance, and relates to the technical field of USV control. The application aims to solve the technical problem of realizing event-triggered optimal control while considering actuator saturation by establishing an RL-driven LOS guidance scheme, so as to achieve optimal state regulation and tracking control. The technical points are as follows: the application establishes an RL-driven LOS guidance scheme, decouples the trigger decision and the actuator allocation, and introduces a new event-triggered mechanism. The overall structure of the ETO-LOS control scheme proposed by the application is as follows: firstly, the expected trajectory and external disturbance are processed in the LOS guidance layer to generate a virtual control signal. Then, optimal control is realized through a DSC and a two-stage IAC network, and then an event-triggered mechanism is constructed in the actuator layer. The ETO-LOS scheme proposed by the application realizes stable learning and closed-loop performance while significantly reducing the control update frequency.

The application provides a virtual role control method and device, electronic equipment and a readable storage medium. A graphical user interface is provided through a terminal device. In response to a crosshair moving operation on the terminal device, the crosshair is aimed at a target virtual role. In response to a pressing operation on a virtual control, the crosshair is locked to the target virtual role. In response to a sliding operation on the virtual control, a first operation or a second operation is executed based on the sliding direction of the sliding operation. The first operation represents controlling a player virtual role controlled by the terminal device to move towards the target virtual role, and the second operation represents controlling the target virtual role to move towards the player virtual role. The movement of the player virtual role and the dragging of the target virtual role are realized through one virtual control, which can reduce the operation complexity, enhance the playability and interest of the game, improve the experience of the player, integrate virtual controls with different functions, and reduce the screen information bearing pressure of the terminal device.

This invention discloses a voltage control method and system for a virtual synchronous generator grid-connected inverter, belonging to the field of power electronic control technology. It includes: real-time acquisition of grid-connected point voltage and current, obtaining voltage amplitude feedback through coordinate transformation, and calculating the voltage control deviation by subtracting it from a reference value; approximating the voltage control system as a first-order integrator model, reducing unmodeled dynamics, parameter uncertainties, and external disturbances to a total disturbance and expanding it into new state variables; constructing a linear extended state observer to estimate the voltage state and total disturbance in real time; employing a linear state error feedback control law to generate a virtual control quantity based on the voltage control deviation, and using the disturbance estimate as feedforward compensation to generate a virtual synchronous potential amplitude command; combining the phase angle generated by the VSG power angle frequency loop to synthesize a reference voltage, which is then pulse-width modulated to drive the inverter. This invention significantly improves the voltage dynamic response performance and robustness of the inverter under complex operating conditions through real-time estimation and compensation of the total disturbance.

The application relates to the field of automatic driving test, in particular to a target object chassis control method and system, an electronic device and a medium. The control method is suitable for a virtual control input device that can be recognized by original driving software of a target object chassis, and is used as a unified control entrance between an upper test module and a chassis execution layer. The method comprises the following steps: receiving output data of the upper test control module as task input of the target object chassis; generating expected physical quantities according to the task input and real-time pose feedback information of the target object chassis; converting the expected physical quantities into virtual control inputs recognizable by the original driving software of the chassis based on a pre-established control quantity-vehicle physical quantity mapping relationship; and sending the virtual control inputs into the original driving software of the chassis so that the original driving software of the chassis drives the target object chassis to perform corresponding movements. The application can realize automatic closed-loop control of the target object chassis, dynamic game scenario reproduction, low platform migration cost and self-controllable technology implementation.

A virtual control method and apparatus for a logistics robot are disclosed. The method includes the following steps: collecting logistics robot information and loading information; setting a first virtual area corresponding to the actual space occupied by the logistics robot; determining whether the operation control conditions of the logistics robot are met based on the positional relationship between the first virtual area and a second virtual area, wherein the second virtual area is configured to correspond to the actual space occupied by other objects; and outputting control signals for controlling the operation of the logistics robot.

This invention discloses a method and system for tracking and controlling the trajectory of an unmanned tracked vehicle on a slope based on virtual control points, belonging to the field of tracked vehicle trajectory tracking and control. First, the gravitational yaw moment caused by the vehicle's center of gravity offset is calculated, and a discrete prediction model of slope dynamics is constructed. Second, virtual control points are generated, and the influence of lateral slippage is corrected through an anti-slip compensation term. Finally, the tracked vehicle's attitude information is acquired in real time, and based on the discrete prediction model of slope dynamics, the predicted value of the state vector is obtained. The predicted coordinates of the virtual control points are calculated, and the optimal control quantity is solved. This invention innovatively proposes a dynamic migration method for "virtual control points" based on center of gravity offset and slope parameters. This method migrates the control reference point from the geometric center to a virtual position that can balance the gravitational moment, effectively solving the influence of yaw moment on the tracked vehicle's control attitude, suppressing the slippage influence caused by the lateral component of gravity, and effectively solving the instability of tracked vehicles in slope motion control.

The invention discloses a novel dynamic surface funnel control method for a high-speed train with time delay and saturation, and relates to the technical field of high-speed train control, and the method comprises the steps: constructing a high-speed train longitudinal dynamic model with input time delay and input saturation; defining a displacement tracking error and a speed tracking error of the high-speed train; respectively setting funnel boundaries for the displacement tracking error and the speed tracking error based on a dynamic funnel boundary function; constructing a Lyapunov function, and constructing a virtual control law and a nonlinear filter; determining an actual control law of the high-speed train according to the high-speed train longitudinal dynamic model with input time lag and input saturation, the filtered virtual control law and the speed tracking error; the influence of input time lag on system performance is effectively solved, high-precision tracking control of the train is achieved under the non-saturation condition, meanwhile, the system can still be kept stable when saturation occurs, and therefore the control reliability and stability of the high-speed train under different working conditions are improved.

This invention discloses a flexible control method for digital twin manufacturing systems addressing uncertainties in the production process, belonging to the field of intelligent manufacturing system technology. The method includes: statistically analyzing the time of the four stages of perception, analysis, decision-making, and execution; determining the advance prediction time by combining system complexity and simulation speed; constructing an scalable system state transition matrix; performing accelerated simulation based on real-time states and injecting uncertain events according to trigger probabilities to obtain multiple future states; selecting the top n high-probability states in descending order of occurrence probability for parallel decision-making; binding decision instructions with corresponding states and issuing them in advance; and executing the corresponding instructions through state matching when the physical system reaches the predicted time, achieving flexible control. This invention can improve the consistency and robustness of "virtual control of the real" in digital twin systems under uncertain conditions and is applicable to multi-level digital twin systems such as machine tools, robots, production lines, and workshops.

This invention provides an aeromagnetic leveling method and system based on virtual control lines, relating to the field of aeromagnetic data processing technology. The method includes: acquiring raw aeromagnetic data of a survey area where control line adjustments have been completed; calculating the leveling value at the intersection of each survey line and control lines based on the raw aeromagnetic data, where the leveling value is the difference between the original magnetic field value and the leveled magnetic field value; determining, based on the survey lines that have completed control line adjustments, the closest co-directional survey line to the survey line to be leveled, using the survey line number as a reference survey line; extracting the leveling values ​​at the intersection of the reference survey line and each control line; and extending the control line outwards according to the actual spatial position of the control line on the reference survey line, so that the control line intersects with the survey line to be leveled to form a virtual intersection. This invention achieves accurate leveling of survey lines with missing control lines.

This application discloses a multi-agent distributed adaptive dynamic dual-event triggered consensus control method and system, belonging to the field of multi-agent system control technology. It includes online approximation of unknown nonlinear terms using a radial basis function neural network and constructing a disturbance observer to estimate composite uncertainties, providing an achievable disturbance estimation signal for control compensation. Furthermore, it recursively designs virtual control and adaptive laws within a dynamic surface control framework, avoids derivative explosion in backstep design using a first-order filter, and combines constraint potential functions to handle state constraints, ensuring the boundedness of the closed-loop signal. It constructs control update trigger times and communication reporting trigger times separately, and designs trigger functions based on the errors of the two branches to reduce the control update and communication overhead of the networked system.

This invention proposes a tracking control method and system for tower cranes with unknown disturbances, belonging to the technical field of anti-swaying for tower cranes. The method includes: acquiring the state information of the tower crane's boom, trolley, and load; establishing a dynamic model of the tower crane and decoupling the unknown disturbance and its nonlinear unknown coefficients in the dynamic model using Young's inequality; designing a coordinate transformation to eliminate the pure feedback structure in the system; introducing coordinate transformation into a virtual controller designed based on the backstepping method, constructing the virtual controller, and decoupling it from the disturbance; and, based on the virtual controller and the actual controller, controlling the position of the trolley on the tower crane to maintain synchronization with the designed desired trajectory under unknown external disturbances using a near-disturbance decoupling control method. This invention avoids the swaying of the tower crane load due to uncertain disturbances, which is of great significance for improving the working efficiency and safe construction of tower cranes.

This invention discloses a time-delay compensation control method for wave energy converters, belonging to the field of wave energy converter control technology. Based on the physical model of the wave energy converter, this method establishes the dynamic equations of the wave energy converter system. After defining the maximum power control problem of the wave energy converter, the dynamic equations of the wave energy converter system are transformed into a second-order linear system form, obtaining the system state variables, system parameters, and input time delay. After constructing an auxiliary system, an error variable is defined. Based on the error variable, a virtual control law is designed, and then an actual control law is constructed. By constructing the characteristic equation, the critical time delay threshold of the wave energy converter system is calculated. Lyapunov stability analysis proves that the system tracking error converges to a preset small neighborhood, thus completing the time-delay compensation control method for the wave energy converter. This invention can ensure that the critical time delay threshold of the system is always greater than the actual input time delay by adjusting the control parameters, guaranteeing system controllability.

A method and apparatus for virtual control of logistics processes are disclosed. The method includes the following steps: collecting operational information about the operational target; generating a virtual map and displaying objects corresponding to the operational target on the virtual map; setting a trigger zone on the virtual map; determining the positional relationship between the area occupied by the object on the virtual map and the trigger zone; and outputting a signal corresponding to the determined result.