30results about How to "Achieve precise tracking control" patented technology

The invention relates to a three-dimensional elliptical vibration cutting device, belonging to the field of cutting and ultra-precision cutting machining of materials which are difficult to machine. A diamond cutter is guided through flexible hinge mechanisms respectively along an X direction, a Y direction and a Z direction, and further, is driven by three piezoelectric stacks respectively alongthe X direction, the Y direction and the Z direction; the piezoelectric stacks of the X direction and the Z direction are preloaded by preloading screw bolts along respective axial direction; the piezoelectric stack of the Y direction is preloaded through a screw bolt screwing wedge; the preloading processes of the three directions are mutually independent; through regulating and matching the initial phase position and the amplitude of a driving signal for each of the three piezoelectric stacks, the projections of the cutter location point movements of the diamond cutter in an X-Y plane and aY-Z plane are elliptical motions, and the projection of the cutter location point movements of the diamond cutter in an X-Z plane is reciprocating elliptical motion or linear motion. The three-dimensional elliptical vibration cutting device has a novel and simple structure, is easy to implement, and is beneficial to obtaining the best cutting machinability of the diamond cutter.

An electric auxiliary turbocharged diesel engine gas path optimization control system belongs to the technical field of diesel engine electronic control. The purpose of the present invention is to optimize the control system for the electric auxiliary turbocharged diesel engine gas circuit with multiple actuators, multiple control targets and constraint difficulties. The invention establishes the modules of oil circuit, gas circuit sensor and oil circuit controller, and is oriented to the third-order model of the gas circuit of the electric-assisted turbocharged diesel engine for multi-objective gas circuit tracking control, and designs the gas circuit tracking controller based on NMPC in the lower layer, and then designs Upper optimization controller. The invention faces the multi-objective requirements of the electric-assisted turbocharged air circuit control system, realizes precise tracking control of multiple air circuit states and optimized management of energy transfer in the system, thereby improving the comprehensive performance of the electrically-assisted turbocharged diesel engine.

The invention discloses a mechanical arm servo system full-order slide mold control method based on an extended state observer. The method comprises the following steps: establishing a dynamic model of a mechanical arm servo system, and initializing a system state and control parameters; designing the extended state observer; and based on the extended state observer, designing a full-order slide mold controller. The invention provided by the invention can effectively improve the problem of slide mold buffeting of conventional slide mold control in the mechanical arm servo system, improves the robustness of the system to a certain degree and enables the mechanical arm servo system to realize accurate tracking control.

A flexible manipulator control method based on the non-linear active disturbance rejection control technique includes the steps of building a flexible manipulator system module, initializing the system state and controller parameters, designing a high-order tracking differentiator, designing a non-linear extended state observer, determining the observer parameters through a pole assignment mode and adding non-linear feedback. The extended state observer is designed and used for estimating the system state and external disturbance. The observer gain parameter is determined through the pole assignment mode. A non-linear feedback control law is designed, the effect that the system tracking error is rapid and stable and converges to the null point is guaranteed, and finally rapid and stable control over a flexible manipulator system is realized. By means of the flexible manipulator control method based on the non-linear active disturbance rejection control technique, the problem that the internal state of the system and external disturbance can not be observed is solved, the influences of non-linear links and uncertain items existing in the system are made up, the problem of a common PID control method is relieved, and the system can rapidly and stably track expected signals.

The present invention provides a method for controlling a multivariable input EHA system based on model prediction control. The method comprises a step of defining state variables of the multivariable input EHA system, and establishing a state variable equation model of the multivariable input EHA system, a step of carrying out model prediction control on the state variable equation model, establishing a target function of the model prediction control, solving the optimal solution of the target function through rolling optimization, and obtaining virtual input of the multivariable input EHA system, and a step of carrying out control distribution on the real input amount of the multivariable input EHA system by using the virtual input of the multivariable input EHA system. The method provided by the invention can be used for the input control of the multivariable input EHA system, a nonlinear decoupling control problem in the multivariable input EHA system is effectively solved, thus a research foundation is provided for multivariable input EHA system control, and a development direction correspondingly is provided for the further improvement of working efficiency and frequency of the multivariable input EHA system.

The invention provides a method for designing a fast finite-time controller of a full-state constrained manipulator, comprising the following steps: designing an observer, specifically: establishing the dynamic equation of the manipulator system; establishing the initial state equation of the manipulator system; designing a finite-time Disturbance observer; establish the state equation of the manipulator system; design the manipulator controller based on the backstepping method. The controller designed by using the method provided by the invention can make the manipulator system stable in a fast and limited time, and the output of the manipulator system can well follow the change of the given signal. Fast finite-time tracking control problems under the condition.

The invention discloses a nonlinear anti-interference control method and device for an electronic throttle system. Based on a system control model and a continuous finite time anti-interference control method, a control method is designed for the tracking control problem of the electronic throttle valve opening. Devices and design methods. For multi-source interference, uncertainty and nonlinearity caused by intake air flow, friction, spring torque, backlash and other factors, the present invention designs an observation method and device, which realizes lumped interference and Accurate estimation of system state variables. The invention combines the continuous terminal sliding mode control method and the output feedback control method, effectively suppressing the adverse effects of multi-source interference, uncertainty and nonlinearity in the electronic throttle system, so that when the system is disturbed, Accurate tracking control of the opening of the electronic throttle valve is realized in a limited time, while the hardware cost of the system is reduced, and the dynamic characteristics, steady-state characteristics and anti-interference ability of the system are improved.

The invention provides a high-accuracy nonlinear path tracking control method for an under-actuated marine vehicle. According to the method, the change rate of the sideslip angle of the vehicle is regarded as an uncertain item, the parameter uncertainty in a dynamic model, unmodeled dynamics and external environmental disturbances are regarded as lumped uncertainty, and an observer is adopted to conduct real-time observation on kinematic uncertainty and dynamic uncertainty; a traditional aspect-angle guiding method is adopted to calculate an expected aspect angle; a nonlinear path tracking controller based on the observer is designed, and the kinematic and dynamic uncertainty are compensated; a tracking differentiator is adopted to simplify the controller to make the controller more suitable for engineering application. According to the method, the influences of the parameter uncertainty in the dynamic model, the unmodeled dynamics and the external environmental disturbances on path tracking are eliminated, and the accurate tracking control over an expected path of the vehicle is achieved.

The invention provides a UUV trajectory tracking control method for preventing the differential explosion based on the differential output characteristics of a biological instructive model. The method comprises the following steps of 1, conducting the initialization; 2, obtaining position and attitude error variables based on an under-actuated UUV mathematical model; 3, calculating a virtual control law, and replacing a virtual expectancy control law with the output value of the biological instructive model; 4, constructing a Lyapunov function, and transferring the ballast of a position error to the ballast of a speed error, avoiding the differential explosion phenomenon through the real-time derivation of replacing a virtual control variable with the output of the biological instructive model, and realizing the ballast of the speed error; and 5, designing a trajectory tracking controller. According to the technical scheme of the invention, the differential explosion phenomenon caused by the repeated derivation of the traditional back-stepping method can be avoided, and the complexity of the controller is simplified. Meanwhile, in combination with the controller of the biological instructive model, the time constraint requirements of the thrust constraints and the under-actuated UUV trajectory tracking of a propeller on position, speed and attitude can be met.

The invention discloses a hysteresis nonlinear servo motor system sliding mode control method, relates to the technical field of electromechanical control, designs a sliding mode state observer to observe the unknown state of the system, and solves the state variables of the hysteresis servo motor system such as servo motor angular velocity and angular acceleration , load angular velocity, load angular acceleration, hysteresis, etc. are difficult to measure directly, thus affecting the controller design; regard the remaining unknown parts of the system as disturbances, and use only one layer of Chebyshev neural network to estimate the unknown disturbances of the system, avoiding At the same time, the disturbance observer and state observer are designed to reduce the control difficulty and solve the estimation problem of the unknown disturbance of the hysteresis servo motor system; the sliding mode controller is designed to realize the accuracy of the hysteresis servo motor system by adjusting the tracking error and the sliding mode surface Tracking control, high precision, strong robustness, reduces the difficulty of the algorithm, unifies the model, and is more general.

The invention provides an underactuated UUV plane trajectory tracking control method based on dynamic speed adjustment, relating to the motion control technology of an underactuated underwater unmanned vehicle. The invention aims to realize the precise tracking control of an underactuated UUV plane trajectory. The method comprises the steps of (1) a UUV obtains position and attitude information according to a current task, (2) position and attitude error variables are obtained by using the mathematical model of an underactuated UUV, (3) a method of defining a virtual speed error variable to calculate a virtual control rule, (4) combined with a biologically inspired model, the dynamic adjustment of a speed error is carried out, and (5) the control signal generated by a speed adjustment controller is deduced, and the underactuated UUV plane trajectory tracking control is realized. According to the method, the dynamic adjustment of the speed of the underactuated UUV can be carried out, a singular value when a first direction angle error is equal to 90 degrees in a traditional backstepping method is avoided, and the tracking of a circular trajectory in an external constant disturbance is realized.

The invention provides an air system control method of a fuel cell, which includes obtaining target air pressure and target air flow according to the operating state of the fuel cell; sampling the actual air pressure and actual air flow in the current stack; Calculate the decoupling speed and deviation opening by pressure; calculate the decoupling opening and deviation speed according to the actual air flow and target air flow; The opening degree, the deviation opening degree and the feed-forward compensation opening degree obtained through calibration are used to calculate the adjustment opening degree; adjust the speed of the air compressor of the fuel cell according to the adjustment speed and adjust the opening degree of the back pressure valve of the fuel cell according to the adjustment opening degree. The method has the advantages of: realizing precise tracking control of air flow and air pressure target values; improving the response speed of the fuel cell air system.