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45results about How to "Guaranteed global asymptotic stability" patented technology
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Adaptive fuzzy sliding mode controller for micro gyroscope
InactiveCN102508434AGuaranteed global asymptotic stabilityCompensate for manufacturing errorsAdaptive controlReference modelGyroscope
The invention discloses an adaptive fuzzy sliding mode controller for a micro gyroscope, which is characterized by comprising an adaptive fuzzy control system based on a reference module, and a switching control system. In the adaptive fuzzy control system, a sliding mode surface is used as the input of the fuzzy controller, and the weight is automatically adjusted by a dynamic adaptive law so as to realize fuzzy approximation to an equivalent control law. The adaptive fuzzy sliding mode controller for the micro gyroscope of the invention has the following benefits that: when the system is in a steady state, the dynamic performance of the micro gyroscope is an ideal mode, and the manufacturing error and the environment interference are compensated; an adaptive algorithm designed based on a Lyapunov method can ensure the global asymptotic stability of the whole closed-loop system; and with adaptive adjustment on the upper bound of the approximation error, buffeting is reduced obviously.
Owner:HOHAI UNIV CHANGZHOU
MEMS gyroscope robust self-adaptation control method based on neural network upper bound learning
InactiveCN104281056ACompensate for manufacturing errorsCompensate for interferenceAdaptive controlVibration amplitudeGyroscope
The invention discloses an MEMS gyroscope robust self-adaptation control method based on neural network upper bound learning. The method includes the following steps that an ideal kinetic model and an MEMS gyroscope kinetic model are established, a sliding mode function is designed, a control law is obtained based on the sliding mode function, and an RBF neural network upper bound estimated value is used as a gain of a robust item on the basis of the control law together with a feedback item and the robust item; a parameter self-adaptation law and a network weight self-adaptation law are designed based on a Lyapunov method. According to the MEMS gyroscope robust self-adaptation control method based on neural network upper bound learning, the feedback item is added in the control law, the two-shaft vibration trajectory tracking speed and the parameter estimation speed of an MEMS gyroscope are greatly increased, and the vibration amplitude is decreased; the robust item based on RBF neural network upper bound learning is added in the control law, the buffeting problem caused by large external disturbance and fluctuation and the problem that the dynamic characteristics are changed worse are solved, the uncertainty of a structural formula and the uncertainty of a non-structured formula are eliminated, and therefore the robustness of the system is further improved.
Owner:HOHAI UNIV CHANGZHOU
Micro gyroscope adaptive control method based on model reference
InactiveCN102298322AGuaranteed global asymptotic stabilityImprove robustnessAdaptive controlGyroscopeDynamic models
The invention discloses a micro gyroscope adaptive control method based on model reference, and the method is applied to a controller comprising a gyroscope. The method comprises the following steps: establishing an ideal dynamics model; designing a reference model as two different frequency sine waves, wherein a state space form is X[m]=A[m]X[m]; establishing a micro gyroscope system dynamics model; controlling a micro gyroscope based on a Lyapunov method, wherein a design control law is u=K<T>X+K[f]e, K<T> is an on-line adaptive update controller parameter, and K[f] is a steady matrix, and selecting K[f] and allowing (A[m]+BK[f]) as a stabilization matrix. According to the invention, a model reference adaptive control method is applied to micro gyroscope control in order to compensate manufacture errors and environment interference, and estimate an angle rate correctly. By employing a designed self-adaptive algorithm based on the Lyapunov method, global progressive stability of a whole control system is ensured, and reliability and robustness to parameter change of the system are raised.
Owner:HOHAI UNIV CHANGZHOU
Angular velocity estimation based self-adaptive fuzzy sliding mode control method for micro gyroscope
InactiveCN103336435AReduce in quantityGuaranteed global asymptotic stabilityAdaptive controlGyroscopeControl system
The invention provides an angular velocity estimation based self-adaptive fuzzy sliding mode control method, applies the self-adaptive fuzzy sliding mode control method to a micro three-axis gyroscope control system, and can realize the trajectory tracking control and parameter estimation of a micro gyroscope system. According to the self-adaptive fuzzy sliding mode control method, a controller is designed on the basis the state-space equation of a micro gyroscope. Firstly, on the basis of the sliding mode controller, a novel self-adaptive identification method is designed, and the angular velocity of the micro gyroscope and the estimated valves of other systematic parameters are updated on line and in real time; besides, a fixed gain in a sliding mode control toggle item is adjusted by virtue of a self-adaptive fuzzy system, and fuzzy approximation is performed to the upper bound of the fixed gain, so that a chattering phenomenon arising in sliding mode control can be reduced. Through the adoption of the self-adaptive fuzzy sliding mode control method, a favorable tracking performance can be obtained, and the self-adaptive fuzzy sliding mode control method has robustness in parameter variation and external disturbance.
Owner:HOHAI UNIV CHANGZHOU
Rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode control method of ESC
ActiveCN105109549AGuaranteed global asymptotic stabilityReduce chatteringSteering linkagesAutomatic steering controlMathematical modelDynamic equation
The invention discloses a rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode control method of an ESC, and belongs to the field of automobile hydraulic power assisted steering systems. The control method includes the following steps: 1, an outer rotor of the ESC is connected with an engine, an inner rotor of the ESC is connected with a steering pump, and an ESC type electronic control hydraulic steering system is built; 2, a rotating speed signal of the steering pump in the ESC type electric control hydraulic steering system is collected through an ECU; 3, an ESC dynamic equation is built based on the rotating speed in the step 2, wherein a mathematical model of the ESC under the d-q axis is built; and 4, based on the mathematical model in the step 3, a rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode controller is designed. According to the rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode control method, the beneficial effects of self-adaptive fuzzy control and fuzzy sliding-mode control are adopted, satisfied system responses are generated through a dynamic self-adaptive law, interference is obviously eliminated, and buffeting is reduced.
Owner:东台城东科技创业园管理有限公司
Global sliding mode control method of micro gyroscope
InactiveCN103389648ARobustOvercoming non-robust featuresAdaptive controlLyapunov stabilityResponse process
The invention discloses a global sliding mode control method of a micro gyroscope. A global sliding mode control system is established, a signal which can be measured by the micro gyroscope is taken as an input, the stability of a closed-loop system is verified on the basis of a Lyapunov stability theory, and the global sliding mode control is realized through designing a dynamic nonlinear sliding mode surface equation. According to the global sliding mode control, the defect that the sliding mode control doesn't have the robustness when reaching a movement stage is eliminated, so that a system has the robustness in a whole response process, and the disadvantage that a mode reached in conventional sliding mode variable structure control doesn't have the robustness is overcome. According to the control method, the selection of sliding mode coefficients can be simplified, the transient characteristic and the robustness of the sliding mode control system are improved, a closed-loop control system has the global robustness, the contradiction between the transient characteristic and the robustness is resolved, and a powerful foundation is provided for expansion of the application range of the micro gyroscope.
Owner:HOHAI UNIV CHANGZHOU
Micro gyroscope robust self-adaptive control method
InactiveCN103345148AGuaranteed global stabilityCompensate for manufacturing errorsAdaptive controlVibration amplitudeGyroscope
The invention discloses a micro gyroscope robust self-adaptive control method, and the method is applied to a controller comprising a micro gyroscope. The method includes the following steps of establishing an ideal dynamics model, establishing a dimensionless dynamics model of the micro gyroscope, designing a sliding mode function and making the derivative of the sliding mode function to time be zero to acquire a control law, adding a feedback item and a robust item to the control law, wherein the control law with feedback item and the robust item is used as a robust self-adaptive control law, controlling the micro gyroscope based on the Lyapunov function method, and designing an self-adaptive law. According to the micro gyroscope robust self-adaptive control method, the feedback item is added to the control law, so that micro gyroscope two axle vibration trajectory tracking and parameter estimation speed is greatly improved, and vibration amplitude is reduced; the robust item is added to the control law, so that external interference and parameter uncertainty are removed, and robustness and dynamic characteristics of a system are improved; the self-adaptive law is designed based on the Lyapunov function method, so that globally asymptotic stability of the whole system is guaranteed, and reliability of the system and robustness to parameter change are improved.
Owner:HOHAI UNIV CHANGZHOU
Method of global sliding mode control of neural network of micro-gyroscope
InactiveCN103529701ARealize online updateEliminate online updatesAdaptive controlRobustificationGyroscope
The invention discloses a method of a global sliding mode control of a neural network of a micro-gyroscope, which comprises the following steps of establishing a global sliding mode control system of the neural network, designing a control law and taking as a control input of the micro-gyroscope, designing a self-adaptive law based on an Lyapunov function theory, and verifying the stability of a closed-loop system. The global sliding mode control is realized by designing a dynamic nonlinear sliding mode surface, the defect of no robustness in a reach movement stage of the sliding mode control is eliminated, the system has robustness in the whole process of response, and the respective defects of the global sliding mode control and the neural network are reduced by utilizing the intelligent control function of global sliding mode and the neural network. According to the method, the selection of sliding mode coefficients is simplified, the transient performance and the robustness of the sliding mode control system are improved, so that the closed-loop control system has global robustness, buffeting in the sliding mode control is eliminated, and thus a powerful foundation is provided for expansion of an application range of the micro-gyroscope.
Owner:HOHAI UNIV CHANGZHOU
Inversion adaptive fuzzy sliding mode control method for micro gyroscope
InactiveCN103885339AGuaranteed global asymptotic stabilityAvoid dependencySpeed measurement using gyroscopic effectsAdaptive controlLyapunov stabilityControl system
The invention discloses an inversion adaptive fuzzy sliding mode control method for a micro gyroscope. On the basis of advantages of inversion design and Lyapunov stability theory proof, the control law of the system is obtained step by step through a regression method, the fuzzy control does not need to rely on a mathematical model of a controlled object, the adaptive algorithm and the fuzzy control algorithm are combined, the defect that the fuzzy control cannot conduct parameter adjustment in time is overcome, a controller has the learning capacity, and in the control process, parameters have the self-learning and adjustment capacity. According to the method, the tracking performance of the micro gyroscope system can be effectively improved, the overall stability of the system is ensured, the robustness and the reliability of the system are improved, and the dependency on a controlled system model is avoided.
Owner:HOHAI UNIV CHANGZHOU
Cantilever beam robustness self-adaptation control method
InactiveCN104536295ACompensate for interferenceEliminate manufacturing errorsAdaptive controlCantilevered beamBeam trajectory
The invention discloses a cantilever beam robustness self-adaptation control method. An ideal cantilever beam dynamic model is designed and contains frequency signals rich enough to serve as a reference trajectory of a system, it is guaranteed that the actual cantilever beam trajectory can track the reference trajectory for the whole self-adaptation control system, an ideal dynamic property is realized, and compensation of manufacturing errors and environment disturbance is achieved. The parameters of a cantilever beam are taken as unknown system parameters, a parameter error vector theta is formed, a slip form function is designed, the derivative of the slip form function is made to be zero, an equivalent controller is obtained, a feedback term and a robustness term serve as an input signal on this basis, the self-adaptation rule of the parameter theta of the controller is designed based on the Lyapunov method, the stability of the system is guaranteed, tracking error is converged to zero, and all the parameters are converged to true values.
Owner:HOHAI UNIV CHANGZHOU
Linear-feedback global stabilization method for controlling limited spacecraft rendezvous control system
ActiveCN106407619AGuaranteed global asymptotic stabilityFast convergenceGeometric CADSpecial data processing applicationsLinear state feedbackStabilization control
The invention provides a linear-feedback global stabilization method for controlling a limited spacecraft rendezvous control system and relates to a controller design method of the spacecraft rendezvous control system. A thruster arranged on a chasing spacecraft can only provide finite thrust, so that the system must face the problem of control limitation. The control quality is reduced or even the system instability is generated if the problem is ignored. Aiming at the defect of the prior art, a linear state feedback-based global stabilization control law is provided and an optimal selection scheme of control law parameters is given, so that the condition that a closed-loop system has a fastest convergence speed is ensured. The linear-feedback global stabilization method has the advantages that: firstly, the provided control law is linear and is convenient to design and implement; secondly, the global asymptotic stability of the closed-loop system is ensured; and finally the optimal parameters are given to ensure that the closed-loop system has the fastest convergence speed. The linear-feedback global stabilization method is used for the field of spacecraft rendezvous control.
Owner:黑龙江省工研院资产经营管理有限公司
Indirect self-adaptive fuzzy sliding-mode control method of micro gyroscope system
InactiveCN103345154AGuaranteed global asymptotic stabilityReduce buffetingAdaptive controlGyroscopeFuzzy sliding mode control
The invention discloses an indirect self-adaptive fuzzy sliding-mode control method of a micro gyroscope system. The method can achieve trajectory tracking control of the micro gyroscope system. The indirect self-adaptive fuzzy sliding-mode control method can approximate unknown terms in the micro gyroscope system in a fuzzy mode without an accurate mathematical model of the system and can approximate an upper bound value of parameter uncertainty and external interference amount in a fuzzy mode. Through the fuzzy approximation to the upper bound value, switching terms in a sliding-mode controller can be serialized, and buffeting is greatly reduced. By the adoption of the indirect self-adaptive fuzzy sliding-mode control method, satisfactory tracking performance can be acquired, and robustness to the parameter change and external interference is possessed.
Owner:HOHAI UNIV CHANGZHOU
Method for controlling inversion adaptive fuzzy dynamic sliding mode of micro gyroscope
InactiveCN104155874AEnsure asymptotic stabilityGuaranteed global asymptotic stabilityAdaptive controlGyroscopeSelf adaptive
The invention discloses a method for controlling an inversion adaptive fuzzy dynamic sliding mode of a micro gyroscope. On the basis of dynamic sliding mode control, a dynamic control rule and a fuzzy adaptive rule are gradually obtained through an inversion method. In the design of the dynamic sliding mode control, discontinuous items are shifted to a controlled first-order or higher-order derivative, and thus the dynamic sliding mode control rule essentially continuous in terms of time is obtained, thereby effectively reducing system buffeting. In the design of the fuzzy adaptive rule, a practical model of a micro gyroscope system is approached by estimating interference items of a micro gyroscope sensor. With the adoption of the invention, the system buffeting can be effectively reduced, manufacturing errors and environmental interference are offset, and system sensitivity and robustness are improved.
Owner:HOHAI UNIV CHANGZHOU
Overall situation sliding mode control method of micro gyroscope adaptive neural network
InactiveCN104267604AEliminate chatterEasy to chooseSpeed measurement using gyroscopic effectsAdaptive controlNeural network systemAdaptive identification
The invention discloses an overall situation sliding mode control method of a micro gyroscope adaptive neural network. Firstly, a novel adaptive identification method is designed on the basis of an overall situation sliding mode controller and the angular speed of a micro gyroscope and the estimated values of other system parameters are updated online in real time; secondly, the switch gain in a sliding mode control switching item is dynamically adjusted through the adaptive neural network system output to approach to the upper bound of the nondeterminacy of the system and the external disturbance, the switching item of the sliding mode control is converted to continuous neural network output, the buffeting phenomenon in sliding mode control is weakened, and the high adaptive trace ability is achieved. The adaptive algorithm is designed based on the Lyapunov method, the ideal model on the micro gyroscope track and the overall situation asymptotic stability of the system are guaranteed, and the estimated values of an identifier can approach to the respective true value in an asymptotic convergence mode.
Owner:HOHAI UNIV CHANGZHOU
Dynamic sliding-mode control system of miniature gyroscope
InactiveCN102866633AGuaranteed global asymptotic stabilityImprove robustnessAdaptive controlGyroscopeOrder control
The invention discloses a dynamic sliding-mode control system of a miniature gyroscope. The miniature gyroscope is controlled by using a dynamic sliding-mode control method based on a dynamic switching function, discontinuous terms are transferred to first-order control derivatives to obtain a time-continuous dynamic sliding-mode control law, buffeting of the system is reduced, expectation in terms of trajectory tracking of the miniature gyroscope and global asymptotic stability of the system are guaranteed, and robustness and flexibility of the system are improved. The system particularly comprises a controller, an integration link, the miniature gyroscope, a first-order derivation link, a second-order derivation link and an adder. The dynamic sliding-mode control system of the miniature gyroscope has the advantages that a dynamic characteristic of the miniature gyroscope becomes an ideal mode after the miniature gyroscope is stable, and manufacture errors and environmental disturbance are compensated; the global asymptotic stability of the integral closed-loop system can be guaranteed by a dynamic sliding-mode control algorithm designed by using the method based on the dynamic switching function; and owing to dynamic sliding-mode control, robustness of the system to change of parameters is improved, and buffeting of the system is reduced.
Owner:HOHAI UNIV CHANGZHOU
Micro-gyroscope self-adaptive dynamic sliding mode control system based on inversion design, and method
InactiveCN104090487AGuaranteed stabilityImproved robustness and sensitivityAdaptive controlSliding mode controlSelf adaptive
The invention discloses a micro-gyroscope self-adaptive dynamic sliding mode control system based on an inversion design and a method. The method includes the following steps: (1) establishing a micro-gyroscope math model; (2) based on the inversion design, obtaining a self-adaptive dynamic sliding mode controller; (3) carrying out a simulating experiment so as to obtain a target system. System robustness and sensitivity to parameter change are improved and system buffet is effectively reduced; in a self-adaptive design, through parameter estimation of a micro-gyroscope sensor, a parameter of a controlled object is obtained so that global asymptotic stability of the whole closed-loop system is ensured; and after a stable mode is reached, a dynamic characteristic of the micro gyroscope is an ideal mode so that manufacturing errors and environment interferences are compensated for.
Owner:HOHAI UNIV CHANGZHOU
Control method for neural network global sliding mode of micro gyroscope based on linearization feedback
InactiveCN105157727AUniversalOvercoming non-robust featuresNavigation by speed/acceleration measurementsAdaptive controlNerve networkGyroscope
The invention discloses a control method for a neural network global sliding mode of a micro gyroscope based on linearization feedback. The control method comprises the following steps of S101, establishing an ideal dynamical equation of the micro gyroscope; S102, establishing a dimensionless dynamical equation of the micro gyroscope according to Newton's law in a rotation system; S103, establishing a neural network global sliding mode control system based on the linearization feedback according to the ideal dynamical equation and the dimensionless dynamical equation, designing a control law, and taking the control law as the control input of the micro gyroscope; S104, designing a self-adaptive law based on the lyapunov function theory, thereby enabling the established control system to perform online update. The control method disclosed by the invention has the advantages that the universality is realized, and transient characteristic, robustness and stability of the system are improved.
Owner:HOHAI UNIV CHANGZHOU
Control method of neural network full adjustment based on nominal controller
InactiveCN103472725ACompensate for manufacturing errorsGuaranteed global asymptotic stabilityAdaptive controlLyapunov stabilityGyroscope
The invention discloses a control method of a neural network full adjustment based on a nominal controller. The control method mainly comprises the two steps that a trace tracking controller and a neural network full adjustment compensating controller are designed based on a nominal value model, and the control output ends of the two controllers are combined to be used as the control input end of a micro-gyroscope. According to the control method of the neural network full adjustment based on the nominal controller, the advantage of a model control method is used, meanwhile, the powerful approximation capability of a neural network is used, model errors and an outside disturbance effect are estimated and compensated on line in real time, the tracking performance and the robustness of a system can be greatly improved, the adaptive algorithms of a neural network weight and the center and the sound stage width of a gaussian function are designed based on a Lyapunov stability theory, and the global stability of a closed-loop system and the boundedness of control input can be guaranteed.
Owner:HOHAI UNIV CHANGZHOU
Nested saturation nonlinear design method of four-rotor wing unmanned aerial vehicle control system
ActiveCN105912826AImprove dynamic characteristicsGood control effectGeometric CADSpecial data processing applicationsNonlinear control lawControl system
The invention provides a nested saturation nonlinear design method of a four-rotor wing unmanned aerial vehicle control system and relates to a nested saturation nonlinear design method of an unmanned aerial vehicle control system. In order to solve the problem of non-ideal control effect of the conventional four-rotor wing unmanned aerial vehicle control system with actuator saturation. The nested saturation nonlinear design method comprises the following steps: firstly performing state change on the four-rotor wing unmanned aerial vehicle control system, converting the four-rotor wing unmanned aerial vehicle control system into a feedforward nonlinear control system; then respectively designing a nested saturation nonlinear control law Tau theta of a pitch channel control system and a nested saturation nonlinear control law of a cross roll channel control system. The nested saturation nonlinear design method provided by the invention is suitable for the global stabilization of the four-rotor wing unmanned aerial vehicle control system.
Owner:成都川哈工机器人及智能装备产业技术研究院有限公司
Method for inhibiting velocity fluctuation of electric vehicle driving system
ActiveCN106788089AGuaranteed global asymptotic stabilityOvercoming control performance degradationMotor control for motor oscillations dampingControl vectorOperation mode
The invention provides a method for inhibiting the velocity fluctuation of an electric vehicle driving system. The method comprises the following steps: obtaining a rotor position by adopting an encoder, and transmitting the rotor position to a velocity control ring; and adopting a parallel mode combining a prediction PI joint controller, a repetitive controller and a nonlinear adaptive feedback observer by the velocity control ring, adopting the parallel mode of the prediction PI joint controller and the repetitive controller during electric start, substituting two continuous sampling values into a prediction domain of the prediction PI joint controller by the encoder, switching to the parallel mode of the repetitive controller and the nonlinear adaptive feedback observer when an electric vehicle enters a stable operation mode, and then transmitting an output signal of the velocity control ring. According to the method provided by the invention, the prediction PI joint control, the nonlinear adaptive feedback observation control, the repetitive control and the vector control are combined together to improve the stability, the accuracy and the dynamic response ability of the electric vehicle driving system and inhibit the velocity fluctuation in an electric vehicle running process.
Owner:NANJING INST OF TECH
Micro gyroscope adaptive control method based on model reference
InactiveCN102298322BGuaranteed global asymptotic stabilityImprove robustnessAdaptive controlGyroscopeDynamic models
The invention discloses a micro gyroscope adaptive control method based on model reference, and the method is applied to a controller comprising a gyroscope. The method comprises the following steps: establishing an ideal dynamics model; designing a reference model as two different frequency sine waves, wherein a state space form is X[m]=A[m]X[m]; establishing a micro gyroscope system dynamics model; controlling a micro gyroscope based on a Lyapunov method, wherein a design control law is u=K<T>X+K[f]e, K<T> is an on-line adaptive update controller parameter, and K[f] is a steady matrix, and selecting K[f] and allowing (A[m]+BK[f]) as a stabilization matrix. According to the invention, a model reference adaptive control method is applied to micro gyroscope control in order to compensate manufacture errors and environment interference, and estimate an angle rate correctly. By employing a designed self-adaptive algorithm based on the Lyapunov method, global progressive stability of a whole control system is ensured, and reliability and robustness to parameter change of the system are raised.
Owner:HOHAI UNIV CHANGZHOU
Time constant identification method for induction motor rotor
ActiveCN107896079AAccurate identificationHigh precisionElectronic commutation motor controlVector control systemsMotor loadTime constant
The invention discloses an time constant identification method for an induction motor rotor. The method comprises the steps of constructing a rotor flux ESO model of the induction motor; constructinga current model of the induction motor; deriving the self-adaptation law through a Popov superstability theorem; determining the time constant of the rotor of the induction motor, wherein the rotor flux ESO model is used as a reference model, the current model is used as an adjustable model, and the reciprocal (1 / T<^><R>) of the time constant of the rotor is estimated under the action of the self-adaptive law and sent into a current model to adjust the output flux value of the current model in real time, so that the output flux value of the current model follows the flux output of the rotor flux ESO model, and determining the output value as the time constant of the rotor of the induction motor when the flux values of the rotor output by the rotor flux ESO model and the current model are equal. The rotor time constant identification is accurate, and the magnetic field orientation and speed tracking precision of AN induction motor vector control system can be improved, the motor load disturbance robustness is high, and the motor rotating speed tracking precision is high.
Owner:XIAN UNIV OF SCI & TECH
Dynamic sliding-mode control system of miniature gyroscope
InactiveCN102866633BGuaranteed global asymptotic stabilityImprove robustnessAdaptive controlOrder controlGyroscope
The invention discloses a dynamic sliding-mode control system of a miniature gyroscope. The miniature gyroscope is controlled by using a dynamic sliding-mode control method based on a dynamic switching function, discontinuous terms are transferred to first-order control derivatives to obtain a time-continuous dynamic sliding-mode control law, buffeting of the system is reduced, expectation in terms of trajectory tracking of the miniature gyroscope and global asymptotic stability of the system are guaranteed, and robustness and flexibility of the system are improved. The system particularly comprises a controller, an integration link, the miniature gyroscope, a first-order derivation link, a second-order derivation link and an adder. The dynamic sliding-mode control system of the miniature gyroscope has the advantages that a dynamic characteristic of the miniature gyroscope becomes an ideal mode after the miniature gyroscope is stable, and manufacture errors and environmental disturbance are compensated; the global asymptotic stability of the integral closed-loop system can be guaranteed by a dynamic sliding-mode control algorithm designed by using the method based on the dynamic switching function; and owing to dynamic sliding-mode control, robustness of the system to change of parameters is improved, and buffeting of the system is reduced.
Owner:HOHAI UNIV CHANGZHOU
Inversion Adaptive Fuzzy Sliding Mode Control Method for Micro Gyroscope
InactiveCN103885339BGuaranteed global asymptotic stabilityAvoid dependencySpeed measurement using gyroscopic effectsAdaptive controlLyapunov stabilityGyroscope
The invention discloses an inversion adaptive fuzzy sliding mode control method for a micro gyroscope. On the basis of advantages of inversion design and Lyapunov stability theory proof, the control law of the system is obtained step by step through a regression method, the fuzzy control does not need to rely on a mathematical model of a controlled object, the adaptive algorithm and the fuzzy control algorithm are combined, the defect that the fuzzy control cannot conduct parameter adjustment in time is overcome, a controller has the learning capacity, and in the control process, parameters have the self-learning and adjustment capacity. According to the method, the tracking performance of the micro gyroscope system can be effectively improved, the overall stability of the system is ensured, the robustness and the reliability of the system are improved, and the dependency on a controlled system model is avoided.
Owner:HOHAI UNIV CHANGZHOU
Adaptive fuzzy sliding mode controller for micro gyroscope
InactiveCN102508434BGuaranteed global asymptotic stabilityCompensate for manufacturing errorsAdaptive controlReference modelGyroscope
The invention discloses an adaptive fuzzy sliding mode controller for a micro gyroscope, which is characterized by comprising an adaptive fuzzy control system based on a reference module, and a switching control system. In the adaptive fuzzy control system, a sliding mode surface is used as the input of the fuzzy controller, and the weight is automatically adjusted by a dynamic adaptive law so as to realize fuzzy approximation to an equivalent control law. The adaptive fuzzy sliding mode controller for the micro gyroscope of the invention has the following benefits that: when the system is in a steady state, the dynamic performance of the micro gyroscope is an ideal mode, and the manufacturing error and the environment interference are compensated; an adaptive algorithm designed based on a Lyapunov method can ensure the global asymptotic stability of the whole closed-loop system; and with adaptive adjustment on the upper bound of the approximation error, buffeting is reduced obviously.
Owner:HOHAI UNIV CHANGZHOU
Adaptive Fuzzy Sliding Mode Control Method Based on Angular Velocity Estimation for Micro Gyroscope
InactiveCN103336435BReduce in quantityGuaranteed global asymptotic stabilityAdaptive controlGyroscopeFuzzy sliding mode control
Owner:HOHAI UNIV CHANGZHOU
An adaptive wind-resistant path tracking control method for unmanned airship
ActiveCN105094144BRobust enoughEliminate Tracking ErrorPosition/course control in three dimensionsControl flowPropeller
An adaptive wind-resistant path tracking control method for an unmanned airship, the steps are as follows: 1. Given expected tracking value: given expected plane path; given expected speed; 2. Adaptive integral guidance calculation: calculated to eliminate the difference between expected position and actual The desired yaw angle and wind field estimation value required for the error between positions; 3. Yaw angle tracking control calculation: calculate the rudder control amount required to eliminate the error between the expected yaw angle and the actual yaw angle; 4. Relative Speed tracking control calculation: Calculate the propeller control amount required to eliminate the error between the desired speed and the actual speed. The control flow is shown in the accompanying drawing.
Owner:北京天航华创科技股份有限公司
A Linear Feedback Global Stabilization Method for Control Constrained Spacecraft Rendezvous Control System
ActiveCN106407619BGuaranteed global asymptotic stabilityFast convergenceGeometric CADSpecial data processing applicationsLinear state feedbackControl system
The invention provides a linear-feedback global stabilization method for controlling a limited spacecraft rendezvous control system and relates to a controller design method of the spacecraft rendezvous control system. A thruster arranged on a chasing spacecraft can only provide finite thrust, so that the system must face the problem of control limitation. The control quality is reduced or even the system instability is generated if the problem is ignored. Aiming at the defect of the prior art, a linear state feedback-based global stabilization control law is provided and an optimal selection scheme of control law parameters is given, so that the condition that a closed-loop system has a fastest convergence speed is ensured. The linear-feedback global stabilization method has the advantages that: firstly, the provided control law is linear and is convenient to design and implement; secondly, the global asymptotic stability of the closed-loop system is ensured; and finally the optimal parameters are given to ensure that the closed-loop system has the fastest convergence speed. The linear-feedback global stabilization method is used for the field of spacecraft rendezvous control.
Owner:黑龙江省工研院资产经营管理有限公司
PI passive control method and system of modular multilevel converter
PendingCN113346777AEasy to controlFacilitate energy controlElectric power transfer ac networkAc-dc conversionModularityDifferential equation
The invention discloses a PI passive control method and system of a modular multilevel converter. The PI passive control method comprises the steps of: establishing a bridge arm average model based on a controlled source, and listing a differential equation represented by sigma-delta in a corresponding abc coordinate system; deducing a state space model of the MMC bridge arm average model according to the established differential equation; establishing a port controlled dissipation Hamilton model of an MMC system by using the state space model of the MMC bridge arm average model; utilizing the port controlled dissipation Hamilton model of the MMC system and utilizing a passive control theory to design a PI passive feedback controller of a closed-loop system, and realizing control over the modular multilevel converter through using the PI passive feedback controller. According to the PI passive control method, effective tracking of the expected trajectory of the MMC system can be realized, and the global asymptotic stability of the system can be ensured according to the Lyapunov stability theory, so that the robustness of the system is improved.
Owner:XI AN JIAOTONG UNIV
Speed Ripple Suppression Method for Electric Vehicle Drive System
ActiveCN106788089BGuaranteed global asymptotic stabilityOvercoming control performance degradationMotor control for motor oscillations dampingControl vectorOperation mode
The invention provides a method for inhibiting the velocity fluctuation of an electric vehicle driving system. The method comprises the following steps: obtaining a rotor position by adopting an encoder, and transmitting the rotor position to a velocity control ring; and adopting a parallel mode combining a prediction PI joint controller, a repetitive controller and a nonlinear adaptive feedback observer by the velocity control ring, adopting the parallel mode of the prediction PI joint controller and the repetitive controller during electric start, substituting two continuous sampling values into a prediction domain of the prediction PI joint controller by the encoder, switching to the parallel mode of the repetitive controller and the nonlinear adaptive feedback observer when an electric vehicle enters a stable operation mode, and then transmitting an output signal of the velocity control ring. According to the method provided by the invention, the prediction PI joint control, the nonlinear adaptive feedback observation control, the repetitive control and the vector control are combined together to improve the stability, the accuracy and the dynamic response ability of the electric vehicle driving system and inhibit the velocity fluctuation in an electric vehicle running process.
Owner:NANJING INST OF TECH
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