49results about How to "Guaranteed global stability" patented technology

The invention discloses a robust neural network control system for a micro-electro-mechanical system (MEMS) gyroscope based on sliding mode compensation and a control method of the control system. The control system comprises a given trajectory generation module, a sliding mode surface definition module, a neural network controller, a weight adaptive mechanism module, a sliding mode compensator, an MEMS gyroscope system, a proportional-differential control module, a first adder and a second adder. The control method of the control system comprises the following steps of: establishing an MEMS gyroscope kinetic model based on a sliding mode surface, designing a controller structure, and designing an updating algorithm of a radial basis function (RBF) network weight, so that the trajectory of the MEMS gyroscope is tacked. By the control method, the influence of the unknown dynamic characteristic of the MEMS gyroscope and noise interference can be compensated on line, the vibration trajectory of the MEMS gyroscope completely follows a reference trajectory, and the anti-interference robustness and reliability of the system are improved; the updating algorithm of the network weight is designed on the basis of a Lyapunov stability theory, so that the stability of a closed-loop system is ensured; and a powerful basis is provided for expanding the application range of the MEMS gyroscope.

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.

The invention discloses a flight control system self-adaption parameter adjustment method. In the design process, the structure of a flight control system is fixed; and under the condition that flight envelope changes greatly, and by establishing constraint relation between unknown parameters of the flight control system and poles of a closed loop system, robust self-adaptive parameter adjustment of the flight control system is achieved. The method is characterized by, during the design process, to begin with, performing corresponding performance constraint based on flight qualities, such as bandwidth frequency, time delay, magnitude margin and phase margin, of an aircraft model, and establishing an area meeting flight performance requirements; and then obtaining design parameters, meeting area stabilization requirements, of the flight control system by utilizing the protection mapping theory, meanwhile, automatically generating a controller set meeting the requirements, and thus self-adaption parameter adjustment of the control system is achieved. More importantly, during the parameter adjustment process, not only a single parameter can be adjusted, but also coordinated and integrated design of multiparameters can be achieved, thereby meeting the requirement for multiobjective design parameter adjustment of the flight control system.

The invention discloses an intelligent nonlinear control system for a hypersonic morphing aircraft and belongs to the aviation aerospace propulsion control technical field. According to the intelligent nonlinear control system of the invention, according to problems in outer-loop stable tracking control of the hypersonic morphing aircraft, with influence on modeling caused by a morphing structure and influence on tracking control performance caused by model parameter uncertainty and external unknown interference considered, the control system is divided into three sub systems according to the state variable characteristics of the aircraft; control signals are obtained sequentially through using a backstepping method; approximation is performed on the unknown interference through adopting an RBF neural network, so that the robustness of the controller can be ensured; and according to the problems of difficulty in the derivation of virtual control signals and differential expansion, dynamic surface control thinking is introduced to make improvement. With the above technical schemes of the invention adopted, the global stability of the closed-loop system can be guaranteed, and the system has high tracking performance and robust performance.

The invention discloses a nonlinear teleoperation bilateral control method based on adaptive fuzzy inversion. According to the nonlinear teleoperation bilateral control method, a signal optimization function is designed at the slave end, thus a position signal transmitted by a master end through a communication channel is optimized, and a corresponding speed and acceleration signal is generated atthe slave end; through fuzz estimation of non-power environment parameters at the slave end and reconstitution of environmental force of the master end, transmission of the power signal at the communication channel is avoided, and the problem of balance of passivity, stability and transparency of a traditional teleoperation system is avoided; aiming at the problems of nonlinearity, model uncertainty and parameter uncertainty of a bilateral teleoperation system, a nonlinear controller based on inversion is provided by the invention, model information of a fuzzy system approximation system is adopted, the adaptive rate for on-line adjusting the fuzzy system parameters is designed based on a Lyapunov theory, and it is ensured that the system has the good stability and convergence.

The present invention relates to an aircraft global finite time neural network control method based on a switching mechanism, belonging to the field of aircraft control. The problem of aircraft globalfinite time neural network control is solved. The method comprises the steps of: decoupling an aircraft vertical model to a height subsystem and a speed subsystem, employing backstepping control forthe height subsystem, and employing PID control for the speed subsystem. For the height subsystem, a switching mechanism is introduced to achieve switching between an effective approaching intra-areaneural network control and approaching outer-area robust control, and based on the tracking errors and the modeling errors, performing updating of the neural network weight so as to improve the learning performance of the neural network, and giving a robust design scheme on this basis, achieving finite time convergence of the tracking errors of the system. The aircraft global finite time neural network control method ensures that the aircraft neural network control is still worked in the effective approaching area to achieve the global stability of the closed-loop system and ensure the performance demand of the practical engineering application.

The invention discloses a self-adaptive inversion control system and method of a micro gyroscope. The control system comprises a reference trajectory module, a middle signal generating module, a self-adaptive inversion controller, a parameter self-adaptive mechanism module, an angular speed estimation module and a micro gyroscope system with unknown parameters. The control system controls the two axle vibration trajectory of the micro gyroscope to track a given reference trajectory and estimates the unknown parameters of the micro gyroscope, wherein the unknown parameters comprise the external input angular rate and a control law, and a self-adaptive algorithm of the parameters is designed based on the Lyapunov stability theory. Therefore, global stability of the control system and asymptotic convergence of tracking errors are guaranteed. An anti-interference robust item is further added to the control law, so that the anti-interference performance of the system is improved. The self-adaptive inversion control system and method of the micro gyroscope provide an excellent foundation for expanding the application range of the micro gyroscope.

The invention discloses a back-stepping robust self-adaptive dynamic surface-based near-space aircraft control system. The system comprises the steps of: initially employing interpolation fitting to obtain an aerodynamic parameter of an aircraft cruising segment, and building a longitudinal uncertainty strict feedback block non-linear model of an aircraft; secondly, separately controlling speed and height according to state variable characteristic of the aircraft, sequentially solving a control signal by a back-stepping method, approaching unknown interference by employing a RBF neural network, and updating the parameter on line and in real time; and finally, adding a dynamic surface control method with regard to the problems of virtual control signal derivation difficulty and differentialexpansion. By the system, the problems of virtual control signal derivation difficulty and differential expansion are solved, and the system has favorable tracking property and robustness.

The invention discloses a near space variable wing aircraft adaptive winglet switching control system and a working method thereof, and belongs to the technical field of aviation aerospace propulsion control. For the problem of stable tracking control of speed and attitude of a near space variable wing aircraft and with the influence of a variable wing structure on modeling and the problem of switching control in the winglet telescoping process being considered, the method is characterized by obtaining a state equation expression based on a nonlinear model of an aircraft; and according to relative order of velocity and pitch angle, establishing reference models of an adaptive control system. A designed adaptive controller comprises a nominal controller and an adaptive update module, wherein the adaptive update module is used for automatically updating controller parameters to realize smooth transition before and after winglet switching. The system and method can ensure global stability of a closed-loop system, and the system is allowed to have good tracking performance and robust performance.

The invention discloses a magnetic suspension rotor vibration harmonic suppression method and a magnetic suspension rotor vibration harmonic suppression system with multiple wave traps connected in parallel. The magnetic suspension rotor vibration harmonic suppression system comprises parallel phase-shift wave traps, a magnetic suspension controller and a magnetic bearing rotor which are connectedin sequence, wherein signal extraction points of the parallel phase-shift wave traps are placed at an input end of the magnetic suspension controller, and signal insertion points of the parallel phase-shift wave traps are placed at a position of a displacement error signal. The magnetic suspension rotor vibration harmonic suppression method and the magnetic suspension rotor vibration harmonic suppression system aim at the magnetic suspension rotor, considers the influence of rotor mass unbalance and sensor vibration, establish a magnetic suspension rotor dynamical model containing harmonic disturbance, effectively suppress different frequency disturbance components of a harmonic current under variable rotating speed frequency by connecting a plurality of differently phase-shifted wave traps in parallel, further effectively suppress the harmonic vibration while ensuring closed-loop stability of the system, and are of reference significance to the harmonic suppression problem under themagnetic suspension-rotor system under variable speed situation.

The invention discloses a distributed energy management method for a hybrid power system of an electric vehicle. The distributed energy management method comprises the following steps: 1) building thehybrid power system of the electric vehicle; (2) outer loop control is designed for a main power supply unit and an auxiliary energy storage unit of an electric vehicle hybrid power system, and pulsating load power is controlled to be dynamically and optimally distributed; 3) designing inner loop control for a main power supply unit and an auxiliary energy storage unit of the hybrid power systemof the electric vehicle, and further comprising the following steps: i) establishing a mathematical model of the hybrid power system of the electric vehicle; ii) designing a control target of inner loop control; and iii) designing a controller, and controlling the input current of the converter of the main power supply unit and the converter of the auxiliary energy storage unit through the controller to accurately track a desired current reference. Dynamic optimization distribution of pulsating load power among different power supply units and recovery of braking energy are achieved, and the global stability of an electric vehicle hybrid power system in the driving process is guaranteed.

The invention puts forward a surrounding tracking method for a moving target on the basis of distance measurement, and belongs to the field of robot target tracking. The method comprises the followingsteps that: firstly, under a plane coordinate system, establishing the kinetic model of a mobile robot; then, taking a target to be tracked as a center of a circle to establish a polar coordinate system, and transforming the kinetic model of the mobile robot to be under the polar coordinate system from the plane coordinate; and finally, on the basis of distance measurement, designing a controlledquantity, and controlling the mobile robot to realize the surrounding tracking of the moving target. By use of the method disclosed by the invention, only distance measurement is required to serve asa feedback variable so as to be simple in design, the global stability of a control method can be guaranteed under a situation that the initial state of the mobile robot is not restricted, and in addition, the design of the control parameter does not depend on the initial position of the mobile robot. By use of the method disclosed by the invention, the moving target can be effectively tracked, reliability is high, and the method is suitable for engineering application.

A turbogenerator main throttle valve opening predication control method based on a delaying observer is provided. The method comprises the following four steps: step 1: analyzing and modeling a turbogenerator main throttle valve opening control system; step 2: designing turbogenerator main throttle valve opening predication control; step 3: designing the delaying observer; and step 4: finishing the design. Aiming at a main throttle valve opening control system model, a control principle with a closed analytical solution is designed, and the output delaying observer is designed to correct a measured signal, so that the overall stability of a closed loop control system is guaranteed under the time varying delaying condition; meanwhile, the rapid and accurate tracking of a pre-set track by a power angle of a turbogenerator is realized.

The invention discloses a multi-time-lag nonlinear system sliding mode prediction fault-tolerant control method under sensor faults. In a multi-time-lag non-linear aircraft system with sensor faults,firstly, an augmentation system is constructed for the sensor faults to process the fault quantity, and an equivalent system is obtained; and then a prediction model is constructed by utilizing a quasi-integral sliding mode surface to ensure global robustness. Aiming at system state time lag, input time lag, sensor faults and various disturbance uncertainty, a double-power function reference trackwith novel fault and disturbance compensation is designed, adverse effects of time lag on the system are effectively weakened, and the fault tolerance performance of the system is enhanced. Then an improved inverse time limit chaotic simulated annealing suburb wolf optimization algorithm (ICSACOA) is designed in a rolling optimization part, so that the solving speed and convergence speed of the algorithm are increased. The method is used for robust nonlinear fault-tolerant control of the multi-time-lag nonlinear system with the sensor faults.

The invention provides a steam turbine generator main steam valve opening degree prediction control method based on a non-linear interference observer. The method comprises the four major steps that 1, a steam turbine generator main steam valve opening degree control system carries out analysis and modeling; 2, the steam turbine generator main steam valve opening degree prediction control design is carried out; 3, the non-linear interference observer is designed; 4, the design is completed. The method aims at a main steam valve opening degree control system model, a control rule with the closed type analytical solution is designed, and then, the non-linear interference observer is designed for controlling the interference for compensation, so that the global stability of the closed loop control system is ensured under the condition with higher input interference, and meanwhile, the fast and precise tracking of a steam turbine generator power angle on the preset tracks is realized.

The invention discloses a multi-unmanned-aerial-vehicle consistency formation control method in an annular task mode, and the method comprises the steps: decoupling a formation control instruction foran annular task scene, building a coordinate system conversion relation under an annular task, introducing task target information, and achieving the precise expression and quick updating of a position state in an annular task process; and designing a multi-aircraft formation consistency control algorithm in an annular task mode, and establishing a consistency formation controller so as to ensurethe collaborative consistency of the multi-aircraft formation in three levels of time, space and phase angle and realize accurate control. According to the invention, corresponding stand-alone instruction generators can be formed according to the characteristics of various unmanned aerial vehicles, so as to meet the requirements of accurate formation control of different types or different controllers of unmanned aerial vehicles under an annular task, and ensure the expandability of the formation controller and the good universality of a closed-loop system; and the method has good effects inrapidity, stability and accuracy in an annular task mode, and has certain robustness.

The invention relates to a multi-model adaptive control method and system of a nonlinear system with growth rate boundedness. The multi-model adaptive control method includes identifying the system by at least one linear model and at least one nonlinear model based on the neural network, wherein the linear models and the nonlinear models correspond to a linear adaptive controller and a nonlinear adaptive controller based on the neural network respectively; switching the optimal controllers to control at each sampling moment on the basis of a performance index switching unit. Compared with a conventional nonlinear multi-model adaptive control method, the limit of nonlinear terms of the nonlinear system is relaxed to the growth rate boundedness, and adaptability of the multi-model adaptive controller is effectively improved.