45results about How to "Improve robust stability" patented technology

The invention relates to a high-efficiency voltage stabilization comprehensive control method of an induction power transmission system, belonging to the technical field of radio energy transmission.The system consists of two closed-loop circuits: an optimal efficiency tracking control loop and a robust constant pressure control loop. The optimal efficiency tracking control loop calculates the efficiency expression by establishing an AC impedance model for the system circuit, obtains the optimal equivalent load, adds an impedance matching network at a secondary side, and adjusts the duty cycle of a converter so that the equivalent resistance of the rectified output reaches the optimal load value to realize optimal efficiency tracking. The robust constant voltage control loop sends a difference between a load acquisition voltage and an input reference voltage into a robust controller by establishing a parameter perturbation model of the system to obtain a constant voltage of a high-frequency full-bridge inverter of a phase-shifted angle control primary side. The optimal efficiency tracking control and closed-loop robust control of an active impedance matching network can meet the multi-performance requirements of optimal efficiency and constant output voltage.

The invention discloses a multisource disturbance actuator saturation integrated spacecraft relative attitude control method. The method includes: starting from spacecraft relative attitude kinematicand kinetic equations to perform characteristic analysis and classification of multisource disturbances in a system; then, estimating disturbances with different characteristics by taking advantages of estimation performances of a disturbance observer, a radial basis function neural network and an extended state observer; next, designing an anti-saturation compensator to avoid damages caused by saturation upper limit exceeding of a spacecraft execution mechanism; finally, designing a composite controller according to a backstepping method on the basis of multisource disturbance observation values and anti-saturation compensation items. Therefore, adverse effects of multisource disturbances on the system are avoided, system robustness is improved, accurate spacecraft relative attitude control in a saturation range is guaranteed by the execution mechanism, and smoothness in space operation task completion is guaranteed.

The invention discloses an automobile electric control composite steering system and a multi-objective optimization method thereof. The electric control composite steering system comprises an engine control unit (ECU), a mechanical drive module, an electrically controlled hydraulic power module and an electric power-assisted module. The mechanical drive module comprises a steering wheel, a steering column, a recirculating ball-type steering gear, a steering tie rod and the like; the electrically controlled hydraulic power module comprises a hydraulic tank, a hydraulic pump, a driving motor for the hydraulic pump and a rotary valve and the like; the electric power-assisted module comprises an arc-shaped linear electric motor and the like. According to the driver's preferences, road conditions, vehicle speed, steering angle and rotation speed and the like, the participation mode of the electric power-assisted of the composite steering system is determined. The motor of steering feeling, steering sensitivity and steering power consumption are taken as optimization targets and the steering range is selected as a constraint condition; the important parameters of the composite steering system are optimized through the new multi-objective optimization method and the comprehensive performance of the composite steering system is improved.

The invention provides a controlling method and a controlling device for a formation of unmanned aerial vehicles, and a controller, and relates to the technical field of automatic control. The methodcomprises the steps of acquiring current position data and current attitude data of the formation of unmanned aerial vehicles; according to the current position data and a pre-designed robust positioncontroller, determining a vertical position control input and expected attitude data; according to the current attitude data, expected attitude data, and a pre-designed robust attitude position controller, determining an attitude control input; and according to the vertical position control input and the attitude control input, controlling the formation of unmanned aerial vehicles, wherein the robust position controller and the robust attitude controller are implemented based on a graph theory, a backstepping method and a robust compensation technology. Via the graph theory method based on topology, the consistency of the formation of unmanned aerial vehicles is improved; and via the robust compensation method, the robust stability of the formation of the unmanned aerial vehicles during aflying process is improved.

The invention discloses an improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method. The method comprises the following steps of step1, based on a mechanism modeling method, establishing a nonlinear dynamic model of a quad-rotor unmanned aerial vehicle height direction; step2, decomposing the nonlinear dynamic model into a linear item and a uncertain item; step3, using a tracking differentiator to obtain a height direction position and a speed expectation value; step4, estimating a disturbance item in a system using a first-order extended state observer; and step5, designing an error feedback control law based on a PD algorithm and feedforward control, and using a disturbance item value estimated by the extended state observer to compensate the uncertain item of the system. An improved tracking differentiator is used to plan a height flight strategy, and an acceleration-uniform speed-deceleration flight mode is constructed so that a quad-rotor unmanned aerial vehicle can rise (or descend) from one height to another height in the shortest time; and a maximum acceleration during flight and a speed of a uniform speed segment can be set autonomously.

The invention relates to an anti-interference PID (proportion integration differentiation) controller for an industrial unstable time-lag process and a design method thereof. The controller consists of a set value tracking controller, a disturbance resisting controller, a filter, a controlled process identifying model and three signal mixers. The design method of the anti-interference PID controller for the industrial unstable time-lag process provided by the invention can improve the anti-interference capability of a system to a great extent, and compared with the other design methods, the control system is simple in structure, the controller is standard in form, industrial realization is easy, respective performance is adjusted through one-parameter, the operation is convenient and visual, the controlling effect is stable, and better system performance can be realized. The industrial control system can be widely used for controlling the production process of various enterprises in the industries, such as energy, metallurgy, petrifaction, light industry, medicine and textile manufacturing.

It is a sort of decoupling control system of chemical multivariable procedure, it makes up of nXn dimensional decoupling controller matrix and multiple signal mixers, of which, n is output dimension of multivariable controlled process. It makes use of deviation signal as feedback regulated information of system output response, the deviation signal is from input signal of n dimensional given value of system default point and n dimensional output measuring signal of actual controlled process, after it is operated by decoupling controller matrix, the n dimensional control output signal is sent to n dimensional input adjusting device of controlled process, thereby achieve the objective of asymptotical tracking system's set point inputs signal and restrains load interference signal. This control system enable to maintain stability of robust, and fit in with the modeling error of actual controlled process and perturbations of procedural parameter in greater extensiveness.

The present invention provides an electric power steering system with the robust stability performance. The electric power steering system consists of a traditional mechanical steering system (which mainly comprises a steering disc, a steering shaft, a steering device, a steering tie bar mechanism and a steering wheel), a sensor torque, an electronic control unit, a steering power motor and a speed reducing mechanism. The present invention adopts the H infinity robust control method to determine the electric power steering system, and the robust controller has excellent robust stability for the perturbation of the system. Simultaneously, the present invention also provides successful price reducing and fixed-point treatment for the robust controller, and thus successfully realizing the control algorithm with a cheap vehicle control chip. The commissioning experiment proves that the present invention is effective, and the present invention has significance for the industrial production of the electric power steering system.

The invention discloses an active disturbance rejection control method of a spacecraft considering network transmission and actuator saturation. The method includes the steps that firstly, a proper transition process is arranged for a desired attitude of a system by designing a tracking differentiator, and meanwhile a differential signal of an expected value is obtained to prepare for subsequent controller design; and then a nonlinear sampling extended state observer is designed by using an attitude angle measurement signal output from a network protocol, real-time estimation of a state in a spacecraft system and nonlinear uncertain items formed by coupling, external interference and so on is carried out, and an estimated value of the nonlinear uncertain items is compensated to an error feedback control rate containing an anti-saturation compensator. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation can not only avoid the adverse effect of nonlinear factors such as internal and external interference on the system, but also ensure that an actuator can precisely control the spacecraft attitude within the saturation range, and provide guarantee for successful completion of space operation tasks. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation has good control effect, and can be widely used in other nonlinear networked control systems.

The invention discloses a self-adaptive hybrid control method for a magnetic levitation electric main shaft. The self-adaptive hybrid control method belongs to the technical field of numerically-controlled machine tools, and comprises the steps of: establishing a model analysis module and a controller module; establishing a working condition vibration model, a coupling vibration model and a machine tool basic vibration model of the magnetic levitation electric main shaft in the model analysis module; and establishing a parameter self-correction fuzzy controller, a PID controller, a displacement feedforward compensation controller and a real-time switching controller in the controller module. The self-adaptive hybrid control method solves the technical problem that a traditional control algorithm cannot respond to, track and control a rotor in time, proposes a magnetic levitation electric main shaft parameter self-correction fuzzy control strategy, studies the self-adaptive capability and the parameter online correction effect of the fuzzy controller, improves the robust stability of a magnetic levitation electric main shaft system, proposes a multi-mode self-adaptive hybrid controlstrategy based on combination of parameter self-correction fuzzy control, classic PID control and unbalanced displacement feedforward compensation control, and solves the stability problem of the proposed multi-mode adaptive hybrid control strategy.

The invention relates to global optimum controller setting method in linearity multivariate industrial process. It includes the following steps: starting up industrial personal computer CPU after entering control stage; reading the program in the monitoring module; processing detecting transmitting and A / D conversion for the sampled signal to gain digital quantity input signal; judging the signal polarity; computing error signal estimate optimum controlled process evidential based model parameter; transferring optimal controller design procedures to compute optimal controller initial parameter, finally gain the control signal which is processed by amplitude limit and D / A conversion to drive controlled system to control controlled object. The user online adjusts controller parameter according to current moment process response feature. This is repeated to realize optimum controller setting. The invention can be widely used in process control for all classes of enterprises in many industries.

The invention provides an H-infinity control method of micro-grid frequency based on hybrid sensitivity. The method comprises the following steps of setting a relational expression of a micro-grid frequency deviation delta f and a power deviation delta P to establish a transfer function of a controlled object, establishing a sensitivity function S and a complementary sensitivity function T, constructing weighting functions W1, W2 and W3 meeting constraint conditions, establishing a closed loop system transfer function of a generalized controlled object of a micro-grid to obtain a transfer function of an H-infinity controller, and according to the transfer function of the H-infinity controller, obtaining an MT controller and an ES controller through solving. The method can design the controller according to a performance requirement of the micro-grid, and can quickly obtain a control parameter of the H-infinity controller, and the robust stability, the dynamic performance and the interference resistance of a micro-grid system are effectively improved.

The invention discloses a holographic optimal sliding mode controller used for a vehicle active suspension. The controller is composed of a first solver and a second solver, the input of the holographic optimal sliding mode controller is a suspension system motion state vector of an h-1 working cycle, the output of the holographic optimal sliding mode controller is suspension control generator control force of an h working cycle, the h is an integer which is larger than zero, the output of the first solver is the input of the second solver, when the h working cycle is conducted, the input of the first solver is an extended state vector formed by combining the suspension system motion state vector of the h-1 working cycle and the suspension control generator control force U(h-1) of the h working cycle, when the h working cycle is conducted, the output of the second solver is suspension control generator control force U(h), and the U(h) is input to a suspension system to complete h control of the active suspension. According to the holographic optimal sliding mode controller, all suspension system structural information and expected performance information are considered, the optimal performance and better robust stability are obtained by the active suspension control system.

The invention discloses a sampling output-based space robot position and attitude active disturbance rejection control method. Firstly, a transition process is arranged for position and attitude signals desired by a system through designing a tracking differentiator to generate smooth signals, over large tracking errors to generate over large control input signals to result in severe output overshoot at an initial moment can be avoided, and the differential signals of the desired signals are obtained to prepare for the controller design. Sampling output signals of the system are used to designa continuous-discrete expansion state observer, the system state and total nonlinear uncertainties are subjected to real-time estimation, the estimated values of the nonlinear uncertainties are compensated to a feedback combination formed by state estimation values outputted by the continuous-discrete expansion state observer and smooth signals and differential signals acquired by the tracking differentiator, a compound controller is formed, nonlinear factors such as internal and external interference can be prevented from executing adverse effects on the system, and a favorable guarantee isprovided for successful completion of space operation tasks.

The invention discloses a novel sliding mode prediction fault-tolerant control algorithm for a multi-time-lag system with sensor faults. The sliding mode prediction fault-tolerant control method basedon an improved whale optimization algorithm is designed to overcome a fault-tolerant control problem of a multi-time-lag discrete uncertain system under the condition of sensor faults. A global sliding mode surface is designed as a prediction model to replace a traditional linear sliding mode surface, so that the global robustness of the system is ensured. For sensor faults and sliding mode buffeting, a power function reference trajectory with fault compensation is designed to weaken buffeting and obtain better robust stability. In the rolling optimization process, the improved whale optimization algorithm is designed, the optimization process can be prevented from falling into a local minimum value while high convergence speed and precision are achieved, and the early-maturing convergence problem is solved. The robust fault-tolerant control method is used for robust fault-tolerant control of the multi-time-lag discrete system with sensor faults.

The invention provides a feed-forward control method and device for a grid-connected inverter and a computer readable storage medium. The feed-forward control method comprises the following steps of extracting a harmonic signal within a first preset frequency range from the capacitance voltage of a capacitor in a filter connected with the output end of the grid-connected inverter, determining the frequency corresponding to the maximum value of the harmonic amplitude based on the harmonic amplitude of each frequency of the harmonic signal in the first preset frequency range, acquiring a harmonic voltage component by carrying out band-pass filtering with the frequency as the center frequency on the capacitance voltage, and acquiring a feed-forward voltage control component based on the fundamental voltage component and the harmonic voltage component of the capacitance voltage. According to the feed-forward control method and the feed-forward control device of the grid-connected inverter provided by the embodiment of the invention, the suppression effect of an active damping strategy on resonance can be improved.

The invention discloses a neural network acceleration coprocessor, a processing system and a processing method. The system comprises a coprocessor, a main processor and a memory, wherein the main processor is used for sending an expansion instruction; the memory is used for storing data; the coprocessor is used for receiving the expansion instruction sent by the main processor, reading the input data from the memory according to the received expansion instruction, performing neural network calculation on the input data to obtain output data, and storing the output data into the memory; whereinthe coprocessor is used for processing time-consuming operation in the convolutional neural network, the main processor controls the coprocessor to perform neural network calculation on the input data through the expansion instruction, the utilization rate of the CPU is reduced, and compared with pure software, convolution operation efficiency is improved by more than 20 times.

The invention discloses an inertia power coordination control system suitable for cogeneration of thermoelectric coupling solar energy. The inertia power coordination control system comprises the following stages: (1) establishing a solar thermal power generation subsystem model; (2) establishing a gas turbine subsystem model; (3) establishing a waste heat boiler and steam turbine mathematical model; (4) analyzing a thermoelectric conversion mathematical relationship of the solar combined heat and power generation system; (5) adding an inertia power compensation link; and (6) optimizing the time constant by applying a grey wolf algorithm, and improving the system performance, so that the method is suitable for a comprehensive energy system for grid-connected power generation of various devices, and the problem of system performance reduction caused by the response speed problem can be improved.

The invention relates to a method for determining an error coefficient of an inertial device, in order to overcome the deficiency that the estimated value of the existing kalman filter is not unique by performing linear processing on a nonlinear state equation and a nonlinear observation equation and by calculating the error coefficient of the inertial device by using an extended recursive least square method. The method can adapt to the situation when the state equation and the observation equation are nonlinear functions, and can also meet the situation when the state equation and the observation equation are linear functions. The method can be used for realizing real-time calculation, is easy to implement and has a value of engineering practical application.

The invention discloses a high-dynamic control method for a fiber-optic gyroscope. The high-dynamic control method comprises the following steps that: 1, the dynamic performance of a fiber-optic gyroscope is analyzed; 2, a mathematical model of a closed-loop control system of the fiber-optic gyroscope is established under the condition of considering noise, time lag and parameter uncertainty; and 3, a control algorithm of the fiber-optic gyroscope is optimally designed, and a state feedback control law is optimally designed, so that the exponential stability of the system is improved, the closed-loop system is still a solution to the control problem meeting the performance index requirement under the condition that noise, time lag and parameter uncertainty exist, and finally, the robust stability of the system can be improved.

The invention discloses a method for controlling the height of a quadrotor unmanned aerial vehicle with improved self-disturbance. The linear dynamic model is decomposed into linear items and uncertain items; Step 3, use the tracking differentiator to obtain the expected value of position and velocity in the height direction; Step 4, use the first-order extended state observer to estimate the disturbance items in the system; Step 5, design based on PD algorithm and error feedback control law of feedforward control, and use the value of the disturbance item estimated by the extended state observer to compensate the system uncertainty item. The present invention constructs a flight mode of acceleration-uniform speed-deceleration by utilizing the improved tracking differentiator to plan the height flight strategy so that the quadrotor UAV can rise (or descend) from one height to another height in the shortest time; and The maximum acceleration during flight and the speed of the constant speed section can be set independently.

The invention discloses a sampling output-based space robot position and attitude active disturbance rejection control method. Firstly, a transition process is arranged for position and attitude signals desired by a system through designing a tracking differentiator to generate smooth signals, over large tracking errors to generate over large control input signals to result in severe output overshoot at an initial moment can be avoided, and the differential signals of the desired signals are obtained to prepare for the controller design. Sampling output signals of the system are used to designa continuous-discrete expansion state observer, the system state and total nonlinear uncertainties are subjected to real-time estimation, the estimated values of the nonlinear uncertainties are compensated to a feedback combination formed by state estimation values outputted by the continuous-discrete expansion state observer and smooth signals and differential signals acquired by the tracking differentiator, a compound controller is formed, nonlinear factors such as internal and external interference can be prevented from executing adverse effects on the system, and a favorable guarantee isprovided for successful completion of space operation tasks.

The invention provides a feed-forward control method and device of a grid-connected inverter, a medium and a wind generating set. The feed-forward control method can comprise the steps that first voltage is obtained based on capacitance voltage of a capacitor in a filter connected with the output end of the grid-connected inverter; obtaining a second voltage by filtering the capacitor voltage; multiplying the first voltage by a first weighting coefficient to obtain a first weighted voltage; multiplying the second voltage by a second weighting coefficient to obtain a second weighted voltage; adding the first weighted voltage and the second weighted voltage to obtain a feed-forward voltage control component; and controlling the grid-connected inverter based on the feed-forward voltage control component. According to the feed-forward control method and the feed-forward control device of the grid-connected inverter, the current harmonic wave of the grid-connected point can be reduced, and the phase angle stability margin is improved.

The invention provides a control method, device and controller for the formation of unmanned aerial vehicles, and relates to the technical field of automation control. The method includes: acquiring current position data and current attitude data of the formation of unmanned aerial vehicles; Determine the vertical position control input and the desired attitude data; According to the current attitude data and the desired attitude data, and the pre-designed robust attitude controller, determine the attitude control input; According to the vertical position control input and attitude control input , to control the formation of UAVs; among them, the robust position controller and the robust attitude controller are realized based on graph theory, backstepping method and robust compensation technology. The consistency of the UAV formation is improved by the topology-based graph theory method; the robust stability of the UAV formation during flight is improved by the robust compensation method.

The invention provides an H-infinity control method of micro-grid frequency based on hybrid sensitivity. The method comprises the following steps of setting a relational expression of a micro-grid frequency deviation delta f and a power deviation delta P to establish a transfer function of a controlled object, establishing a sensitivity function S and a complementary sensitivity function T, constructing weighting functions W1, W2 and W3 meeting constraint conditions, establishing a closed loop system transfer function of a generalized controlled object of a micro-grid to obtain a transfer function of an H-infinity controller, and according to the transfer function of the H-infinity controller, obtaining an MT controller and an ES controller through solving. The method can design the controller according to a performance requirement of the micro-grid, and can quickly obtain a control parameter of the H-infinity controller, and the robust stability, the dynamic performance and the interference resistance of a micro-grid system are effectively improved.

The invention relates to global optimum controller setting method in linearity multivariate industrial process. It includes the following steps: starting up industrial personal computer CPU after entering control stage; reading the program in the monitoring module; processing detecting transmitting and A / D conversion for the sampled signal to gain digital quantity input signal; judging the signal polarity; computing error signal estimate optimum controlled process evidential based model parameter; transferring optimal controller design procedures to compute optimal controller initial parameter, finally gain the control signal which is processed by amplitude limit and D / A conversion to drive controlled system to control controlled object. The user online adjusts controller parameter according to current moment process response feature. This is repeated to realize optimum controller setting. The invention can be widely used in process control for all classes of enterprises in many industries.

The invention relates to a comprehensive control method for high-efficiency voltage stabilization of an inductive power transmission system, which belongs to the technical field of wireless power transmission. The system includes two closed-loop loops, which are the optimal efficiency tracking control loop and the robust constant voltage control loop respectively. The optimal efficiency tracking control loop calculates the efficiency expression by establishing an AC impedance model for the system circuit, and obtains the optimal To optimize the equivalent load, an impedance matching network is added to the secondary side to adjust the duty cycle of the converter so that the equivalent resistance of the rectified output reaches the optimal load value to achieve optimal efficiency tracking. The robust constant voltage control loop, by establishing a parameter perturbation model of the system, sends the difference between the load collection voltage and the input reference voltage to the robust controller, and obtains the high-frequency full-bridge inverter that controls the primary side of the phase shift angle to realize Constant pressure. The optimal efficiency tracking control and closed-loop robust control of the active impedance matching network can better meet the multi-performance requirements of the system's optimal efficiency and output constant voltage.

The invention discloses a holographic optimal sliding mode controller used for a vehicle active suspension. The controller is composed of a first solver and a second solver, the input of the holographic optimal sliding mode controller is a suspension system motion state vector of an h-1 working cycle, the output of the holographic optimal sliding mode controller is suspension control generator control force of an h working cycle, the h is an integer which is larger than zero, the output of the first solver is the input of the second solver, when the h working cycle is conducted, the input of the first solver is an extended state vector formed by combining the suspension system motion state vector of the h-1 working cycle and the suspension control generator control force U(h-1) of the h working cycle, when the h working cycle is conducted, the output of the second solver is suspension control generator control force U(h), and the U(h) is input to a suspension system to complete h control of the active suspension. According to the holographic optimal sliding mode controller, all suspension system structural information and expected performance information are considered, the optimal performance and better robust stability are obtained by the active suspension control system.

Unmanned aerial vehicle (UAV) systems are a class of non-affine nonlinear enhanced coupling multiple input multiple output (MIMO) complex systems with input constraints. In order to solve a control problem of the complex systems, the present invention provides an enhanced auto-coupling PI (EAC-PI) cooperative control method for a large unmanned aerial vehicle (UAV). According to the control method provided by the present invention, dynamics and internal / external uncertainties of the UAV are defined as sum disturbances, so that a non-affine nonlinear enhanced coupling MIMO complex system is converted into an uncertain MIMO linear system, and thus an error dynamics system under sum disturbance excitation is established; on this basis, an EAC-PI cooperative controller model is designed for core coupling factors by using a velocity factor and an enchantment factor unrelated to a controlled object model. Theoretical analysis and a simulation result show that the EAC-PI cooperative control system has good global robust stability. The setting problem of PID is effectively solved. The present invention has a wide application prospect in the field of aircraft control.