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 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 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.

It is a sort of chemical dual input and dual output decoupling control system. It makes up of decoupling controller matrix, evidential based model of controlled process, and two signal mixers. It makes use of deviation signal as feedback regulated information of system output response, the deviation signal is from output of evidential based model of controlled process and output of real process, it minus system given input value, the answer is used as input signal of decoupling controller matrix, after it is operated by decoupling controller matrix, the control output signal is sent to input adjusting device of controlled process, thus achieve the end 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 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 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 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 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.