107results about How to "Realize tracking control" patented technology

The invention provides an autonomous underwater vehicle (AUV) three-dimensional straight path tracking control method with PID (Piping and Instruments Diagram) feedback gain. The method comprises the following steps of: step 1, initializing; step 2, calculating a relative position deviation between an AUV and a virtual guide point on a desired track under a Serret-Frenet coordinate system through an AUV three-dimensional track tracking error equation; step 3, calculating a virtual controlling quantity of movement speed, a trim angle and a yawing angle of the virtual guide point on the desired track through adopting a backstepping method based on the feedback gain; step 4, calculating a virtual controlling quantity of trim angle speed and yawing angle speed of the AUV; and step 5, deducing an under-actuated AUV three-dimensional path tracking dynamics control law comprising control signals of propeller thrust, a trim control moment and a yawing control moment, and realizing under-actuated AUV three-dimensional straight path tracking control. The method can be used for realizing tracking control on a track point and a straight path track of an AUV three-dimensional space.

The invention discloses a method for outputting active power by using a smoothing permanent-magnet direct-driving wind power generating system of a direct-current-side flywheel energy storage unit. The method comprises the following steps of: controlling a motor-side converter; controlling a grid-side converter; and controlling an energy-storage-unit-side converter. By cooperated control of the motor-side converter, the grid-side converter and the energy-storage-unit-side converter, a wind power generator set can generate relatively-smoothed active output in the situation of change of a wind speed, and operating requirements of frequency modulation and voltage regulation of the system are met. The method has the advantages that: 1, based on the requirement of power smoothing control, maximum wind energy tracking control is realized; and 2, the network-side active power is smoothed, the quality of electric energy is improved, and the grid-connected operating characteristic of the wind power generating system is improved.

The invention discloses an adaptive tracking control method of a multi-mobile-robot system under the condition of attitude unknown. The method includes the following steps of establishing a model for each mobile robot in the multi-mobile-robot system; establishing an error model (as shown in the description) with non-linear disturbance of a follower f and a navigator r, wherein in the multi-mobile-robot system, each mobile robot obtains the information of other mobile robots to carry out non-linear disturbance assessment to obtain the non-linear disturbance estimate value of the mobile robot; establishing an adaptive law (as shown in the description) of non-linear disturbance coefficients; establishing a second-order observer for the trigonometric function of the error angle of the follower and the navigator; and establishing an adaptive control law for the follower based on the observer through the combination of the observer and the adaptive law to perform tracking control of the follower and to make the follower realize the tracking control of the navigator.

The invention discloses an under-actuated water surface ship control method satisfying preset tracking performance. Aiming at an under-actuated water surface ship nonlinear dynamic model, tracking error steady state precision and a transient state performance index are designed, a transverse function is built to introduce extra control input, and design of a tracking controller is completed, thereby ensuring that a tracking error of a closed-loop control system converges to a preset arbitrarily small area, and ensuring that the convergence rate and overshoot satisfy preset requirements. The method specifically includes the following steps: establishing an under-actuated water surface ship dynamic model; designing steady state performance and transient state performance requirements of a control system; designing a speed error equation to introduce extra control; designing a disturbance observer to compensate external time-varying disturbance; and designing a state feedback tracking controller. The control method designed by the invention can solve the problem of under-actuated water surface ship motion control, realize tracking control of any smooth reference trajectory, and improve tracking error steady state performance and transient state performance of the control system.

The invention provides an auto-disturbance-rejection iterative learning-based multi-motor synchronous control method, which comprises the steps of building a mathematical model of a multi-motor system and initializing a system state and a control parameter; designing a multi-motor speed tracking controller on the basis of an iterative learning method; and designing an iterative expansion state observer by combining an auto-disturbance-rejection control strategy, and effectively estimating an unknown term in the system and compensating the unknown term through repeated iteration. An improved adjacent coupling strategy is provided to design multi-motor synchronous control. The problem of the speed consistency of the multi-motor system can be effectively solved; the fast convergence performance and the tracking accuracy of the system are improved; and the robustness of the multi-motor system is strengthened.

The invention discloses an unmanned aerial vehicle (UAV) tracking method, a UAV tracking system and an UAV, and relates to the field of UAV control. The UAV tracking method comprises the steps of determining the relative location between an operator and a UAV according to the operator location information and the UAV location information, and adjusting the flight state of the UAV according to the relative location between the operator and the UAV to keep the relative location between the operator and the UAV at a preset value. With the UAV tracking method, the UAV tracking system and the UAV of the invention, UAV tracking control is realized, the complexity of UAV control operation is reduced, and the operation error is reduced.

The invention discloses a rapid tracking control method for horizontal plane trajectory of a benthic AUV, and belongs to the technical field of trajectory tracking control of autonomous underwater robots. According to the invention, problems of limited control precision and slow adjustment speed when the current control method is applied to the benthic AUV are solved. According to the method, ocean current disturbance and model uncertainty are combined into a disturbance lumped term, a finite time disturbance observer is used for approaching a disturbance lumped term value, and a neural network is introduced to estimate an observation error. Furthermore, an adaptive neural network backstepping controller based on a finite time disturbance observer is provided to realize finite time high-precision trajectory tracking control of the benthic AUV. The method can be applied to trajectory tracking control of the benthic AUV.

The invention discloses a study-based guaranteed preset performance cluster flight distribution attitude tracking control method. For an attitude tracking distributed control problem in cluster flight, under the condition of not needing spacecraft inertia parameter information (i.e. inertia matrix parameter information), a feedback controller based on a spacecraft state is designed, thus the prior design of transient and steady information of a spacecraft attitude tracking error system is obtained. At the same time, based on an adaptive dynamic programming, with the help of input and output data of a spacecraft, the design of a robust compensation controller is realized, and so the robustness and adaptability of a control system of the spacecraft in a cluster are improved. According to the method, under the observation condition of no need of the online identification of system unknown dynamics inertia parameter and unknown external disturbance, the tracking control of a cluster flight attitude can be realized. Based on online model-free learning characteristics of an ADP, the robustness of a controlled system for unknown uncertainties is greatly improved.

The invention provides a three-level four-leg active filter compensation distribution network neutral current control method. The method includes the steps of extracting harmonic waves and the sum of negative sequence components and zero sequence components of a line current as a command current of the controlling; setting the alternating current side three-phase current of an active filter and a neutral current as feedback currents, and performing feedforward decoupling control and dq0-abc conversion on each current component of dq0 axis for outputting three-phase voltage after respectively performing abc-dq0 conversion on the command current and the feedback currents; separately performing compensation control on the neutral current. The purpose of direct current side voltage balance and stability can be achieved through direct current side voltage stability and balance control. The three-level four-leg active filter compensation distribution network neutral current control method can effectively solve the problems such as overcurrent of a neutral line due to load imbalance in a three-phase four-wire system and is quick in response of a control system, capable of achieving dynamic real-time compensation and good in control effects.

The invention discloses an adjacent coupling type multi-motor speed tracking and synchronous control method based on a fuzzy disturbance self-resistance and self-adaptive sliding mode, comprising steps of establishing a mathematic model of a multi-motor system, initializing a system state and a control parameter; designing a multi-motor speed tracking controller based on the fuzzy disturbance self-resistance method; and designing a multi-motor synchronization controller based on the improved adjacent coupling and the self-adaptive sliding mode. The adjacent coupling type multi-motor speed tracking and synchronization control method based on the fuzzy disturbance self-resistance and self-adaptive sliding mode can effectively solve the consistency problem of the motor system, improves the fast convergence performance of the system and enhances the robustness of the motor system.

The invention discloses a four-rotor UAV control method and device, a storage medium and computer equipment. The method comprises that target plan information, including an expected pose parameter andan expected control parameter, corresponding to a four-rotor UAV is obtained; pose information and control information of a UAV system in present time are obtained, and the pose information includingposition information and attitude information; the pose information, control information, expected pose parameter and expected control parameter serve as input of a model prediction controller, and aposition control value and an attitude control value output by the model prediction controller are obtained; and the four-rotor UAV is controlled via the position control value and the attitude control value. Thus, path tracking control of the four-rotor UAV is more accurate.

The invention discloses a method for a permanent magnet direct drive wind power generation system to participate in power grid frequency regulation. A generator side converter, a power grid side converter and an energy storage unit side converter are controlled. An energy storage unit converter controls voltage and combines a rotor position angle and direct current link voltage to acquire a PWM drive signal of the energy storage unit side converter through space vector modulation SVM to control a motor. When the motor accelerates to the highest rotation speed, a power / current closed-loop control mode is switched into a rotation speed / current closed-loop control mode, and the rotation speed is given as the rated rotation speed of a flywheel motor. When the flywheel motor continuously slows down to zero, the rotation speed outer ring given value is set to zero, and the rotation speed of the motor is controlled as zero. Through rotation speed / current closed-loop control, the flywheel motor runs at zero speed. According to the method, a wind turbine can acquire a stable frequency regulation ability in all conditions, and the grid connection adaptability of the wind power system is improved.

The invention discloses a guaranteed performance robust decentralized control of a dual-motor servo system, and can realize system load tracking and motor synchronization under the influence of a loadinter-load coupling factor, specific to a tooth space interconnecting item-containing dual-motor servo system. The guaranteed performance robust decentralized control comprises the following steps ofperforming analysis on the tooth space-containing dual-motor servo system, and establishing a state space expression of the dual-motor servo system by adopting a tooth space dead zone model. Specificto the dual-motor servo system, when the unknown nonlinearity of the load end satisfies a Lipschitz condition, the optimal state feedback is designed by a linear secondary type tracker; by combination with a robust controller, a guaranteed performance-based robust decentralized tracking controller is configured by combination with the robust controller. When it is supposed that the unknown nonlinearity of the respective motors is consistent, the optimal integral sliding mode controller is designed so as to realize synchronization between two motors; and by combination of the guaranteed performance-based robust decentralized tracking controller and the optimal integral sliding mode controller of the motor, the actual controller of each motor is configured in order to perform motor synchronous control.

The invention discloses a maximum torque current ratio control method of a five-phase permanent-magnet motor under direct torque control. The maximum torque current ratio control method comprises thesteps of detecting a rotational speed of the motor, comparing a given rotational speed Omega<ref> and a feedback rotational speed Omega<m>, and obtaining reference torque Te-ref by a PI controller; performing conversion matrix on a sampled phase current to obtain currents i<Alpha>, i<Beta>, i<Alpha 3> and i<Beta3> under a primary space Alpha-Beta and a third space Alpha3-Beta3 of a two-phase static coordinate system; calculating voltages u<Alpha>, u<Beta>, u<Alpha3> and u<Beta3> according to a switch signal; inputting u<Alpha>, u<Beta>, u<Alpha3> and u<Beta3> into a magnetic flux torque calculation model to solve flux linkage Psi<s> and torque Te of a motor stator; inputting Psi<Alpha>, Psi<Beta>, i<Alpha> and i<Beta> into a virtual signal module, and performing calculation to obtain compensation flux linkage Delta Psi<s> for allowing the motor to run at an MTPA point; and comparing the reference torque, the flux linkage, the motor torque obtained by calculation and the flux linkage, inputting to a switch table after a hysteresis controller to obtain each phase switch signal. The motor is controlled by the inverter, and MTPA control of the five-phase permanent-magnet motor under direct torque is achieved.

The invention relates to a flight formation cooperative adaptive tracking control method based on a virtual leader, and belongs to the field of formation flight control. According to the method, a virtual pilot unmanned aerial vehicle coordination strategy is introduced, the relative position of each unmanned aerial vehicle and a pilot is set as feedback information, control input is designed by adopting a backstepping method, and coordinated trajectory tracking is realized according to a flight formation. A neural network is adopted to estimate dynamics uncertainty, online data is collected to construct prediction error evaluation estimation capability, and a neural network weight adaptive updating law is designed in combination with a tracking error. According to the method, the influence of the problem of dynamic uncertainty of the model in the formation flight process of the multi-unmanned aerial vehicle system on the tracking performance is considered, a composite estimation algorithm based on data analysis is designed, the precision of uncertainty estimation is enhanced, and a new technical approach is provided for improving the formation flight performance.

The invention provides a maximum power point tracking method for a wind power generation system based on a Boost convertor. The method concretely includes the following steps that a, a system is initialized, a tracking error is set, input voltages and input currents of the convertor before and after a sampling period are measured, and the difference delta P between the power before the sampling period and the power after the sampling period is calculated; b, the difference delta D between the duty ratios of the convertor before and after sampling is calculated; c, if delta P is larger than zero, the duty ratio is increased by a tracking step size variable quantity K, and if delta P is smaller than zero, the duty ratio is reduced by K; d, the quotient of delta P to delta D is calculated, and if an end condition is met, the system reaches the maximum power point; if the end condition is not met, the step a is executed, and the steps are repeated until the end condition is met. According to the method, wind speed or fan rotating speed is measured without depending on a mechanical measuring device, the tracking speed, stability and accuracy of the system are effectively improved by using a variable-step-size duty ratio disturbance tracking algorithm, and not only can output efficiency and electric energy quality be improved, but also complexity and cost of the system are reduced.

A model prediction control-based power distribution network autonomous region grid connected power control method disclosed by the present invention comprises the four parts of a predication model, the rolling optimization, an execution mechanism and the feedback correction, and is characterized in that an online real-time prediction model adopts the combination of the ultra short term predication-based data and an auto-regressive prediction model, an optimization function considers the minimization of the grid connected power deviation and the deviation of a scheduling control instruction, and the influence of the random uncertainty of a power distribution network system power supply and a load on the grid connected power control is eliminated by the time domain rolling optimization and the feedback correction of the real-time output of an uncontrollable unit, thereby realizing the tracking control of the power distribution network autonomous region grid connected power, at the same time, avoiding the frequent and substantial power correction of a controllable unit.

The invention discloses a quad-rotor unmanned aerial vehicle trajectory tracking control method with high precision, which comprises the following steps: inputting a position reference instruction signal, a speed reference instruction signal and the position and speed of an unmanned aerial vehicle into a translation subsystem control law, and calculating to obtain a virtual control law; carrying out coordinate transformation on the virtual control rate to obtain a resultant lift force generated by rotor wings and an Euler angle reference instruction signal of the unmanned aerial vehicle; and inputting the Euler angle reference instruction signal and the Euler angle of the unmanned aerial vehicle into an Euler angle control law, and calculating an angular velocity reference instruction signal of the unmanned aerial vehicle; inputting the angular velocity reference instruction signal and the angular velocity of the unmanned aerial vehicle into an angular velocity control law, and calculating the torque of the rotor wings acting on the unmanned aerial vehicle; and inputting the resultant lift force and the torque into an unmanned aerial vehicle model to perform unmanned aerial vehicletrajectory tracking control. According to the method, a preset performance function is brought into the control law design process, so that high-precision trajectory tracking control is realized; andsince the method does not depend on precise model parameters and any estimator, the robustness and real-time performance of control are ensured.

The invention provides an improved complex vector PI controller employing current harmonic suppression system and method of a permanent magnet synchronous motor , belonging to the technical field of motor control. A system and method for suppress current harmonics of a permanent magnet synchronous motor improve a complex vector PI controller and a q-axis current PI controller, A d-axis current PIcontrol is connected in parallel, so that that output of the improve complex vector pi controller is separate from the output of the pi controller, A new q-axis and d-axis voltage command is obtainedto control the ac component of q-axis and d-axis currents and to suppress current harmonics.

The invention discloses a tracking control method and system for a wheel type mobile mechanical arm. The tracking control method comprises the steps of 1, giving initial value information and inputting predefined target trajectory information; 2, solving an inverse kinematics problem based on a first zeroed neural network according to the initial value information, the predefined target trajectory information and actual information to obtain a driving signal; 3, controlling the movement of the wheel type mobile mechanical arm according to the driving signal and feeding back actual information; and 4, estimating a jacobian matrix based on a second zeroed neural network and the actual information, and returning to the step 2 to recalculate a driving signal. The tracking control system comprises an initialization module, a driving signal module, a control module and a jacobian matrix module. According to the tracking control method and system for the wheel type mobile mechanical arm, the tracking control of a robot can be realized without knowing the model parameters of the wheel type mobile operation mechanical arm; and the tracking control method and system for the wheel type mobile mechanical arm can be widely applied to the field of mechanical arm control.

The invention relates to a flight control method based on inertial navigation / flight control system information fusion, which belongs to the field of information fusion control methods, and is used for solving the problem that the aircraft control performance is reduced or uncontrollable due to the fact that an attack angle, a sideslip angle and a vacuum speed cannot be measured in a complex flight environment. The method comprises the following steps of firstly, considering that a system attack angle, a sideslip angle and a vacuum speed are unmeasurable, introducing inertial navigation systeminformation as measurement information, establishing a system state equation and a measurement equation based on a kinetic model, and realizing estimation of the attack angle, the sideslip angle andthe vacuum speed through an extended Kalman filter, converting the six-degree-of-freedom nonlinear kinetic model of the aircraft into a strict feedback form, and designing a controller based on a backstepping method framework and a state estimation value, and finally, returning the control input to the aircraft kinetic model to realize tracking control. According to the method, inertial navigation / flight control system information fusion and flight control design are organically combined, and an effective way is provided for flight control system design under the condition that partial statesof the system are unmeasurable.

The invention discloses a trajectory planning control implementation method for an automatic driving vehicle, and provides a path planning method for the automatic driving vehicle under a deterministic road framework, an uncertain road framework and a hybrid road framework aiming at the interpretability degree of a complex road scene. Determining various constraint conditions under various frame modes, adopting a reinforcement learning trajectory planning algorithm, performing trajectory planning in a credible security region, performing error optimization of an actually planned trajectory and a virtual security trajectory, and realizing design of a dynamic trajectory interval so as to ensure that the security interval of the reachable trajectory realizes dynamic mobility; and finally, realizing tracking control of path planning by adopting a fusion reinforcement learning and predictive control algorithm. According to the method, path planning control of the automatic driving vehicle in complex road and weather environments such as coastal cities is facilitated, and the risk of path planning caused by the road environment is better reduced.

The invention discloses an automatic driving vehicle trajectory tracking system and method based on a neural network dynamics model, and the system comprises a neural network vehicle dynamics model part, a vehicle dynamics data collection part (including a CarSim simulation data acquisition process based on a driving simulator and a virtual simulation platform, and real world automatic driving vehicle data acquisition), and a vehicle trajectory tracking part. A neural network model training part; and a model prediction control algorithm design part. According to the method, the established neural network vehicle dynamics prediction model is combined with the model prediction control algorithm, and compared with an end-to-end control algorithm, the proposed control algorithm has higher interpretability. In addition, tracking control of an expected track can be achieved under different road conditions and driving working conditions, the path tracking precision is guaranteed, meanwhile, transverse and longitudinal stability is considered, and a high-performance motion controller is developed for an automatic driving vehicle.

The invention provides a maximum power tracing method and system of a photovoltaic system. A disturbance observer can be built according to various uncertainty factors such as non-linearity, parameteruncertainty and random shadow environment during working of a photovoltaic power generation system, a voltage disturbance estimation value and a current disturbance estimation value are obtained after a voltage observation value and a current observation value are input the disturbance observer, a sliding plane is calculated according to the voltage disturbance estimation value and the current disturbance estimation value, an actual control voltage and a control current are obtained by sliding-mode control on the two disturbance estimation value, and maximum power point tracing of photovoltaic power generation is finally achieved. Maximum power tracing of the photovoltaic system under a local shadow environment is achieved, and the maximum power point capturing capability of the photovoltaic system and the system control robustness are improved.

The invention relates to a three-dimensional oval micro displacement motion platform under three-piezoelectric perpendicular drive and belongs to the field of micro-nano and ultraprecise manufacture and multi-axis motion platform precision control. The three-dimensional oval micro displacement motion platform comprises a base, a right side plate, a left side plate, an upper plate and a fine adjustment device. X-axis and Y-axis piezoelectric stacks are fixed to the upper plate, a Z-axis piezoelectric stack is perpendicular to the other two piezoelectric stacks, signals are input to drive the three piezoelectric stacks to generate high-frequency vibration, and a workpiece on a workpiece base is driven to generate an elliptic motion track in a three-dimensional space. The three-dimensional oval micro displacement motion platform has the advantages of being novel in structure, high in rigidity and good in stationarity, four flexible hinges are in central symmetry distribution, motion accuracy of the micro displacement motion platform is controlled easily, and an oval track of the micro displacement motion platform in the three-dimensional space is controlled easily.

The invention relates to a passive fault tolerance method of a stratospheric airship. The method comprises: (1), (1) carrying out mathematical modeling of a stratospheric airship; (2) carrying out mathematical modeling on a failure situation of an airship actuator; (3) on the basis the mathematical models, carrying out tolerance controller designing by using a backstepping method and a Lyapunov stability criterion. The control method has the following advantage: the stratospheric airship still can carry out basic flight tasks like path tracking under the circumstances that the actuator fails to work partially and no system redundancy is provided.

The invention relates to a cluster-system-oriented formation encircling tracking method capable of realizing convergence in finite time. The method comprises the steps: acquiring a plurality of intelligent agents in a rescue material transportation scene of an unknown terrain; acquiring state information of each intelligent agent in real time; constructing a cluster system communication topological relation; determining state information of the neighbor agent in real time; determining an expected formation configuration; constructing a state observer according to the state information of theagent, the state information of the neighbor agent, the communication topological relation and the expected formation configuration; determining state information observed by the observer according tothe state observer; designing a controller according to the state information, the observed state information and the communication topological relation to obtain controller information; and completing specified finite time formation encirclement tracking according to the controller information. According to the method, the problems that the virtual leader input upper bound needs to be predictedin advance, the formation pattern of the cluster system is not changed, and the cluster system cannot ensure finite time convergence can be solved.

A motor control system is provided that can execute model following control in which an influence of the difference between the sampling rate of a feedback control system and the sampling rate of a model control system is suppressed with a smaller amount of computation than ever. A speed controller includes a low-pass filter having a transfer function corresponding to the delay in the sampling rate of a model control system, an integral control system including a speed integrator, a proportional control system, and a speed proportional gain multiplication section. The integral control system inputs to the speed integrator a command obtained by a subtraction section that subtracts delay speed information output from the low-pass filter from a command obtained by an addition section that adds a speed command and a model speed command.

The invention relates to an aircraft anti-interference control method under information fusion, belongs to the field of information fusion control methods, and is used for solving the problems of unmeasurable partial state of an aircraft, model uncertainty and tracking control under external interference. The method comprises the steps of: considering the conditions that the partial state of the system is unmeasurable and unknown noise exists, fusing flight control information and inertial navigation information by utilizing adaptive Kalman filtering to realize state estimation; converting theheight subsystem into a strict feedback form, and designing a controller by adopting a backstepping method strategy based on a state estimation value; and designing a disturbance observer to estimatethe uncertain part aiming at the set disturbance formed by the uncertainty of the aircraft model and the external disturbance. According to the method, inertial navigation / flight control system information fusion and flight controller design are organically combined, and an effective way is provided for solving the problem of tracking control when part of states of the aircraft are unmeasurable and model uncertainty and external interference exist.