7results about How to "Reduce control energy consumption" patented technology

The invention relates to the field of unmanned underwater vehicles, and discloses an unmanned underwater vehicle finite time trajectory tracking control method based on event triggering, which comprises the following steps: establishing two coordinate systems to describe the motion state of an unmanned underwater vehicle, and constructing a kinematical equation and a kinetic equation of a six-degree-of-freedom full-drive unmanned underwater vehicle; the method comprises the following steps: establishing an underwater unmanned vehicle kinematics and dynamics model, determining a control target, setting an event triggering finite time backstepping controller and event triggering conditions in combination with the underwater unmanned vehicle kinematics and dynamics model, and adopting a virtual controller of the event triggering finite time backstepping controller and the event triggering controller to control the event triggering conditions. Enabling the kinematics and dynamics model of the underwater unmanned vehicle to reach a stable state within the convergence time, and enabling the trajectory tracking error of the underwater unmanned vehicle to obtain a convergence time upper bound within the convergence time; according to the method, rapid convergence in finite time is realized, so that the accuracy and rapidity of trajectory tracking control of the underwater vehicle are realized.

The application provides a kind of unmanned aerial vehicle vision adaptive control method based on multi-scale space-time network. By constructing multi-branch hollow convolution feature extraction and adaptive scale re-labeling network, the cooperative perception of near and far target features and background noise suppression are realized. On this basis, the dynamic multi-head self-attention mechanism with fusion time decay penalty factor is introduced, and the physical evolution law constraint is carried out on the continuous image sequence, effectively filtering out the instantaneous motion blur and target occlusion interference. In the state estimation link, the system constructs a deep coupling residual injection mechanism of vision and dynamics, and uses high-dimensional space-time perception features to correct the prediction deviation of the rigid body model in real time. Finally, combined with the error adaptive model predictive control and nonlinear robust disturbance observer, the optimal closed-loop control command is generated and directly drives the underlying electromechanical actuator. The application fundamentally breaks through the technical barriers of the separation system architecture, significantly improves the high-frequency state perception accuracy, large maneuver trajectory tracking performance and all-weather operation system robustness of the aircraft in the face of nonlinear gust disturbance and satellite navigation limited extreme working conditions.

The application discloses an unmanned aerial vehicle obstacle avoidance method based on digital twinning in an unstructured scene, which comprises the following steps: S1, constructing a geometric perception digital twinning system; S2, collecting unknown obstacle information and performing geometric synchronization; S3, performing dynamic modeling and discretization on a virtual unmanned aerial vehicle; S4, constructing a pseudo-control input and a linear prediction model; S5, generating a safe flight corridor; S6, performing local re-planning; S7, establishing a disturbed system and an error system; S8, constructing a robust positive invariant set and performing constraint tightening; S9, constructing a space adaptive tube MPC optimization problem; S10, performing online space adaptive adjustment; and S11, outputting a control instruction and maintaining virtual-real synchronization. By mapping unknown obstacles in a physical space to a virtual space in real time, a safe flight corridor is constructed, local re-planning and space adaptive tube MPC are combined, and the unmanned aerial vehicle can realize safe obstacle avoidance, high-precision trajectory tracking and low control energy consumption in an unstructured environment.

The application discloses a control method of structural vibration based on a controller saturation lower band active mass damper, and successfully reduces the vibration of a building structure by introducing an active mass damper and applying a control strategy. In order to meet the control input constraint and performance requirements, a state feedback optimal control law under the controller saturation is proposed by using a linear matrix inequality method; example analysis shows that the proposed control strategy can realize the stability of the closed-loop system and play the best performance, while reducing the control energy consumption and the floor level disturbance; compared with the case without considering the controller saturation, the proposed controller has smaller gain, reduces the energy consumption, and shows better anti-interference performance; numerical examples verify the effectiveness and feasibility of the proposed controller within the saturation limit; the application provides a new idea and method for solving the actual building structure control problem, and has important theoretical significance and practical application value.

The present invention discloses a spacecraft attitude, orbit and vibration coupling control method based on a non-fragile disturbance observer, including the following steps: S1, establishing a spacecraft orbit-attitude-vibration coupling dynamics model, and converting it into a classical nonlinear system form; S2, for the interference terms existing in the spacecraft orbit-attitude-vibration coupling dynamics model in the classical nonlinear system form, by introducing an auxiliary dynamics system, under the condition of observer gain perturbation, a non-fragile superhelical disturbance observer is designed; S3, constructing a control Lyapunov function, and then designing a robust inverse optimal controller based on disturbance information; S4, substituting the robust inverse optimal controller into the spacecraft closed-loop dynamics system, so that the orbit, attitude and vibration of the spacecraft reach a stable state, and realizing coupling control. The present invention can realize orbit-attitude-vibration stable control under the coexistence of external disturbance and observer gain disturbance, with low control energy consumption and high precision, and a wide range of applications.

A method and system for controlling the shortest path of attitude in spacecraft rendezvous and docking, including: establishing a quaternion dynamics and kinematics model of the attitude of dual spacecrafts in rendezvous and docking with the system and the geocentric inertial coordinate system as reference systems; designing a shortest path sliding surface; designing an approximate shortest path sliding surface for the attitude model of the spacecraft in rendezvous and docking; designing a non-singular control auxiliary switching function; designing a shortest path controller for attitude in spacecraft rendezvous and docking; and the attitude of the spacecraft during rendezvous and docking converges along the shortest path within a finite time. The control method of the present invention has the characteristics of strong descriptiveness of attitude trajectory, high control accuracy, low energy consumption, strong robustness, etc., and is suitable for attitude shortest path control in spacecraft rendezvous and docking missions, and is also suitable for general spacecraft attitude control missions.

The present invention discloses a control method for an active suspension system based on beneficial disturbance, coupling and nonlinearity, comprising: constructing a bionic nonlinear reference model of the active suspension system, taking the output of the bionic nonlinear reference model as the expected trajectory; constructing a fuzzy disturbance observer to estimate the collective disturbance in the bionic nonlinear reference model; defining a state coupling effect index and a disturbance effect index, judging whether the state coupling and collective disturbance in the bionic nonlinear reference model are beneficial according to the two effect indexes, thereby constructing a tracking controller that considers beneficial state coupling and beneficial disturbance, so that the suspension stroke of the active suspension system tracks the expected trajectory. Based on the evaluation of the potential influence of state coupling, disturbance and nonlinear factors on the system, a robust tracking control method is designed to suppress only the negative influence of coupling, disturbance and nonlinear factors, while retaining the positive influence, and effectively deal with the influence of disturbance, state coupling and inherent nonlinearity of the system.