35results about How to "Simple control law" patented technology

The invention discloses an under-actuated AUV actuator fault robust fault-tolerant control method. The method includes the following steps that a position error vector of motions of an AUV is defined;a new error vector is defined; a neural network method is used for approaching a composite uncertain item; an auxiliary dynamic system is designed; an under-actuated AUV actuator fault robust fault-tolerant control law is designed. According to the method, the dynamic uncertainty and disturbance uncertainty of the AUV are approximated by applying a neural network, and prior knowledge of dynamic parameters and ocean current disturbance of a motion mathematical model of the AUV is not needed, so that the method has good self-adaptive capability and robustness. According to the method, the influence of actuator faults on an AUV control system is treated by designing an auxiliary dynamic system, and the reliability of an AUV motion control system is improved. Coordinate transformation is introduced to define an output vector of the AUV, the problem of under-actuation of the AUV is solved, under-actuated AUV three-dimensional motion control is realized, and the method better conforms to reality.

A method for controlling motor set with multiple wind wheel includes collecting information of air-stream, rotary speed, voltage and load on site and transmitting them to remote computer; calculating out wind ward angle and optimum pitch of blade to obtain optimum operation mode by remote computer based on said information; sending parameter of obtained mode to local computer; commanding relevant execution mechanism to regulate pitch angle of blade and windward angle of said motor set by local computer fro making said motor set be on optimum power-generation state. The device for realizing said method is also disclosed.

The invention discloses a radiation open loop tethered satellite formation constant speed spinning deployment control method, relates to a dynamics construction and control strategy design in which the tethered satellite formation is spun and deployed at a constant speed into a radiation open loop form and belongs to the field of spacecraft formation control. In view of the radiation open loop tethered satellite formation running on a circular Kepler track in an earth center gravitational field, in consideration of multi-body system movement characteristics and gravity gradient moment effects, system spinning deployment dynamics is built via a Lagrange equation; on the basis, a closed loop control strategy is designed, the main satellite is spun and deployed at a constant speed, compensation in view of the gravity gradient moment is carried out, damping is added to the tail section of the deployment to restrain system oscillation; the dynamics and the control method are simple, effective and easy to realize; and the whole process of controlling the tethered satellite system to deploy at a constant speed is smooth, safe and high in reliability.

The invention relates to the field of aero-engine nozzles, in particular to a two-dimensional vector convergent-divergent nozzle capable of achieving pitching and yawing. The two-dimensional vector convergent-divergent nozzle comprises a barrel, two pitching adjusting sheets, two yawing adjusting sheets, four sealing sheets, first actuating cylinders, first pulling rods, second actuating cylinders and second pulling rods. The outer side face of each pitching adjusting sheet is connected with the corresponding first pulling rod and the corresponding first actuating cylinder so that the pitching adjusting sheet can rotate in the pitching direction. The outer side face of each yawing adjusting sheet is connected with the corresponding second pulling rod and the corresponding second actuating cylinder so that the yawing adjusting sheet can rotate in the yawing direction. Sealing sheets are located between the pitching adjusting sheets and the yawing adjusting sheets. The two-dimensional vector convergent-divergent nozzle capable of achieving pitching and yawing is simple in structure; deflecting, converging and diverging in the pitching and yawing directions are achieved through deformation combination of the adjusting sheets on the four sides; good aerodynamic performance is also achieved, the control law is simple, and the reliability is high.

The embodiments of the present invention disclose a folding mechanism for an aircraft, and a control method thereof, and relate to the folding mechanism design technology in aerospace aircrafts. A purpose of the present invention is to solve the problem of complicated folding mechanism. According to the folding mechanism, a fixed guide rail is fixed at the bottom portion of an aircraft body, a sliding block can slide back and forth at both ends of the fixed guide rail, one ends of a swept-back wing and a forward-swept wing at the same side of the aircraft body are fixed through a rotation shaft, the swept-back wing and the forward-swept wing at the same side of the aircraft body form a connection rod mechanism through the rotation shaft, the other end of the swept-back wing is fixed at oneend of the fixed guide rail through a vertical shaft, the swept-back wing can rotate around the vertical shaft, the other end of the forward-swept wing is fixed on the sliding block, and an actuatingcylinder is fixed on the fixed guide rail.

The invention provides a novel axial-symmetry convergence and expansion spray pipe using a single actuation system. The novel axial-symmetry convergence and expansion spray pipe mainly comprises a cylinder body (1), an actuation cylinder (2), a pull rod (4), a convergence adjustment plate (5), an expansion adjustment plate (6), a support (7), an outer cover (8), an expansion sealing plate (9), a thin-wall rotational flow center body (10), a support (11) and a convergence sealing plate (12). The cylinder body (1) serves as a supporting component of the whole spray pipe. The actuation cylinder (2), the pull rod (4) and the convergence adjustment plate (5) serve as a throat area adjustment mechanism and also drive the expansion adjustment plate (6) to move, so that an outlet area changes according to a fixed rule. The thin-wall rotational flow center body (10) is used for shielding a front-end component. The novel axial-symmetry convergence and expansion spray pipe has the advantages that adjustment of the throat area and the outlet area is realized through the single actuation system, the spray pipe is good in invisibility on the premise that the adjustment range of the throat area is not affected, and the spray pipe is simple in structure and high in reliability.

The invention discloses a terminal sliding mode control method for an active power filter, and the method comprises the following steps: S1, establishing a single-phase active power filter mathematical model, defining a state variable i as x, and obtaining an expression of a second derivative of x; S2, defining a tracking error and a first derivative thereof, defining a terminal sliding mode surface to obtain an equivalent control item, then defining a switching control item, and adding the equivalent control item and the switching control item to obtain a terminal sliding mode controller; S3, approximating the equivalent control item by using a double-hidden-layer recurrent neural network. According to the invention, the method can maintain the stability of an original controller, can simplify the control law, can achieve the better control precision, effectively reduces the distortion rate of power grid current, and improves the active power filter compensation effect.

The invention relates to a multi-missile formation cooperative control method under the condition of uncontrollable speed, and the method employs a leading-slave type guidance strategy, enables the information transmission of a leading missile and a slave missile to be unidirectional, enables the slave missile to receive the leading missile information, and enables the leading missile not to receive the slave missile information. A sliding mode variable structure control theory is adopted to carry out formation controller design on the leading missile and the slave missile respectively; compared with a current multi-missile formation cooperative controller design method, the missile speed does not need to be controlled, the control law based on the sliding mode variable structure theory issimple, rapidity and stability are met, and formation and maintenance of the formation can also be achieved.

The invention discloses a quadrotor dynamic surface integral sliding mode controller based on a preset tracking error. The controller is realized based on the steps of 1) constructing a quadrotor dynamic model considering external disturbance and unknown parameters; 2) based on an approximator of a fuzzy logic system, enabling the approximator to approximate to control input of a quadrotor systemmodel in an ideal state; 3) introducing switching control to compensate an error between input estimated by the fuzzy system and ideal input to obtain accurate actual control input; and 4) combining dynamic surface control with integral sliding mode control, and designing the quadrotor adaptive fuzzy dynamic surface integral sliding mode controller. According to the method, the quadrotor light path can meet the preset tracking error index, the robustness of a control system is improved under the condition that parameters are uncertain and external disturbance exists, and finally, it is guaranteed that all signals of a closed-loop system are finally consistent and bounded.

The invention relates to a method for suppressing circulating current of a modular multilevel converter, comprising the following steps: S1, obtaining a PCHD model of MMC circulating current based on a single-phase equivalent circuit of MMC and based on a positive definite quadratic energy function; S2, Construct the MMC circulating current suppression passive controller based on the PCHD model; S3, input the double frequency actual value and reference value of the circulating current into the MMC circulating current suppressing passive controller to output the circulating current voltage compensation amount; S4, carry out the calculation of the circulating current voltage compensation amount Carrier phase-shift modulation controls the working state of the IGBTs in the sub-modules of the bridge arms of each phase of the MMC through modulation waves. Compared with the prior art, the present invention is based on the PCHD model and passive control theory, from the perspective of energy, through energy function shaping and control correction system performance, effectively ensuring the asymptotic stability of the MMC circulation system, and the control law form is simple and robust Strong resistance, obvious circulation suppression effect, easy to solve practical engineering problems.

The invention discloses an active control method for an output feedback dynamic surface based on flutter of a micro-milling processing system. The active control method comprises the following steps: acquiring a dynamic model of tool vibration of the micro-milling processing system; on the basis of the dynamic model, loading a double-shaft giant magnetostrictive driver, and actively inhibiting the vibration of the cutter; constructing an ASI estimation inverse model to eliminate the hysteresis characteristic of the biaxial giant magnetostrictive actuator; and an output feedback self-adaptive controller for actively inhibiting flutter is obtained based on the design of a high-gain observer and a dynamic surface controller, so that active control on flutter of the micro-milling processing system is realized. According to the invention, the giant magnetostrictive actuator is adopted to actively control the regenerative flutter of the micro-milling system, so that the precision of micro-milling is improved, and the influence of the micro-milling on the micro-milling system is reduced; and the hysteresis characteristic of the giant magnetostrictive actuator is eliminated by constructing an ASI estimation inverse model, so that the control precision of the giant magnetostrictive actuator is greatly improved.

The invention relates to hypersonic vehicle control and aims to propose a coordinated control method for a variable inlet hypersonic vehicle fuzzy system with external disturbances. The steps in the method are as follows: The first part is a transformation design of a strict feedback form of a variable inlet hyperplane; the second part is a design of a speed controller and a nonlinear disturbanceobserver; the third part is a design of a height controller and a nonlinear disturbance observer. The nonlinear disturbance observer is used to compensate the designed subsystem controller, observe the interference in a real-time manner, and enhances the robustness of the designed subsystem controller. The method in the invention is mainly applied to situations of hypersonic vehicle control.