525results about How to "Small steady state error" patented technology

The invention discloses a robust dicyclic photovoltaic grid-connected control method based on power feedforward, which mainly comprises three parts: proportion integration (PI) control of exocyclic voltage, dead-beat control of endocyclic robust predictive current and power feedforward control, wherein the exocyclic PI control of the voltage is used for stabilizing the capacitive voltage of a direct-current side; the dead-beat control of the endocyclic robust predictive current is used for carrying out linear prediction on the voltage of a power grid at a next control period and carrying out non-linear prediction on grid-connected current by advanced control so as to obtain the command value of the grid-connected current at the next period; and then, PWM (pulse-width modulation) and grid-connected control are realized by the dead-beat control. According to the robust dicyclic photovoltaic grid-connected control method based on the power feedforward, a photovoltaic grid-connected inverter has higher robustness, wider stability margin and quicker dynamic response, and the requirement of grid-connected running of an inverter is better met.

The invention relates to raw material grinding in the field of cement process industries, and aims to provide an advanced control method and system for a vertical mill based on model identification and predictive control. The method comprises the following steps of: acquiring real-time data from a distributed control system (DCS) monitoring system; analyzing a variation trend of the operation and technology parameters, and then invoking a pathological working condition expert database for performing trend matching; if a pathological working condition appears, issuing early warning display and giving qualitative adjustment suggestion remind; giving an optimal target set value according to the basic operation condition of the vertical mill and the variation situation of the product quality requirement, and writing into a predictive controller; setting an optimal controlled quantity output according to the optimal target set value, and outputting to the DCS monitoring system to control a field actuator to take action. By adopting the invention, the qualitative adjustment suggestion can be precisely given; a mathematical model of the grinding process of the vertical mill is established and updated in real time; the steady-state error of the control system is reduced; and the grinding process of the vertical mill is instructed, so that the mill can operate stably for long term at a maximum efficiency point, and stable margin is maintained.

The invention belongs to the field of spacecraft control and relates to a fuzzy singular perturbation modeling and robust attitude control method for complex flexible spacecraft, namely a robust combined control method for fusing static output feedback control and output integration. The method comprises the following steps of: establishing an uncertain continuous fuzzy singular perturbation model and a standard discrete fuzzy singular perturbation model according to a dynamic model and a kinematic model of the spacecraft in combination with fuzzy logic and singular perturbation technology; and designing a robust controller combined by a static output feedback controller and an output integrator by a spectral norm and linear matrix inequality (LMI) method and resolving a group of LMIs which are unrelated to a perturbation parameter so as to obtain a controller parameter and solve an ill-conditioned problem caused by the perturbation parameter and the problem of difficulty in selection of an initial value in an LMI resolving static output feedback controller gain method. Through the method, flexible vibration and external interference can be overcome effectively, and control effects such as high response speed, high attitude control accuracy, high anti-jamming capability and high robust performance are achieved.

The invention relates to a two-stage photovoltaic grid-connected control system based on the combination of pole allocation and repetitive control, which can invert the direct current output by a photovoltaic cell into alternating current well and transmit the alternating current to a power system, so that the harmonic wave content is low, the power supply quality is good, the utilization ratio of a system is high, the stability of the system can be improved to a certain extent and the properties of the whole photovoltaic system are improved. The two-stage photovoltaic grid-connected control system based on the combination of pole allocation and repetitive control has the advantages that: (1) due to the adoption of numerical control, the antijamming capacity is high and the system can achieve high precision and stability; (2) the system has clear assignment, obvious control effect, reliability and high robustness, wherein a preceding-stage Boost converter can realize maximum power tracking; and a last-stage inverter achieves direct current side voltage stabilization and grid-connected inversion; and (3) a control algorithm is advanced, wherein a dead zone effect of the inverter and the harmonic wave caused by partial non-linear loads are avoided by a repetitive control technique; and precise control is realized through the state feedback-based pole allocation.

A double-ring dead-beat prediction control method for a permanent magnet synchronous motor based on disturbance estimation compensation comprises the following steps: establishing a discrete current prediction model of the permanent magnet synchronous motor, and designing a dead-beat current prediction controller; designing a sliding mode disturbance observer to estimate stator current and parameter disturbance; designing a dead-beat speed prediction controller; and designing a sliding mode disturbance observer to observe and compensate the load torque. According to the invention, under the condition that motor model parameters are not matched, the method achieve the accurate current control; under the condition that the dead-beat speed prediction controller is sensitive to load change, the method achieves the improvement of the dynamic and static performance and the anti-disturbance performance of the speed outer ring through load torque observation and compensation.

The invention discloses a parallel inverter current control method adopting voltage differential compensation, which comprises: adopting a LCL wave filter composed by capacitor and damping resistor in series connection to connect with a PWM inverter and power network; adopting a current transmitter to detect the current in the inductor on the power network side of the wave filter and obtain power network current signal; adopting a piezoelectric sender to detect the capacitor branch voltage of the wave filter and obtain current compensation signal by the RC differential circuit; combining the two signals into one signal as a feedback signal for current control of the inverter; comparing with the control given signal of the power network current to obtain error signal; and adjusting and controlling the output of the PWM inverter by proportional integration, wherein, the transformation ratio of the piezoelectric sender and the RC differential time constant are determined by the LCL wave filter parameter. Compared with conventional current feedback control methods, the invention can reduce the damping resistance of the LCL wave filter, thereby reduce the loss caused by damping resistance and improves the ability of the wave filter for inhibiting the ripple current of the inversion switch.

The invention discloses a control system of a high frequency switching power supply for a Cz silicon single crystal furnace and a control method. The control method includes the steps of combining self-adaptive fuzzy control and sliding mode variable structure control, and aiming at a high-frequency switch heating electric power for the Cz silicon single crystal furnace to design a power controller based on a self-adaptive fuzzy control and sliding mode variable structure control method. The control system of the high frequency switching power supply for the Cz silicon single crystal furnace and the control method play respective advantages of fuzzy control and sliding mode variable structure control, further improve dynamic performance of the system, have good robustness for input voltage or load disturbance, and relieve or avoid vibration which generally happens to a sliding mode.

The invention relates to an anti-interference attitude control method suitable for a miniaturized unmanned aircraft. The method comprises the following five major steps: decomposing an aircraft model into a determination part and a disturbance term; according to a decomposition model of an aircraft, designing a disturbance observer based on flight state estimation; according to the determination part of the aircraft model, designing an attitude controller, adding an anti-disturbance integrator, and forming an integration backstepping attitude controller; replacing a disturbance item in the integration backstepping attitude controller with the output of the disturbance observer to obtain an anti-interference attitude controller; and performing stability analysis on the anti-interference attitude controller to obtain a control parameter value criterion. Compared to the prior art, the anti-interference controller can rapidly reacts to external disturbance and has quite high robustness for continuous and time-varying disturbance; and the external disturbance can be inhibited, the control performance in a severe environment is improved, unfavorable influences brought by an inaccurate mathematics model are reduced, the modeling workload is decreased, and the parameter setting of the anti-interference attitude controller is convenient.

The invention relates to a dual-motor energy-saving anti-backlash control method and belongs to the technical field of electromechanical control. A nonlinear dual-motor system is changed into an approximate linear system by applying a bias torque and rotating speed negative feedback; in addition, a real-time bias torque is designed to save energy to the greatest extent on the basis of ensuring good tracking effect. A closed-loop control is formed from speed and acceleration feedback of the motor, so that the size of the bias torque changes with the state of the system, namely a large bias torque is applied at the beginning and during the direction changing process, and a small value is needed to keep the state due to no need of the bias torque in stable operation. In order to solve the design problems of the dual-motor system about bias torque parameters and a proportion integration differentiation (PID) controller parameters, a plurality of controller parameters are simultaneously optimized by adopting a particle swarm algorithm. By adopting the dual-motor energy-saving anti-backlash control method, the problem about an optimization design of the controller of the dual-motor drive system is solved, and meanwhile, the effects of quick tracking of an input signal by the system, a small steady state error, synchronization of double motors, backlash removal and reduction of energy consumption are ensured.

The invention discloses an anti-backlash and synchronization control method for a dual-motor servo system, relating to a tracking, synchronizing and anti-backlash comprehensive control method for a dual-motor servo system and belonging to the technical field of motor control. The implementation method of the invention comprises the following steps: analyzing a dual-motor servo system with backlash; building a state-space equation of the system by using a dead zone model of the backlash; designing a tracking controller by using a robust backstepping control method; respectively designing a synchronization controller and an anti-backlash controller by using the robust backstepping control method based on the tracking controller; and introducing a transfer function for the anti-backlash controller and the synchronization controller, applying the anti-backlash controller to make up for backlash when the backlash is about to appear and carrying out synchronization control when no backlash appears, thus ensuring the tracking, synchronizing and anti-backlash control of the dual-motor servo system. The technical problem to be solved in the invention is to eliminate the influence of backlash nonlinearity and ensure the synchronization of motors under the premise of realizing load tracking.

The invention discloses a tension roll control device for a plate and strip processing line and a tension control method, belonging to the field of tension control of tension rolls on the plate and strip processing line in the metallurgical industry. The tension roll control device comprises a tension roll group, an auxiliary roll frequency converter and a main roll frequency converter, and further comprises an auxiliary roll speed encoder, a main roll speed encoder, a load distributor, a tension regulator, a feedforward compensation unit and a tensiometer, wherein two ends of the load distributor are respectively connected with the auxiliary roll frequency converter and the main roll frequency converter; the auxiliary roll frequency converter comprises an auxiliary roll rotation speed control unit and an auxiliary roll torque control unit; and the main roll frequency converter comprises a main roll rotation speed control unit and a main roll torque control unit. The tension roll control device has the advantages of high control response speed and high control precision. A control method of the tension roll control device comprises the steps of: (1) main / slave load distribution for the tension rolls; (2) complex tension control of the tension rolls; and (C) dynamic compensation. The method has the advantages of small steady state error of a torque loop, short anti-disturbance recover time, constant rotation speed and good anti-disturbance performance.

The invention belongs to the technical field of wind power generation, and discloses a comprehensive control system adopting a doubly-fed wind generator participated in power grid primary frequency modulation. The control system comprises a rotor rotary speed control module, a simulation inertia control module, a droop control module, a rotary speed protection and power determination module and apitch angle control module. After the wind generator is participated in frequency modulation, the power grid inertia is equivalently enlarged, so that the doubly-fed asynchronous wind generator can have inertia response on the power grid frequent as the conventional synchronous generator, thereby lowering change rate of the power grid frequency; and by controlling the rotary speed and the pitch angle, the wind generator output is lowered, so that the wind generator has certain active backup capacity to be participated in primary frequency modulation, thereby lowering steady-state error of thefrequency.

The invention discloses a method for controlling asymmetric direct power of doubly-fed asynchronous wind power generators. The method comprises the following steps that: by collecting voltage and current signals of a three-phase stator of a DFIG, instantaneous active power and reactive power output by the DFIG stator are calculated; error signals between the instantaneous active / reactive power of the stator and given active / reactive power are regulated by utilizing a proportional regulator and two resonant regulators; output signals of the three regulators are added and then decoupled through feedback compensation so as to obtain a reference voltage signal of a rotor in a rotor-speed rotational coordinate system; a switching signal of the operation of a rotor-side converter is generated through space vector pulse-width modulation so as to control the operation state of the DFIG; and the method can eliminate fundamental-frequency fluctuation and double-frequency fluctuation in the output power of the stator, which are caused by voltage asymmetry of power networks, and does not need to decompose positive / negative-sequence components, thereby avoiding introducing decomposition time delay and errors. Therefore, the method can enhance the capability of controlling wind power generating sets under the circumstance that the power networks have asymmetric faults, and improve the uninterrupted operation capability of the wind power generation systems with the faults.

The invention discloses a self-adaptive fuzzy control method for an active power filter based on feedback linearization, relates to the technical field of an active power filter, and respectively designs independent self-adaptive controllers aiming at a current loop and a voltage loop. As the current loop adopts the self-adaptive fuzzy controller for the active power filter based on the feedback linearization, the feedback linearization theory, fuzzy control, sliding mode control, self-adaptive control and Lyapunov stability theory are comprehensively utilized, and on the basis of ensuring the global stability, the purpose of harmonic compensation is realized. As the voltage loop adopts the self-adaptive fuzzy PI (process integration) control, according to the fuzzy rule, the control strategy can automatically adjust the PI parameter, strengthen the robustness of the system, improve the dynamic performance of the system, and ensure the tracing to the command voltage.

The invention relates to a temperature control system and a temperature control method. The system comprises a proportional-integral-derivative (PID) controller based on blur parameter adjustment and a PID controller based on fixed parameters. When epsilon 1 <=Iota e Iota<= epsilon 2, the PID controller based on the blur parameter adjustment is connected and the PID controller based on fixed parameters is disconnected. When Iota e Iota<= epsilon 1, the PID controller based on the blur parameter adjustment is disconnected and the PID controller based on fixed parameters is connected. The method and the system are good in quick in responding, small in overshoot and small in stable state error.

The invention discloses a detection method for a variable step length LMS (Least Mean Square) harmonic current based on versiera. The method comprises the steps of: sampling, estimating an active current of a fundamental wave, estimating a general harmonic current, updating a weight coefficient, updating the step length and iterating. According to the orthogonal characteristics of a trigonometric function, the current error output by a filter and an instantaneous cross-correlation time mean value are subtracted from a load current to eliminate interference of the harmonic current and the active current of the fundamental wave on update of the step length. Furthermore, update of the step length is controlled by an improved versiera function. Meanwhile, in the updating process of the weight coefficient, variation of the weight coefficient is imported so that the steady state error is very small and the calculated amount is smaller. The detection method for the variable step length LMS harmonic current based on versiera provided by the invention is suitable for occasion where the load current has saltus and value of the optimal parameter provided by the invention is less dependent on the load current.

The invention discloses an adaptive beamforming method based on a convex combination. The method mainly comprises the following steps: an array antenna receives a signal, a least square adaptive filter and a variable step size adaptive filter are constructed, the weight updating formulas of two adaptive filters are subjected to convex combination to obtain the weight of a combined filter, the received signal is inputted to obtain a best weight vector through a convex combination filter, and the best weight vector and a scanning vector are subjected to multiplying to obtain an output signal of the antenna. The method has the advantages of fast convergence speed and small steady-state error, and the mobile communication has the advantages of high signal to noise ratio and good stability.

The invention discloses a variable-step self-adaptive echo interference cancellation method based on preliminary channel estimation, which comprises a preliminary channel estimation process based on correlation detection, a channel tracking process based on a variable-step self-adaptive algorithm and an echo cancellation process, wherein the initial characteristic parameters of the echo channel are acquired in the preliminary channel estimation process; the precise channel tracking process is completed according to the channel characteristic parameters acquired by the channel preliminary estimation process; and the extraction of useful signals is completed in the echo cancellation process. The invention is suitable for processing the problems of channel estimation, channel identification,channel tracking and echo interference cancellation in time-invariant channels and time-variant channels. The method can quickly capture the characteristics of the echo channel, track the variation process of the channel in real time, and accurately restore the signals submerged in echo interference noise in real time.

The invention relates to a speed regulation method based on a combined circulation gas turbine system model. The speed regulation method is characterized by comprising the following steps: 1) establishing a combined circulation gas turbine system model which comprises a regulation system model unit, a fuel valve electro hydraulic servo system model unit and a combined circulation gas turbine prime mover model unit, wherein the regulation system model unit, the fuel valve electro hydraulic servo system model unit and the combined circulation gas turbine prime mover model unit are connected in sequence; 2) adopting feedforward and feedback indifference PID (Proportion Integration Differentiation) control in the regulation system model unit, adding a one-time frequency modulation power change requirement value generated by power grid frequency deviation with AGC ((Automatic Generation Control) initial load to obtain a practical load command of the combined circulation gas turbine, and carrying out the feedforward and feedback indifference PID control to the practical load command to generate a fuel value command; 3) according to the fuel valve command, generating a fuel amount signal in the combined circulation gas turbine prime mover model unit; and 4) according to the fuel amount signal, controlling the combined circulation gas turbine in the combined circulation gas turbine prime mover model unit, and regulating the output power of the combined circulation gas turbine. The invention has the advantages of being high in control precision and high in response speed.

The invention relates to a control method for an autonomous underwater vehicle, in particular, a neural network S-plane control method for an autonomous underwater vehicle. According to an existing S-plane control method for an autonomous underwater vehicle, it is difficult to obtain optimal control parameters or difficult to adapt to complicated and varied marine environments, and as a result, amovement control effect is affected, while with the control method of the invention adopted, the above problem of the existing S-plane control method can be solved. According to the control method ofthe invention, as for an AUV control model, closed-loop control is performed on the AUV through an S-plane control method; an S-plane control link outputs control quantities in each control beat; andthe control parameters k1 and k2 of the S-plane control link of a controller are realized by a neural network-based prediction model and is determined through a multi-step prediction link, a feedbackcorrection link and a rolling optimization link. The control method of the invention is applicable to the control of autonomous underwater vehicles.

The invention provides a wireless power transmission system and method. The wireless power transmission system includes an emission module, a reception module, a control module and a power supply module, wherein the emission module is used for receiving driving voltage to generate driving current so as to generate an alternating magnetic field, and is coupled with the reception module to perform wireless power transmission; the reception module is used for coupling with the emission module to perform wireless power transmission, and sending the feedback information to the control module; the control module is used for acquiring the amplitude and phase controlling the driving current according to the feedback information, and enabling the power supply module to work according to the acquired amplitude and phase; and the power supply module is used for receiving the amplitude and phase and adjusting the amplitude and phase so as to supply driving voltage for the emission module and generate the required driving current. The invention provides a wireless power transmission system and method, based on a three dimensional coil wave beam shaping technology. The wireless power transmission system and method can control the magnitude and direction of the magnetic induction intensity in the three dimensional space by means of control of the current amplitude flowing into the coil and the phase, enable the magnetic field to direct at the specific position, can continuously feed back information, and can reduce the system stable state error to achieve the aim of field orientation.

The invention provides a power electronic transformer enabling the high quality of electric energy output, and a control method thereof. A topologic structure of the power electronic transformer includes an input stage, an intermediate isolation stage and an output stage. The output stage is an inverter of a three-phase four-leg structure, wherein the previous three phase legs adopts a dual-closed loop control strategy based on an output voltage outer loop of a PIR controller and an inductance current inner loop of a PI controller, and the fourth leg adopts a neutral current independent control method based on proportion resonance. The frequency characteristic curve and root locus of the frequency domain theory and other relevant methods are utilized to carrying out frequency division setting for dual-closed loop PIR-PI controller parameters. Therefore, the stability is effectively improved, and stable errors and robustness requirements of a system are also taken into consideration.

The disclosed filter includes active power filter (APF) and passive filter (PF). Output of APF is connected to primary side of isolating transformer. Being connected to series resonance circuit in parallel, the isolating transformer is connected to PF in series, and then connected to electric network. Steady state error of APF is lowered through iterative control algorithm of improper integral. Result output from the control algorithm is as equivalent control in slipform variable structure control, realizing combination of two methods so as to form triplet variable control structure. Comparing with slipform variable structure control or iterative control of improper integral adopted in solely, the invention possesses features of quicker responsibility and smaller steady state error.

The invention discloses a permanent magnet synchronous motor speed control system and method for an electric vehicle. The method comprises the steps of obtaining a q-axis desired current according to a designed fuzzy adaptive sliding-mode speed controller, and setting the d-axis reference current as 0; according to a disturbance value feedback compensation observed by a designed disturbance extended state observer, using the q-axis current output from the fuzzy adaptive sliding-mode speed controller as the q-axis input of a dq-axis internal mode current controller; using the difference of a d-axis feedback current value and the given d-axis current value 0 as the d-axis input of the dq-axis internal mode current controller; obtaining ud and uq after the processing by the dq-axis internal mode current controller, and finally outputting the driving voltage currently operated by the permanent magnet synchronous motor through the vector-controlled inverse park conversion, the SVPWM and an inverter. The method increases the response speed and the anti-disturbance performance of the permanent magnet synchronous motor for the electric vehicle, avoids an overshoot phenomenon, reduces system buffeting, and enhances system robustness.

The invention discloses a method for controlling rotor current of an AC excitation asynchronous doubly-fed induction generator (DFIG) without time delay. The method comprises acquiring a three-phase rotor current signal to perform rotational coordinate conversion to obtain rotor current feedback quantity in a positive rotation synchronous rotating coordinate system, compared with the rotor current command in the same coordinate system, inputting the error signal to a proportion-integral regulator for regulation, performing feedback compensation and decoupling to obtain rotor reference voltage in the positive rotation synchronous rotating coordinate system, converting to the rotor reference voltage for space vector pulse width modulation in a rotor coordinate system, and generating a switching signal for power devices of a rotor side transformer to control on-line operation of DFIG . The inventive method does not require performing positive and negative sequence decomposition of rotor current neither under balanced network voltage nor under imbalanced network voltage, and does not cause decomposition delay, so as to realize enhanced control target of the power generation system under imbalanced network voltage and effectively improve the uninterrupted operation (passing through) ability of the power generation system under network failure.

The invention discloses an asymmetry coordination direct power control method of a double-fed asynchronous wind power generation system, which adjusts the stator electromagnetism and the reactive power as well as active power and reactive power of a grid side convertor of a double-fed asynchronous generator through a proportional resonance regulator consisting of a proportional regulator and two resonance regulators so as to effectively control the operation sate of the double-fed asynchronous generator and the grid side convertor under the condition without positive sequence and negative sequence current quantity decomposition. The invention can realize the integral optimized control effect of the double-fed asynchronous wind power generation system under the condition of asynchronous failures of an electric fence, eliminates total active and reactive power, electromagnetic torque, and DC bus voltage fluctuation of the doublefed asynchronous wind power generation system because of asymmetrical voltage of the electric fence, effectively improves the operation control property of the double-fed asynchronous wind power generation system under the condition of the voltage failure of the electric fence, and ensures the electric energy quality of power supply and the operation stability and the operation safety of an electricity system.

The invention discloses a vibration suppression controller based on position feedback signals of a feeding system. A vibration control suppressor is arranged between a numerical control system and a servo system. Input signals of the controller are + / -10V analog quantity signals or digital quantity signals which represent set rate instructions and are generated by the numerical control system and the position signals, measured by a position measuring system, of a working table, and output signals of the controller are + / -10V analog quantity signals or digital quantity signals which represent correction rate instructions. According to the vibration suppression controller, the actual position signals of the working table are measured by the position measuring system, similar interpolation instruction signals are acquired through a similar interpolation instruction signal calculator, vibration suppression signals are acquired through processing of a vibration suppression signal generator and fed back to a regulating loop, and then the goal of suppressing vibration is achieved. In addition, the similar interpolation instruction signals are acquired through the similar interpolation instruction signal calculator, rate feed-forward signals are acquired through a rate feed-forward controller and fed back to the regulating loop, and then the goal of reducing steady state errors is achieved.

The invention discloses a low complexity phone echo self-adaption eliminating method. The method mainly comprises the steps of: A, far-end signal filtration: obtaining a large-step filtering value y1(n) and a small-step filtering value y2(n); B, convex combination: completing the convex combination of the large-step filtering value y1(n) and the small-step filtering value y2(n) so as to obtain a combined filtering value y(n), wherein y(n)=lambda(n)y1(n)+(1-lambda(n))y2(n); C, echo cancellation: completing the subtraction of a near-end signal d(n) which has echo and is picked by a near-end microphone and the combined filtering value y(n), and then sending the signal back to a far end, wherein a return signal is a total residual signal e(n), and e(n)=d(n)-y(n); D, updating the weight coefficient of filtering device taps; E, updating the weight of the filtering device, i.e. updating a hybrid parameter a(n) through a formula which is simplified by a sign function; F, defining the weight of the filtering device; and G, setting n=n+1, and repeating the steps of A, B, C, D, E and F until the conversation is over. The method has strong identification capability to sparse telephone communication systems, and particularly has quick convergence rate and small steady state error in a transition period; an echo eliminating effect is good; and moreover, the method is low in calculation complexity, low in hardware cost and easy to implement.

The invention discloses an adaptive inversion integral nonsingular fast terminal sliding mode controller design method based on an extended state observer for mechanical arm trajectory tracking control. Firstly, in order to better reflect the state of the mechanical arm in actual work and improve the control precision, a LuGre friction force model is combined with a mechanical arm kinetic model. And a novel integral fast terminal sliding mode surface is designed on the basis, so that the convergence speed and the tracking precision can be greatly improved, and a reasonable saturation functionis designed for a singular item to avoid singularity. Due to the fact that external disturbance and system uncertainty are unknown, an extended state observer is adopted to estimate and compensate theexternal disturbance and the system uncertainty, and meanwhile buffeting can be effectively eliminated. The speed information of the mechanical arm joint can be obtained through the expansion observer, and therefore people only need to measure the position information of the joint through the encoder. And finally, a control moment is designed by using a backstepping method to realize global asymptotic stability based on the Lyapunov theorem.

The invention discloses an automated vehicle longitudinal control method based on movement mode judgment. The automated vehicle longitudinal control method based on movement mode judgment is applied to an unmanned vehicle provided with an automatic driving instrument, a GPS / INS positioning system and an industrial personal computer. The automated vehicle longitudinal control method based on movement mode judgment is characterized in that the relative relation between the actual speed and the expected speed of the unmanned vehicle is firstly analyzed, and a movement mode state value of the unmanned vehicle is determined; on the basis that a movement mode of the unmanned vehicle is determined, a control algorithm corresponding to the movement mode is executed to control the vehicle speed so that longitudinal control of the unmanned vehicle can be achieved. By means of the automated vehicle longitudinal control method based on movement mode judgment, longitudinal speed control of the unmanned vehicle is smoother and more comfortable while tracking precision can be guaranteed, and the control process more conforms to the driving habit of humans.