35results about How to "Suppress external interference" patented technology

The present invention proposes a method for robust control of mine filling slurry concentration based on observer and inversion control. On the basis of establishing a slurry production system model, the disturbance is regarded as an additional state of the system and estimated by an observer. Finally, the inversion controller is designed by the inversion control method, and the output of the controller and the slurry production system is used as the input of the observer to obtain the disturbance estimation value of the system, which is then used in the design of the inversion controller. The invention effectively overcomes the defects of a single type of control method, and at the same time alleviates the problem of difficulty in modeling the actual production process; the proposed robust control method can effectively suppress parameter perturbations and external disturbances in the production process, and can make the system output quickly , Accurately track the expected value, which has good engineering significance.

The invention relates to a method for estimating the false data attack of the load frequency control system. Firstly, the mathematical model of the load frequency control system is established according to the dynamic model of the power system; In the case of data injection attack, analyze the impact of the attack signal on the system state equation, and establish a mathematical model of the load frequency control system including the false data injection attack signal; then, design an adaptive observer to estimate the system state and the attack signal; finally, Using Lyapunov stability theory and robust H ∞ The optimization index is based on the linear matrix inequality method, and the observer gain is solved to ensure the convergence and boundedness of the attack signal estimation error of the load frequency control system. The method proposed by the invention can accurately estimate the false data injection attack signal of the load frequency system, and at the same time restrain external interference, has the advantages of simple design and easy engineering realization, and has strong practical value.

A four-rotor unmanned plane finite time self-adaptive control method based on a nonsingular terminal sliding mode is provided; the method aims at a four-rotor unmanned plane system with inertia uncertainty factors and external turbulences; according to the four-rotor unmanned plane dynamic system, a nonsingular terminal sliding mode control method is employed, and self-adaptive control is combined, thus designing the four-rotor unmanned plane finite time self-adaptive control method based on the nonsingular terminal sliding mode; the nonsingular terminal sliding mode is designed so as to ensure the system finite time convergence features, thus preventing singularity problems existing in terminal sliding mode control, and effectively weakening jittering problems; in addition, the self-adaptive control is used for processing system inertia uncertainty factors and external turbulences; the method can remove the sliding mode surface singularity problems, and can effectively prevent and compensate the system inertia uncertainty factors and external turbulences, thus ensuring the system finite time convergence features.

The invention relates to the technical field of robot control. The invention discloses a design method of a nonlinear robot anti-external interference controller. The technical solution of the present invention includes an inversion controller, a robot subject to external source disturbance and a nonlinear disturbance observer, and is characterized in that it includes the following steps: a, without considering the external source interference d, designing the inversion controller so that its output is τ 0 ; b. In the case of external source disturbance d, design a nonlinear disturbance observer to estimate the external source disturbance received by the robot, and obtain the estimated value of external source disturbance d c. Output τ from the inversion controller 0 and the estimated value of external source interference to obtain the output τ of the anti-external interference controller; d. Control the robot with the output τ of the anti-external interference controller, so that the actual position q of the robot and its expected position q can be realized while suppressing the external source interference d tracking. The invention can effectively suppress the external source interference of the robot system, and significantly improve the position tracking accuracy and system operation stability of the robot system.

The invention provides an autonomous underwater robot signal processing method based on particle swarm optimization monostable adaptive stochastic resonance. The structure parameters of a monostable stochastic resonance system are optimized through a particle swarm optimization algorithm so as to realize the adaptive stochastic resonance of AUV (Autonomous Underwater Vehicle) control signals and status signals and improve the stochastic resonance effect of the AUV control signals and status signals, and finally the purposes of inhibiting external stochastic disturbance contained in the AUV control signals and status signals and enhancing the characteristics of fault signals are achieved through the phenomenon of stochastic resonance. The method solves the problems that the selection of the structure parameters lacks reasonable theoretical foundation and an optimal stochastic resonance effect is difficult to realize caused by the fact that a traditional single-parameter fixed-step adaptive stochastic resonance method ignores the interaction effect among the parameters, the external disturbance is inhibited and the characteristics of the fault signals are enhanced through the AUV control signals and status signals processed by an adaptive stochastic resonance system, and the method can be used in the fields such as fault diagnosis and fault-tolerant control of AUV thrusters.