403 results about "Active disturbance rejection control" patented technology

The invention discloses a cable inspection robot attitude control method based on MPC and ADRC fusion, and the method comprises the steps: firstly, building a model prediction control (MPC) model, carrying out the prediction of the future state of a robot, solving an optimal control problem, and obtaining initial control input for achieving the internal dynamic compensation; secondly, an extended state observer (ESO) in an auto-disturbance rejection control (ADRC) model is adopted, and external disturbance is estimated in real time and used for compensating control input; thirdly, a fuzzy self-adaptive module based on fuzzy PID is introduced, the attitude error, the attitude error change rate and regeneration disturbance intensity generated based on estimation disturbance are collected in real time, the MPC weight and the ESO gain are dynamically adjusted, and the response speed and robustness of the system under variable working conditions are improved. According to the hierarchical control scheme, the defect that an existing single control method is difficult to keep the optimal control effect under variable working conditions is effectively overcome, and technical guarantee is provided for stable operation of the cable inspection robot in a high-risk and high-complexity environment.

The invention relates to the technical field of motor control, and particularly provides a permanent magnet synchronous motor current harmonic disturbance suppression method and a motor system.The permanent magnet synchronous motor current harmonic disturbance suppression method comprises the steps that firstly, a permanent magnet synchronous motor mathematical model considering harmonic disturbance under the d-q axis of a synchronous rotating coordinate system is constructed, and a theoretical basis is provided for subsequent control strategy design; an improved resonance controller is set and embedded into the extended state observer, comprehensive estimation of d-q axis non-periodic disturbance and periodic harmonic disturbance is achieved, finally, an enhanced current loop active disturbance rejection controller based on the improved resonance-extended state observer is built, unexpected peak values are eliminated, and the disturbance rejection rate of the current loop is improved. And comprehensive suppression of aperiodic disturbance and periodic disturbance is realized. According to the method, aperiodic and periodic disturbance can be suppressed, unexpected peak values are eliminated, system instability caused by noise amplification is avoided, and the steady-state performance and robustness of current control of the permanent magnet synchronous motor are remarkably improved.

The invention discloses a dual-ring active-disturbance-rejection trajectory tracking control method for a four-rotor unmanned aerial vehicle, and the method comprises the steps: representing a dynamic coupling effect of the unmanned aerial vehicle caused by the load mass change and dynamic center-of-gravity shift through a six-degree-of-freedom flight dynamic model containing an asymmetric inertia matrix; an outer ring position control loop and an inner ring attitude control loop are constructed on the basis of an active disturbance rejection controller, and the following control cycles are executed in real time on the basis of integrating an extended state observer: the outer ring position control loop generates a position control signal and an attitude expected angle according to an expected track; the inner loop attitude control loop generates a control quantity for driving the unmanned aerial vehicle according to the attitude expected angle, and the two loops cooperatively work through decoupling logic to realize expected trajectory tracking; estimating and compensating unmodeled dynamics and external interference of the unmanned aerial vehicle in real time through the extended state observer; and dynamically adjusting parameters of the active-disturbance-rejection controller by adopting a particle swarm optimization algorithm.

The invention provides an active-disturbance-rejection full-wind-speed power smoothing method based on kinetic energy of a fan rotor, and belongs to the technical field of wind power control. The technical problem that the output power of a traditional wind turbine generator is unstable due to random fluctuation of the wind speed is solved. According to the technical scheme, the method comprises the following steps that S1, rotor kinetic energy is calculated based on a wind turbine kinetic model, and the effect of the rotor kinetic energy in power fluctuation stabilization is analyzed; s2, designing a first-order linear active disturbance rejection controller for rotating speed loop control; s3, designing a second-order linear active disturbance rejection controller for variable pitch control; and S4, dynamically generating an active power reference value by combining the kinetic energy of the rotor and an active disturbance rejection control technology, and controlling by coordinating a rotating speed ring and a variable pitch. The method has the beneficial effects that power fluctuation can be remarkably reduced under wind speed fluctuation and complex working conditions, the smoothness of power output is improved, meanwhile, the anti-interference capability and the dynamic stability of the system are enhanced, and efficient and stable operation of the wind driven generator system is ensured.

The invention discloses an IADRC and torque compensation fused PMSM speed regulation control method. The method comprises the steps of establishing a mathematical model of a surface-mounted permanent magnet synchronous motor in a rotating coordinate system; an improved Luenberger load torque observer is designed; designing an active disturbance rejection controller; designing an improved super-spiral sliding mode algorithm; and designing an improved speed loop active disturbance rejection controller. The improved Luenberger observer identifies the load torque of the system in real time, and parameters obtained through identification are compensated to the improved active-disturbance-rejection controller, so that system oscillation caused by load change is avoided; a traditional non-linear state error feedback control rate in active disturbance rejection control is combined with a super-spiral sliding mode algorithm, and a new piecewise function is designed and applied to a sliding mode reaching law. According to the method, the response speed and the working efficiency of the system are effectively improved, meanwhile, the anti-interference performance of the system is enhanced, and the robustness of the system is improved.

The invention discloses a cascaded auto-disturbance rejection rotating speed stability control method with a quasi-resonance link based on propeller load, and the method comprises the following steps: S1, building a speed ring mathematical equation containing disturbance according to the basic structure and working principle of a surface-mounted permanent magnet synchronous motor; s2, according to aerodynamic characteristics of the propeller, establishing a mathematical model of tension and load torque of the propeller; s3, establishing a quasi-resonance cascade active-disturbance-rejection speed controller containing disturbance compensation according to the S1 and the S2, and performing stability analysis on a cascade expansion observer equation according to a Lyapunov stability theorem; and S4, a cascade active disturbance rejection control method with a quasi-resonance link is used to realize suppression of periodic and non-periodic disturbance of the rotating speed so as to realize high-performance speed control. According to the method, the motor and the propeller are integrally modeled, the influence of periodic disturbance and non-periodic disturbance on the rotating speed is considered at the same time, and the method has better dynamic performance and steady-state performance.

The invention discloses a wind power operation and maintenance ship embarkation system compensation control method based on active disturbance rejection control and related equipment. The method comprises the following steps: predicting a system external wave disturbance variable of a six-degree-of-freedom embarkation compensation platform according to environmental parameters through a wave disturbance prediction model; the total disturbance quantity in the system is predicted through the extended state observer according to the real-time attitude information and the electric cylinder control signal, and then the total disturbance of the system is obtained; a nonlinear control quantity is calculated through an active disturbance rejection controller according to real-time attitude information, expected attitude information and a preset decoupling matrix, a feed-forward compensation quantity is calculated according to total disturbance of a system, then an output instruction of the controller is calculated, and compensation control is achieved. According to the embodiment of the invention, compensation control can be realized through the wave interference prediction model, the state expansion observer and the active disturbance rejection controller, and high precision and response speed are achieved. The method can be widely applied to the technical field of automation control.

The invention belongs to the technical field of active suspension control, and particularly relates to an active suspension control method and system based on Skhook-ADRC-FFORC. According to the method, key parameters are obtained by establishing a 1 / 4 vehicle suspension dynamical model, a state space model is constructed, active disturbance suppression control is introduced on the basis, and the stability of the vehicle suspension is improved. Real-time estimation and compensation of vehicle body displacement and total disturbance of a system are realized, fractional order sliding mode control is combined, a fractional order sliding mode surface is constructed by using a Caputo operator, high robustness and smoothness are considered, the buffeting problem of a traditional sliding mode is suppressed, and finally, the high-frequency vibration isolation advantage of Skyhook control and the anti-interference capability of ADRC-FFORC are subjected to weighted fusion. The problems that in the prior art, model simplification and control distortion are caused, and a single strategy cannot give consideration to multi-target performance are solved, and by fusing ADRC, FOSMC and Skyhook control and realizing adaptive weighted switching, the robustness, smoothness and real-time performance of the active suspension under complex working conditions are effectively improved, so that collaborative optimization of vehicle comfort and safety is realized.

The invention discloses a miniature proportional valve control method based on active-disturbance-rejection control, and relates to the technical field of miniature proportional valve control, and the method comprises the steps that a target flow set value is received and is used as a control signal to be sent to a control unit, and the control unit comprises a tracking differentiator, an expansion state observer and a nonlinear feedback controller; the tracking differentiator processes the target flow set value to obtain a differential input signal; the expansion state observer receives the differential input signal and the actual flow feedback signal, and estimates the total disturbance of the system in real time to obtain a disturbance estimation value; the non-linear feedback controller combines the differential input signal and the disturbance estimation value to generate a compensation current signal; the compensation current signal is used as a control parameter of the micro proportional valve, and the position of the valve element is accurately adjusted. An active disturbance rejection control algorithm is adopted, the control performance and disturbance rejection are improved, accurate flow control of the micro proportional valve is achieved, and the micro proportional valve is more suitable for industrial application with high requirements.

The invention discloses a magnetic lead screw motor linear speed control method based on an improved active-disturbance-rejection controller, and the method comprises the following steps: building a magnetic lead screw motor model, designing an active-disturbance-rejection control law according to the motor model, carrying out the higher-order operation of an extended state observer in a controller, and introducing an acceleration error at a reasonable position of a state equation, thereby achieving the linear speed control of a magnetic lead screw motor. And the improved active disturbance rejection controller is obtained. Compared with the prior art, the improved method provided by the invention has the advantages that the observation capability of the expansion state observer on the disturbance error is improved, so that the anti-interference performance of the control system is improved, and the method has certain universality. Simulation and experiment results show that high-quality operation of the linear driving system of the magnetic lead screw motor can be realized by adopting the improved active-disturbance-rejection control strategy.

The invention belongs to the technical field of magnetic levitation rulers, and relates to a magnetic levitation ruler horizontal motion control method, which comprises the following steps: establishing a mathematical model of a horizontal system; according to the constructed mathematical model, estimating the position of the rotor iron core through induced electromotive force derivation to obtain the horizontal position and the deflection angle value of the rotor iron core; rotor iron core horizontal motion control based on SYSTD is carried out; and setting the parameters of the horizontal control system of the magnetic suspension ruler system. A mathematical model is established based on a magnetic circuit and a dynamics principle, the problems of nonlinearity and strong coupling of a magnetic levitation ruler horizontal displacement system are solved by applying an improved active-disturbance-rejection control algorithm, and a system structure is simplified by utilizing a position-sensorless control technology. According to the method, unknown dynamic and external disturbance is taken as total disturbance, and real-time estimation and compensation are carried out through an extended state observer; the ADRC not only can adjust errors, but also can actively process uncertain factors of the system and improve the control efficiency, does not depend on an accurate mathematical model, and is high in adaptability and robustness in a complex system.

The invention provides a redundant pneumatic parallel platform active disturbance rejection control method based on driving force decoupling optimization, and the method comprises the following steps: firstly, carrying out the real-time quantification and solving a state variable and unpredictable disturbance of a pneumatic redundant parallel platform under the optimal driving force; the control accuracy and the response speed are improved through total disturbance feedforward compensation, and the influence of external interference on the system performance is effectively restrained; secondly, designing a proper sliding mode control law based on the estimated internal state of the system and the total disturbance, so as to ensure that the state of the system stably and quickly approaches a sliding mode surface; according to the invention, through estimating the total disturbance suffered by the redundant pneumatic parallel platform in the motion process and carrying out feedforward compensation, a self-adaptive gain sliding mode control law is further constructed so as to ensure that the error change between the system state and the sliding mode surface can dynamically adjust the control gain; and the control precision and stability of the complex nonlinear redundant pneumatic parallel system under the conditions of internal state uncertainty and external interference are effectively improved.

The invention provides an active-disturbance-rejection control method for an electromagnetic bearing two-level digital switching power amplifier embedded with model information. The method comprises the steps that an electromagnetic bearing two-level digital switching power amplifier mathematical model suitable for controller design is established based on the Fourier series theory and coil current characteristics; a direct current component in the mathematical model is defined as a modeling disturbance term, and feedforward compensation is directly carried out in the control law; parameter perturbation and an unmodeled part in the mathematical model are defined as unknown perturbation items, and real-time estimation is carried out through an extended state observer; a current item and a control input item in the mathematical model are used as known model information to be embedded into the design of the extended state observer; designing a feedback control law to carry out real-time compensation on the current item, the modeling disturbance item and the unknown disturbance item; a zero-order retainer and a current observer are adopted to carry out discretization processing on the controller, and the discretization processing is realized on a digital control platform based on a DSP (Digital Signal Processor). The method is high in current response speed and high in control precision.

The invention belongs to the technical field of photoelectric stabilized platform intelligent control, and particularly relates to a photoelectric stabilized platform composite anti-interference method based on improved active-disturbance-rejection control, which realizes multi-band disturbance cooperative suppression through an improved extended state observer (ESO) and non-linear state error feedback (NLSEF) core architecture. For the problems of phase distortion and parameter sensitivity under traditional ADRC high-frequency disturbance, an ALMRBF-ESO observer is constructed by adopting a dynamic regularization constrained radial basis function neural network and an adaptive damping adjustment mechanism, gradient dispersion limitation of a traditional RBF in a high-frequency domain is broken through, and disturbance root-mean-square errors are reduced; by reconstructing a sliding mode gain equation of nonlinear tracking error feedback and implanting a parameter self-correction mechanism, dynamic response of a system is accelerated, overshoot is reduced at the same time, and the parameter drift rate of a controller is stabilized at 0.12. According to the method, on the basis of completely reserving ADRC robustness, the problem of collaborative optimization of ESO broadband disturbance observation precision and NLSEF dynamic tracking performance is solved.

The invention provides a three-order hydraulic servo position control system active-disturbance-rejection control method based on friction compensation, and relates to the technical field of fluid transmission and control, and the method comprises the steps: S1, building a state space model of a three-order hydraulic servo position control system, building a linear expansion state observer, and obtaining a linear active-disturbance-rejection controller of the three-order hydraulic servo position control system; s2, nonlinear time-varying disturbance compensated by the third-order hydraulic servo position control system is converted into a tracking error compensation item controlled by a friction compensation algorithm; s3, verifying the stability of the closed-loop third-order hydraulic servo bit control system through error convergence before and after feed-forward compensation; and S4, the control voltage of the third-order hydraulic servo position control system is input, and nonlinear friction feedforward compensation control of the third-order hydraulic servo position control system is achieved. According to the method, a model-free control strategy is adopted, an innovative solution path is provided for friction suppression and self-adaptive friction compensation, and the control precision and robustness of the hydraulic servo system are improved.

The invention discloses an SPMSM robust speed control method based on an adaptive high-order expansion sliding-mode observer, and the method comprises the following steps: designing and building a third-order LESO system according to a motor mathematical model, and the third-order LESO system is used for outputting an estimated rotating speed actual value, an estimated acceleration and estimated total disturbance; combining a non-singular fast terminal sliding mode algorithm with a disturbance observer, and designing a non-singular fast terminal sliding mode disturbance observer which is used for observing an acceleration state variable of the motor; the acceleration state variable is input into the third-order LESO system and replaces the estimated acceleration, and a high-order expansion sliding mode observer is generated; and constructing an active-disturbance-rejection controller by using the high-order expansion sliding-mode observer, linear state error feedback and total disturbance compensation, and performing speed control on the motor by using the active-disturbance-rejection controller. According to the method, high-precision observation of disturbance can be realized under the conditions that only less interference information exists and the method is not sensitive to interference frequency change.

The invention relates to the field of thermotechnical intelligent control, and discloses a heavy-duty gas turbine rotating speed finite time error active-disturbance-rejection control method, which comprises the following steps of: establishing a heavy-duty gas turbine mechanism model according to a mass and momentum conservation law; mathematical processing is carried out based on the heavy duty gas turbine mechanism model, and then an error active-disturbance-rejection control strategy is designed; and designing a finite time expansion state observer based on the error active-disturbance-rejection control strategy so as to realize the active-disturbance-rejection control of the rotating speed error of the heavy-duty gas turbine. The invention relates to an active-disturbance-rejection control method for the finite time error of the rotating speed of a heavy-duty gas turbine. The method comprises the following steps: establishing a heavy-duty gas turbine component-level mechanism model; designing an error active-disturbance-rejection control strategy by considering internal and external disturbance in operation; a finite time expansion state observer is introduced, and a scheme and thought are provided for design of an intelligent control method of the heavy duty gas turbine in a system error convergence mode.

The invention discloses an active-disturbance-rejection control optimization system and method for a stepping motor servo system, and relates to the technical field of stepping motor control, and the system comprises a signal processing unit which is used for carrying out the filtering processing of an input signal of the stepping motor servo system; the state observer unit is used for calculating the disturbance compensation amount; and the control algorithm unit is used for carrying out active disturbance rejection control optimization on the stepping motor servo system. According to the method, an active-disturbance-rejection control closed loop combining feed-forward compensation and feedback adjustment is effectively constructed, the control precision, robustness and dynamic performance of the stepping motor servo system are improved, and the method has industrial application prospects and technical popularization value.

The invention provides a virtual synchronous generator control method based on adaptive RBF-LADRC, and the method comprises the steps: building a mathematical model of a virtual synchronous generator, introducing LADRC into a virtual speed regulator of the virtual synchronous generator as an outer loop frequency controller of an active control loop, and adjusting the active output of the virtual synchronous generator; adaptively adjusting a virtual coefficient in the mathematical model by using an RBF neural network; a voltage outer loop in voltage and current double-closed-loop control is designed based on linear active disturbance rejection control, a PI controller is replaced with an LED RC controller, a voltage and current double-closed-loop control system is obtained, and after reference voltage obtained through coupling of a virtual exciter and a virtual regulator is input into the voltage outer loop, double-closed-loop parameter adjustment control is carried out. Compared with traditional control, the method has the advantages that the system overshoot can be remarkably reduced, the active power tracking speed is increased, the power grid frequency stability is enhanced, and good anti-disturbance capacity is shown under the wind power plant short-circuit fault and low-frequency disturbance conditions.

The invention belongs to the technical field of aero-engine control, and discloses an electric fuel pump active-disturbance-rejection control method based on a radial basis function neural network. According to the method, an intelligent control system is constructed through a radial basis function neural network, an active-disturbance-rejection controller with a nonlinear state error feedback control law as a core is designed, a control strategy is adjusted in real time according to the current state of the system, the complexity of controller parameter setting is reduced, and the stability and response speed of the system are improved. Through verification, the electric fuel pump control system obtained through the design can achieve the stable and rapid control effect under all working conditions, and is high in practicability, good in system robustness and high in anti-interference capacity.

The invention discloses an improved sliding-mode active-disturbance-rejection control method for a network construction type photovoltaic hybrid energy storage converter, and provides an improved sliding-mode active-disturbance-rejection control strategy based on a quasi-continuous algorithm on the basis of a virtual synchronous generator (VSG) technology, the VSG is often matched with a voltage and current double-closed-loop strategy, a voltage outer loop adopts PI control, a reference value is provided for a current inner loop, and the current inner loop adopts PI control. A high-order super-spiral sliding mode observer (HO-STSMO) is adopted in a current inner ring, so that the response speed and the tracking precision are better; meanwhile, a double-sliding-mode switching control law form is adopted, a quasi-continuous integral terminal sliding mode controller (QC-ITSMC) is introduced, and an improved index reaching law is designed to smooth a system control signal and improve the robustness of the system; according to the control method, power grid power fluctuation is effectively suppressed, the performance of the photovoltaic hybrid energy storage converter is improved, the bus voltage is kept stable, and the system operation stability is improved.

The invention belongs to the technical field of motor control, and particularly relates to a current harmonic suppression method based on a generalized active disturbance rejection controller. Comprising the following steps: S1, establishing a permanent magnet synchronous motor current loop mathematical model containing disturbance, and constructing a d-axis current equation and a q-axis current equation containing disturbance by taking respective current components of a d-axis and a q-axis as state variables; s2, defining the lumped disturbance of the d axis and the q axis as an extended state variable, and constructing an extended state observer to estimate the lumped disturbance; s3, constructing an improved resonance controller; and S4, establishing an active-disturbance-rejection control law, feeding back the lumped disturbance estimated in the step S2 to the active-disturbance-rejection control law for aperiodic disturbance compensation, and expanding the improved resonance controller in the step 3 and embedding the expanded improved resonance controller into the active-disturbance-rejection control law for periodic harmonic compensation. According to the invention, harmonic interference generated in the operation process of permanent magnet synchronization can be suppressed, so that the robustness of a motor control system is improved.

The invention discloses a virtual impedance compensation-based active-disturbance-rejection control method for a dual-active-bridge converter, and the method comprises the following steps: firstly designing a virtual impedance compensation strategy, connecting an equivalent virtual conductor in parallel with an output capacitor, converting the equivalent virtual conductor into a duty ratio injection amount, and achieving the active counteracting of the negative impedance of a constant-power load and the reconstruction of the damping of a port; an unstable pole of the right half plane is made to move back to the left half plane, and extra power loss is not introduced; an active disturbance rejection control strategy based on virtual impedance compensation is designed, residual uncertainty after virtual impedance compensation is uniformly regarded as total disturbance online observation and feedforward offset, and therefore rapid and smooth voltage tracking is kept under parameter perturbation and external disturbance. Under the working conditions of voltage reference step and load abrupt change, the improved active disturbance rejection control strategy realizes the effects of no overshoot, shortest setting time and minimum oscillation by enhancing disturbance observation and virtual impedance compensation, and has better damping and disturbance rejection performance.

The invention relates to a permanent magnet synchronous motor improved fractional order sliding mode active-disturbance-rejection control method based on an improved fractional order super-spiral sliding mode observer, and the method specifically comprises the steps: firstly, building a mathematical model of a PMSM in an alpha-beta and d-q coordinate system, designing an improved fractional order super-spiral sliding mode disturbance observer, and estimating the unknown disturbance in a system in real time; and finally, optimizing a steepest function and designing a fractional order tracking differentiator in combination with a fractional order calculus principle. A nonlinear state error feedback law is constructed, nonlinear calculation is carried out on the proportion, differential and integral of an error signal, and the anti-interference capability, the response speed and the control precision of the controller are improved; and combining a fractional order tracking differentiator, a fractional order state observer and a nonlinear feedback control law, and designing a fractional order sliding mode active-disturbance-rejection controller. According to the method, system buffeting is effectively weakened while the convergence speed is increased, and the robustness of the controller under load disturbance is effectively improved.

The invention belongs to the field of inertial navigation measurement, and discloses a nuclear magnetic resonance gyroscope main magnetic field control method and system based on active disturbance rejection control, and the method comprises the following steps: establishing a nuclear magnetic resonance gyroscope main magnetic field system differential equation; designing an active-disturbance-rejection controller based on a differential equation of a main magnetic field system of the nuclear magnetic resonance gyroscope; based on an active-disturbance-rejection controller, a nuclear magnetic closed-loop system is built in combination with a gyro prototype, and main magnetic field disturbance is restrained. The invention particularly provides a magnetic field control method based on linear active disturbance rejection control (LADRC) aiming at the key influence of the stability of a main magnetic field in a nuclear magnetic resonance gyroscope on the system output precision, which is used for solving the problems of insufficient control precision and poor robustness in the face of system disturbance, model uncertainty and nonlinear environment influence of the existing PID control method. Therefore, the zero-bias stability and the measurement precision of the nuclear magnetic resonance gyroscope are improved.

The invention discloses an SVC (static var compensator) control method of a high-power power supply system based on a predictive active disturbance rejection mechanism, which comprises the following steps of: establishing a combined operation time domain model of the high-power power supply system and a static var compensator, and acquiring delay parameters in advance by utilizing a system identification method; predicting and calculating a reactive instruction signal of the static var compensator based on the voltage reference signal of the load side of the power supply system and the direct current side current; inputting the predicted reactive instruction into a linear active disturbance rejection controller, estimating the total disturbance of the system in real time through an extended state observer, generating a compensated control signal in combination with a proportional differential combination control law, and driving the system to output a tracking and predicting reactive instruction; and the tracking prediction reactive instruction acts on the static var compensator to form closed-loop anti-interference control. Through cooperation of prospective reactive power instruction generation based on a load side voltage reference signal and disturbance real-time compensation of a linear active disturbance rejection control framework, a grid side reactive power impact value is reduced, and bus voltage stability is enhanced.

The invention discloses a ground-effect-oriented active-disturbance-rejection-based low-altitude rotor aircraft control method, and the method comprises the steps: constructing a multi-channel cooperative control architecture for a control system of a three-rotor aircraft with a control surface, and enabling the multi-channel cooperative control architecture to comprise a height maintenance channel, a yaw stabilization channel, a pitch attitude channel and a rolling attitude channel; wherein the height channel, the pitching channel and the rolling channel adopt an auto-disturbance rejection control model based on an extended state observer, and disturbance suppression is realized through nonlinear state error feedback; a yaw channel adopts a PID controller with parameter setting optimization, and the control precision is improved by utilizing the periodic disturbance suppression characteristic of the PID controller. According to the invention, the method of fusing ADRC and PID control in a three-duct configuration controller is considered, the coupling interference amount caused by inaccurate model establishment is effectively estimated and compensated, the purpose is to realize the accurate control of the attitude, height and other states of the aircraft, and the flight stability is ensured.

The invention provides a loading force control method for servo torque feed-forward and linear active disturbance rejection control, and belongs to the technical field of servo hydraulic equipment control. The method comprises the steps that a servo hydraulic tension pad dynamic model is constructed, and the servo torque feed-forward and linear active disturbance rejection control loading force is obtained based on the servo tension pad dynamic model and structural design parameters of a servo tension pad test bed; building a simulation model of the servo stretching pad; a simulation data set and an experiment data set are collected, the simulation data set and the experiment data set are combined, weighted and preprocessed, and a standardized feature matrix is obtained; constructing a servo feed-forward torque prediction model based on XGBoost, taking the standardized feature matrix as model input, and outputting a feed-forward torque; constructing a second-order system model of the servo stretching pad; and combining the feed-forward torque output by the servo feed-forward torque prediction model with the feedback torque calculated by the linear active disturbance rejection control to form a final torque instruction of the servo motor. According to the invention, the control precision and robustness of the loading force in the production process of the servo hydraulic stretching cushion are improved.

The invention discloses an active-disturbance-rejection control method and system for a four-port magnetic network electric energy router, and belongs to the technical field of isolated power electronic converters. The method is based on a proportional-integral control method of a decoupling matrix, and is combined with an adaptive disturbance suppression state observer to be used in the magnetic network electric energy router, so that the active disturbance rejection of the system is improved, and particularly, the common problem of parameter mismatching in a traditional decoupling control method is solved. The method comprises the following steps: step 1, establishing a simple and effective power decoupling matrix, thereby realizing efficient power decoupling among a plurality of ports, effectively reducing mutual interference among the ports, and ensuring that control of each port can be independent and stable; and 2, introducing an adaptive disturbance suppression state observer into a feedback system, so that the system can estimate and compensate errors caused by parameter uncertainty or noise interference in real time, and the active disturbance rejection of the system under dynamic and complex working conditions is greatly improved.

The invention discloses an automobile steer-by-wire system linear active-disturbance-rejection control method and a related device. The method comprises the following steps: establishing an automobile steer-by-wire system model; obtaining a parrot group intelligent search algorithm; the parrot group intelligent search algorithm is improved according to the vehicle driving conditions of the vehicle under different working conditions, and an improved parrot group intelligent search algorithm is obtained; and calculating the optimal fitness of the improved parrot group intelligent search algorithm, and carrying out optimal selection on parameters of the linear active disturbance rejection controller. According to the invention, the control effect of the controller can be adaptively adjusted under different working conditions, so that the automobile has a better driving effect.