220 results about "Active disturbance rejection control" patented technology

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 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 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 a double-inertia elastic position servo system and a control method thereof, and the method comprises the steps: taking a motor speed as the input of a second-order linear expansion state observer in an active disturbance rejection controller, introducing a speed observation error, reconstructing internal and external disturbances, and observing the motor speed and the internal and external disturbances. The structure of the observer is simplified, the response speed of the system is improved, system internal and external disturbances including time-varying elastic disturbances caused by elastic deformation of the transmission mechanism are observed in real time, the time-varying elastic disturbances are compensated in combination with state error feedback, and the resonance problem is suppressed. According to the double-inertia elastic position servo system and the control method thereof, the system structure is simplified, the response speed of the system is increased, the anti-interference capacity of the system is improved, meanwhile, the inherent problems of mechanical resonance, position tail end buffeting and the like of the double-inertia elastic position servo system are effectively solved, and high-precision position servo control is achieved.

The invention relates to a high-altitude cabin air inlet system active-disturbance-rejection control method based on an improved rapid super-spiral sliding mode and differential flatness, and belongs to the technical field of aero-engine high-altitude simulation control. The method comprises the following steps: establishing a high-altitude cabin air inlet system model; according to the established system model, the temperature and pressure coupling control problem is solved by using the differential flatness characteristic of the system; designing an improved rapid super-spiral sliding mode controller for the active disturbance rejection temperature and pressure decoupling control system to obtain an improved rapid super-spiral sliding mode active disturbance rejection temperature and pressure decoupling control system; the improved rapid super-spiral sliding mode active disturbance rejection temperature and pressure decoupling control system generates control input signals according to system temperature and pressure environment parameter output signals. The control input signal is input into the high-altitude cabin air inlet system, the high-altitude cabin air inlet system operates, and temperature and pressure environment parameter output signals are obtained. According to the invention, the problem of strong airflow interference in the rapid transition state test of the high-altitude cabin air inlet environment simulation system can be solved.

The invention discloses a double-layer nonsingular terminal sliding-mode active-disturbance-rejection control method for a permanent magnet synchronous motor based on a superspiral sliding-mode observer, and the method specifically comprises the following steps: 1, building a voltage equation under an alpha-beta static coordinate system, and then building a mathematical model under a d-q rotating coordinate system through coordinate transformation; 2, designing a fractional order linear super-spiral sliding mode observer; step 3, designing a double-layer nonsingular terminal sliding mode active-disturbance-rejection controller according to the mathematical model under the d-q rotating coordinate system obtained in the step 1; and step 4, making a difference between the mechanical angular velocity given value omega ref and the mechanical angular velocity observed value, and obtaining a control signal of a PMSM current loop through a double-layer nonsingular terminal sliding mode active-disturbance-rejection controller according to the obtained error. According to the method, global rapid convergence of the speed tracking error can be ensured, the anti-interference capability of the system is improved to a certain extent, and buffeting is reduced.

The invention provides a motorcade active-disturbance-rejection control method and system with a variable time interval strategy. The method comprises the following steps: acquiring state information of each vehicle in a vehicle queue system; the leader vehicle and the following vehicle carry out information transmission; under the condition of considering external disturbance, a vehicle dynamics model referring to the Newton second law is established, and a variable time interval strategy is constructed; compensating unmodeled dynamic and external disturbances in the vehicle dynamics model by using a time-varying gain expansion state observer in an active disturbance rejection control technology, and constructing a virtual controller and an actual controller based on a backstepping method; and according to the constructed virtual controller and the actual controller, realizing position and speed synchronization of the following vehicle and the leading vehicle in the queue under the condition of considering unmodeled dynamics and external disturbance. According to the method, the non-smooth problem at the saturation threshold is solved, the fluctuation influence can be effectively reduced, the safety is guaranteed, and the passing efficiency is improved; and the problem of gain attenuation is solved while the high gain characteristic is reserved.

The invention relates to the technical field of robot control, and provides an underwater robot motion active-disturbance-rejection control method and system, a medium and equipment, and the method comprises the steps: estimating the total disturbance of an underwater robot through a dynamic gain adaptive extended state observer based on motion state data and environment disturbance data, and generating a disturbance compensation amount according to the total disturbance; in combination with the control target value and the disturbance compensation amount, a control signal of each propeller is calculated through an active-disturbance-rejection control law; on the basis of the control signal, driving each propeller of the underwater robot to act so as to realize posture adjustment and position control of the underwater robot; the working current of the propeller and the water flow speed of the environment are obtained, the current movement working condition of the robot is judged, and the observation gain and the control law feedback coefficient of the expansion state observer are automatically adjusted. The response speed is increased while the control stability is ensured, and different motion working conditions are adapted.

The invention relates to the technical field of modular multilevel converter control, in particular to an active-disturbance-rejection direct-current side fluctuation suppression method based on an MMC alternating-current side fault working condition. The method mainly aims at solving the problems that an existing suppression scheme based on a PI controller is insufficient in performance and difficult in parameter adjustment, and a control scheme based on an active disturbance rejection controller is complicated in parameter debugging and difficult in obtaining optimal parameters although the performance is better. The method comprises the following steps: step 1, suppressing a negative sequence current generated by an MMC system when an alternating current side has a fault; step 2, constructing a second-order LADRC model; and step 3, current inner loop control is carried out by using a second-order LADRC controller set by a particle swarm optimization algorithm. According to the method, a traditional PI controller is replaced by the second-order LADRC controller, parameters are set in combination with the particle swarm optimization algorithm, the ride-through capacity of the MMC system under the alternating current side fault is remarkably improved, and better dynamic response and interference immunity are achieved.

The invention discloses a shore power winch cable tension control system and method based on fuzzy active-disturbance-rejection control. The system comprises a tension sensor module, a fuzzy active-disturbance-rejection control module, a real-time parameter updating module, a motor control signal output end and a motor driving and executing module. The tension sensor collects a cable tension signal in real time and transmits the cable tension signal to the fuzzy active-disturbance-rejection control module. The module integrates a tracking differentiator, an expansion state observer and nonlinear state error feedback combined with fuzzy logic, and accordingly, a control signal is generated. The real-time parameter updating module dynamically obtains rotational inertia and rolling diameter parameters and feeds back the rotational inertia and rolling diameter parameters to the controller; and finally, controlling the signal to drive the motor to execute cable winding and unwinding operation. Through the fuzzy active disturbance rejection control core, the rapid transition of the tracking differentiator and the real-time disturbance estimation of the expansion state observer are combined, the influence of the time-varying working condition and the strong disturbance is effectively overcome, and the optimal consideration of the response speed and the control precision is realized.

The invention belongs to the related technical field of automatic control, and discloses an active-disturbance-rejection control method and device for dynamic trajectory tracking, and the method comprises the steps: (1) calculating a system tracking error between an output signal of a controlled object and a reference trajectory, and building an error dynamic equation of the system tracking error; (2) reconstructing the error dynamic equation into an integrator cascade standard form through composite lumped disturbance, and regarding the composite lumped disturbance as a to-be-estimated expansion state of the integrator cascade standard form; (3) designing a tracking and guiding type extended state observer, and estimating the extended state vector in real time and outputting a corresponding estimated value by the tracking and guiding type extended state observer by taking a system tracking error and a control input signal as input; and (4) designing a compensation control law based on the obtained estimated value to generate a control input signal, and stabilizing an error system corresponding to the integrator cascade standard form by using the control input signal. According to the method, the problem of target non-equivalence is fundamentally solved.

The invention also discloses an SIDO Boost converter terminal complementary superspiral sliding mode improved active-disturbance-rejection control method. The method specifically comprises the following steps: step 1, establishing a state space averaging model by using a state space averaging method; 2, fitting the state space average model into a standard second-order system normal form; 3, designing a fractional order cascade expansion state observer according to a standard second-order system normal form; step 4, applying the observation value obtained in the step 3 to a terminal complementary sliding mode controller; 5, introducing the super-spiral sliding mode reaching law into the terminal complementary sliding mode; step 6, according to the equivalent control law and the switching control law, obtaining a total control law of the system after summation; and step 7, applying the observer and the controller to a main voltage single closed loop and a branch voltage outer loop and a current inner loop. The problems that a traditional active-disturbance-rejection control method is insufficient in external total disturbance estimation precision of the single-inductor dual-output converter and cross influence exists between two output branches are solved.

The invention discloses an improved active-disturbance-rejection control method based on error and input delay compensation, relates to the technical field of industrial control, and aims to solve the problem of insufficient input delay and control precision of a high-order inertial system. The method comprises the following steps of: modeling a controlled object into a dynamic system with inertia characteristics, constructing an input delay compensation link and an error-based active-disturbance-rejection link, inputting a control error and a compensation value into an extended state observer (ESO), estimating an error related state quantity and a disturbance tracking value in real time, calculating a control quantity through a state error feedback control law, and compensating the control quantity; and closed-loop accurate adjustment is realized. The invention further comprises an improved second-order active-disturbance-rejection control scheme to adapt to higher precision requirements. The control structure is simplified, control signals and system output are synchronously controlled, the anti-interference capability and the tracking performance are considered, and the method can be widely applied to high-order inertial industrial system control in the fields of chemical engineering, thermal power generation and the like.

This invention discloses a harmonic suppression control method for a resonant-cascaded active disturbance rejection permanent magnet linear motor (PMLM) based on a positioning force model, belonging to the field of PMLM control technology. Addressing the problems of incomplete periodic harmonic suppression, poor robustness to unknown disturbances, and insufficient synergy between resonance and active disturbance rejection, this invention embeds the positioning force model into the state-space equation of the active disturbance rejection controller and embeds the resonant controller into the second-stage observation channel of a two-stage extended state observer, constructing a three-layer collaborative architecture of model feedforward compensation, resonant frequency selection suppression, and extended state observer broadband estimation. The positioning force model actively compensates for known harmonic disturbances, the embedded resonant controller accurately suppresses residual periodic components, and the extended state observer compensates for nonlinear and aperiodic disturbances in real time. This invention achieves full-link collaborative suppression of positioning force harmonics, inductor asymmetry harmonics, and unknown disturbances in PMLMs under low-speed, high-speed, and variable-speed conditions, significantly reducing current harmonics and improving system stability and control accuracy. Simulation results show that this control method can achieve high-precision servo control of PMLMs.

The invention belongs to the field of aero-engine control, and particularly relates to a variable cycle engine active disturbance rejection control system which comprises a tracking differentiator, an expansion state observer, an error nonlinear feedback unit and a disturbance compensation unit. The tracking differentiator can obtain the target rotating speed or pressure ratio of the engine and generate the tracking trajectory of the target. The extended state observer can collect the state quantity of the engine and the control quantity of the disturbance compensation unit to generate disturbance estimation and state estimation. The method does not depend on an object accurate model, and only needs to estimate the system dynamics online through an extended state observer. Compared with a traditional PID which needs to repeatedly set parameters (such as a proportionality coefficient and integral time) for different working conditions, control parameters (such as the tracking speed of TD, the bandwidth of an extended state observer and the gain of nonlinear feedback) of the algorithm only need to be calibrated based on the typical working conditions of the engine, and the design complexity and the maintenance cost of the controller are greatly reduced.

This invention discloses a method and device for bus capacitor energy storage active disturbance rejection voltage regulation control of a multiphase permanent magnet generator. The method establishes a bus capacitor energy balance equation based on the square of the DC bus voltage, and then restructures the equation into a linear active disturbance rejection standard form. A second-order linear extended state observer is designed to estimate the square of the DC bus voltage and the total disturbance in real time. A state feedback control law is designed based on the disturbance compensation principle to generate a virtual control quantity and obtain the linear active disturbance rejection current. The load current is low-pass filtered, and the feedforward current is calculated based on the power balance relationship and superimposed on the linear active disturbance rejection current to obtain the q-axis current reference. This reference current is then limited and subjected to anti-integral saturation processing before output. The difference between the reference current and the q-axis current is subjected to closed-loop control, and the resulting q-axis voltage is used as the generator voltage setpoint. All setpoint voltages are converted into the duty cycle of each phase for output. This invention achieves rapid and stable control of the bus voltage, with strong disturbance rejection capability and rapid dynamic response.

The application discloses a self-disturbance rejection control method and system based on an error compensation type extended state observer, and the method comprises the following steps: a linear self-disturbance rejection controller acquires input signals and each output state of an extended state observer, and outputs a first control signal; the linear self-disturbance rejection controller acquires input signals and each output state of the extended state observer, and outputs the first control signal; an estimation error model of the extended state observer for output displacement is constructed, a controlled object is converted into an integrator series type form, and an output displacement signal is obtained based on the controlled object; the output displacement signal and a control input signal are input into the extended state observer, and each output state is obtained; and then the linear self-disturbance rejection controller and the output displacement model are fed back. The estimation capability of the observer is greatly improved without increasing the bandwidth of the observer; the error compensation type disturbance observer is combined with the self-disturbance rejection control, and the tracking performance of the self-disturbance rejection control is further improved.

The invention relates to a multi-aircraft control method and system considering thrust saturation of a piston engine, and the method comprises the steps: carrying out the dynamic modeling of a cruise type guidance aircraft, and obtaining a kinematical equation and a kinetic equation under a trajectory system; modeling a multi-aircraft system to obtain a leader following type formation control model; an average value model is established for the two-stroke piston engine, a transfer function is obtained through linear processing, and a rotating speed controller is designed based on the active disturbance rejection control theory; constructing a non-singular terminal sliding mode surface matrix with fixed time convergence according to the formation error state; taking the deviation between the actual control input and the expected control input as a state quantity to construct a saturation suppression system; and combining a saturation suppression system with the nonsingular terminal sliding mode surface matrix, and designing an anti-saturation fixed time convergence nonsingular terminal sliding mode formation control law, so that the formation error is converged to zero within fixed time. The formation time can be shortened, and the formation control precision is improved.

The invention discloses a permanent magnet synchronous motor full-order active-disturbance-rejection control method based on a disturbance differential predictor, and aims to solve the problem of disturbance compensation lag of traditional active-disturbance-rejection control. Comprising the following steps: establishing a d-q coordinate system mathematical model of the permanent magnet synchronous motor and defining total disturbance; designing a full-order expansion state observer, inputting the converted current, voltage and mechanical angular velocity, and outputting a system state variable and a total disturbance observation value; inputting the total disturbance observation value into an original disturbance differential estimator, and outputting a total disturbance first-order differential estimation signal through backward differential discretization; combining the current tracking error, the total disturbance observation value and the differential estimation signal to design a linear state error feedback control law, and generating a control voltage; a rotating speed-current double closed loop is constructed, and inverter driving signals are generated through inverse transformation and SVPWM to drive a motor. According to the invention, the conversion from feedback compensation to feed-forward suppression is realized, the compensation lag is solved, the dynamic performance and robustness are improved, and the structure is clear and easy to realize.

The invention particularly relates to a direct force carrier landing control method based on predefined time active disturbance rejection control, and belongs to the technical field of aviation. Aiming at the problems of high landing accident rate and large wake flow disturbance influence of a shipboard aircraft, uncertain convergence of a traditional control method and the like, the method comprises the following steps: firstly, establishing a six-degree-of-freedom nonlinear model, an aerodynamic force and an aerodynamic moment model of the shipboard aircraft, and fusing the wake flow disturbance influence; constructing a torque control channel and a direct force control channel, and converting the torque control channel and the direct force control channel into a control-oriented model; and then designing PTADRC-based attitude angle, angular rate and track angle control laws, and realizing total disturbance estimation and compensation through PTESO. Simulation verification shows that the method has no overshoot and no steady-state error tracking instruction in the predefined time, is high in anti-interference capability, can guarantee the stability and accurate control of the landing attitude of the shipboard aircraft, and remarkably reduces the landing risk.

The invention discloses a fixed-wing unmanned aerial vehicle flight control method based on active disturbance rejection control, and belongs to the technical field of fixed-wing unmanned aerial vehicle flight control. The problem that the attitude control performance is poor due to the fact that aerodynamic interference of the propeller is not considered in an existing method is solved. According to the method, aerodynamic interference factors of propellers are systematically introduced into modeling and control design, namely, reaction torque and gyroscopic moment are introduced into the modeling and control design, and a flight control system of the fixed-wing unmanned aerial vehicle is designed based on an active disturbance rejection control strategy; and dynamic and external disturbances which are not covered by the model are estimated and compensated in real time, so that the attitude control performance of the fixed-wing unmanned aerial vehicle is improved. Meanwhile, under various given input signals, simulation verification is performed on the performance of the active-disturbance-rejection controller designed by the invention, which shows that the performance of the active-disturbance-rejection controller designed by the invention can meet design indexes. The method can be applied to flight control of the fixed-wing unmanned aerial vehicle.

The invention relates to the technical field of magnetic suspension small ball systems, in particular to an active disturbance rejection control method of a nonlinear magnetic suspension small ball system. In order to solve the problems of nonlinear dynamic instability, insufficient multi-source interference coupling suppression and hardware damage caused by limited control input of the existing magnetic suspension small ball system under the working condition of deviating from a balance point, the invention provides a novel active disturbance rejection control method of a nonlinear magnetic suspension small ball system. Comprising the following steps: 1) establishing a mechanism model of a magnetic suspension small ball system under the action of voltage; 2) constructing a third-order nonlinear dynamic differential equation of the magnetic suspension small ball system; according to the method, new control input is defined, the complexity of the controller is reduced, meanwhile, the expansion state observer is designed, the control input is designed through state feedback information, and therefore adjustment of the system is achieved, and external interference is effectively restrained.

The application discloses a non-cooperative target satellite rendezvous orbit design method based on active disturbance rejection control and belongs to the technical field of space orbit control. In order to solve the problem of modeling and simulation of relative motion between a mobile satellite and a target satellite under the condition that the parameters of the target satellite are unknown, the application calculates initial position and velocity components in the first geodetic coordinate system of the earth center according to prior orbit parameters of the mobile satellite and the target satellite; a dynamic and kinematic model of the mobile satellite and the target satellite is established; a state equation of relative motion between the mobile satellite and the target satellite is constructed by taking relative motion position, velocity and disturbance acceleration as independent variables; an extended state observer is adopted to estimate state variables; a mobile satellite orbit motion control model is established based on a proportional and differential control framework; and disturbance acceleration is compensated by adopting active disturbance rejection design to realize the rendezvous orbit design of the non-cooperative target satellite. The application does not need to accurately obtain orbit motion characteristics of the target satellite, and the method has strong adaptability.

The present application relates to the technical field of robot control, and provides a kind of underwater robot motion active disturbance rejection control method, system, medium and equipment, comprising: based on motion state data and environmental disturbance data, the total disturbance of underwater robot is estimated by dynamic gain adaptation extended state observer, and disturbance compensation is generated according to total disturbance;Combining control target value and disturbance compensation, the control signal of each propeller is calculated by active disturbance rejection control law;Based on control signal, the action of each propeller of underwater robot is driven, and the posture adjustment and position control of underwater robot are realized;The working current of propeller and the flow velocity of environment are obtained, the current motion condition of robot is judged, and the observation gain of extended state observer and control law feedback coefficient are automatically adjusted.The response speed is improved while ensuring the stability of control, and different motion conditions are adapted.

The invention relates to a superspiral sliding mode active disturbance rejection control strategy based on a four-active bridge converter, and the method comprises the following steps: employing an extended state observer to estimate uncertain factors, unmodeled dynamics and coupling terms in a system, putting the disturbance estimation into superspiral sliding mode closed-loop control for elimination, and independent control of voltages of all ports is realized. After voltage and phase shift of each port of the four-active bridge converter are input into an extended state observer to estimate total disturbance of a system, given voltage is input into a differential tracker to eliminate influence of sudden change of the given voltage on a control effect, and obtained tracking voltage and observed voltage of the observer are input into a subtractor for subtraction; the method comprises the following steps of: inputting the obtained error quantity into a sliding mode controller, obtaining a phase shift ratio di through corresponding operation, giving phase shift ratios d2, d3 and d4 between primary and secondary side ports, generating corresponding PWM (Pulse-Width Modulation) signals, driving corresponding switching tubes to be switched on and switched off, and realizing independent voltage control and more efficient and reliable control operation of each port.

This invention provides an improved sliding mode active disturbance rejection control (ADRC) method and system for an automotive shimmy system based on an electromagnetic linear actuator. Addressing the system's strong nonlinear characteristics and unknown external disturbances, a mathematical model of the automotive shimmy system based on the electromagnetic linear actuator is established. A nonlinear tracking differentiator is constructed to process the desired input signal of the wheel shimmy angle, rationally arrange the transient process, and synchronously extract the differential signal of the desired signal. A continuous and smooth Ifal function is constructed based on trigonometric sine and inverse proportional functions, and a novel extended state observer is designed to estimate the system's internal and external disturbances in real time. A super-helical sliding mode control law based on the hyperbolic tangent function is designed to replace the error feedback control law in the traditional ADRC, outputting a control voltage. This invention effectively estimates and compensates for the impact of vehicle state parameter changes, model uncertainties, and external disturbances on system stability, improving dynamic performance and control accuracy, and exhibiting good robustness and anti-interference capabilities.

The application relates to the technical field of permanent magnet motor control, in particular to a permanent magnet synchronous motor speed active disturbance rejection control method, medium and equipment, the method comprising the following steps: establishing a state space model of a three-order observer high-order extended observer; adding a low-pass filter on the state space model of the three-order observer high-order extended observer and introducing parameters to obtain a state space model of an improved high-order extended state observer; defining a disturbance sensitive function and a noise sensitive function according to the state space model of the improved high-order extended state observer; quantifying the anti-disturbance performance and noise suppression performance of the active disturbance rejection control through the disturbance sensitive function and the noise sensitive function; and ensuring that the control accuracy and robustness of the active disturbance rejection control system under dynamic working conditions reach optimal performance indexes. The application solves the technical problem of the imbalance among the control accuracy, interference suppression and noise suppression of the existing permanent magnet motor speed control strategy.

The invention provides a model-free smooth transition control method for aero-engine mode switching, and belongs to the field of aero-engine control. Firstly, a design method based on linear active disturbance rejection control is introduced into an aero-engine control system and used for estimating and compensating unmodeled dynamic and external disturbance in the aero-engine control system in real time. And dividing the time scheduling linear active-disturbance-rejection controller into a transition controller and a steady-state controller according to the operation time interval. And by considering the actual operation time interval of the aero-engine control system, time scheduling parameters are introduced to dynamically adjust the maximum update times of the operation time interval of the time scheduling linear active disturbance rejection controller. And finally, for the switching dynamic error system of time scheduling, deducing a sufficient condition that the switching dynamic error system of time scheduling can keep asymptotically stable under the constraint of average residence time by performing stability analysis and designing that time and switching signals depend on a multi-discontinuous Lyapunov function.