136 results about "Actuator saturation" patented technology

The invention discloses a time scale function decomposition based hypersonic aircraft actuator saturation control method. The method is used for solving the technical problem of difficulty in engineering realization under the existing hypersonic aircraft actuator saturation condition. The method includes: obtaining a high-speed slow variable subsystem, a speed slow variable subsystem and an attitude fast variable subsystem by time scale decomposition, and building a discrete form of an original system through an Eulerian method; regarding the height and the speed in a fast subsystem design process as constants so as to achieve model simplification; considering actuator saturation limitations, and importing auxiliary control variables to design throttling valve openness and the controlpiston deflexion angle; and designing an updating law of a neural network by importing an auxiliary error variable. The time scale function decomposition based hypersonic aircraft actuator saturation control method has the advantages that computer control characteristics are combined, a discrete model is built, the subsystems are designed according to time scale function decomposition, the actuator saturation condition is fully considered during controller design, and the method is suitable for engineering application.

The invention discloses a fractional integral sliding mode-based speed control method for a permanent magnet synchronous motor. The fractional integral sliding mode-based speed control method for the permanent magnet synchronous motor comprises the following steps of constructing a fractional integral sliding mode surface S, and designing a fractional integral sliding mode rotary speed controller for performing rotary speed regulation. The invention also discloses a fractional integral sliding mode-based speed control device for the permanent magnet synchronous motor. According to the fractional integral sliding mode-based speed control method for the permanent magnet synchronous motor disclosed by the invention, high-performance speed following control of the motor can be realized under the condition that parameter perturbation and load disturbance exist in a control system for the permanent magnet synchronous motor, and the defect that an integral saturation effect and the transient performance are reduced due to a big initial error or actuator saturation in traditional integral sliding mode control is overcome.

The invention discloses a multisource disturbance actuator saturation integrated spacecraft relative attitude control method. The method includes: starting from spacecraft relative attitude kinematicand kinetic equations to perform characteristic analysis and classification of multisource disturbances in a system; then, estimating disturbances with different characteristics by taking advantages of estimation performances of a disturbance observer, a radial basis function neural network and an extended state observer; next, designing an anti-saturation compensator to avoid damages caused by saturation upper limit exceeding of a spacecraft execution mechanism; finally, designing a composite controller according to a backstepping method on the basis of multisource disturbance observation values and anti-saturation compensation items. Therefore, adverse effects of multisource disturbances on the system are avoided, system robustness is improved, accurate spacecraft relative attitude control in a saturation range is guaranteed by the execution mechanism, and smoothness in space operation task completion is guaranteed.

The invention discloses an adaptive integral sliding mode control method of a mobile robot with consideration of actuator saturation compensation. The method comprises: establishing a mobile robot tracking control system model considering actuator saturation compensation; designing an auxiliary speed controller; designing an extended state observation; and designing mobile robot adaptive integralsliding mode controller with consideration of actuator saturation compensation. Therefore, the system jitter amplitude is weakened and the system stability and robustness are improved while the quickand stable convergence of the system tracking error is ensured.

The invention provides a heterogeneous vehicle team fault-tolerant control method based on actuator fault and saturation. The method comprises the following steps: carrying out stress analysis on longitudinal movement of vehicles, and by combining actuator fault and saturation models, building a vehicle longitudinal dynamics model under the actuator fault and saturation; according to information of the vehicles, constructing a variable time interval strategy with fault information and a saturation index; and based on the constructed variable time interval strategy, establishing a proportional integral differential sliding mode surface and a coupling sliding mode surface; and selecting a proper Lyapunov function, designing a fault-tolerant controller and an adaptive updating rate, and proving the limited time stability of a system. Compared with a traditional variable time interval strategy, the variable time interval strategy with the fault information and the saturation index not only can solve the problem of non-zero initial interval error but also can expand critical traffic capacity.

The invention discloses a neutral network theory-based non-linear system adaptive proportional integral control method. The method comprises the following steps: in a first step, a mathematical model for a non-linear system is built; in a second step, a smooth function is used for approximating a non-smooth performer saturation function; in a third step, a neutral network adaptive proportional plus integral controller is designed for control. According to the method disclosed in the invention, as for a non-linear system with input saturation, the smooth function is used for approximating the performer saturation function, a BLF is referenced, that neutral network input is maintained in a bounded compact set range can be ensured, and normal operation of a neutral network can be ensured; compared with a conventional PI gain adjustment, an adjustment method put forward in the invention is advantageous in that 1) proportion integral gain of the PI controller is not a fixed constant but a time variant; 2) proportional gain and integral gain are not designed individually but associated with each other via a certain coefficient, and therefore system analysis can be facilitated; 3) the method has certain robustness for nondeterminacy and input saturation of the system.

An executor input saturation control method of an automobile active suspension system relates o executor input saturation control methods. The executor input saturation control method of the automobile active suspension system mainly solves the problems that existing design models are too simple to meet the requirements of executor saturation control of automobile suspension systems or cope with the influence of uncertain parameters and comprises the steps such as, firstly, establishing a nonlinear uncertain time-delay active suspension system model; secondly, deducting a self-adaption back stepping recurrence controller based on an instruction filter; thirdly, adjusting control gain parameters of the self-adaption back stepping recurrence controller. The executor input saturation control method of the automobile active suspension system is applicable to the field of automobile active suspension control.

The invention discloses an anti-saturation adaptive control method and a system of a nonlinear active suspension. The method and system fully consider the non-linearity of stiffness and damping in suspension control process, establish the non-linearity suspension model before and after suspension control, solve the problem that the existing suspension design model is relatively simple, and make the model more accurate; And aiming at the actuator saturation problem existing in the actual vehicle, The method of input error saturation amplification is adopted, and a stable auxiliary system is introduced to realize the compensation of control saturation, which not only ensures the consistency and boundedness of output error, but also has good smoothness and easy to select parameter value, so that the suspension system successfully achieves the goal of anti-saturation. Further, the method and the adaptive backstepping control method proposed by the system of the invention effectively solvethe influence of parameter uncertainty on the suspension system, and improve the ride comfort, ride comfort and operation safety.

The invention discloses an active disturbance rejection controlling method of attitude and track of a neutral buoyancy robot. The method includes: converting a kinetic model of a neutral buoyancy robot system to a form of a tracking error system; arranging a transition process for an initial tracking error through a tracking differentiator, and obtaining differential signals of tracking error signals; estimating a non-linear uncertainty item of the tracking error system in real time and compensating the item in a feedback controller formed by tracking error states through an extended state observer to avoid the adverse influence on the system by non-linear factors including internal and external interferences, improve the robustness of the system and perform accurate tracking and control of the attitude and the track; and processing the problem of actuator saturation in the system through a convex hull method, solving an attraction domain of the system, and obtaining a safety motion range of the neutral buoyancy robot system. According to the control policy, a good control effect is achieved for the neutral buoyancy robot system with actuator saturation, and the method can be widely applied to other non-linear systems with actuator saturation.

The invention provides a saturation problem moving body attitude event-triggered control method with an actuator. The steps are listed as follows: 1, expected tracking values are given: expected attitude angles phi<d>, theta<d> and psi<d>, and expected attitude angle speed p<d>, q<d>, r<d>; 2, attitude angle tracking error is calculated: attitude angle error phi<e>, theta<e> and psi<e>, and attitude angle speed error q<e>, p<e> and r<e>; 3, an event-triggered controller is designed: feedback gain K<c> is calculated; 4, event-triggered controller output quantity y<c> for eliminating the attitude angle is calculated; and event conditions are designed; 5, control quantity limit is given: saturation control quantity sat(mu) for eliminating the expected attitude angle and attitude angle speed error is calculated; 6, an LQ anti-saturation control compensator is designed: the feedback terms v<aw> and y<aw> of correction control quantity and state quantity are calculated; and 7, input and output mu<c,aw> and y<c,aw> of an event-triggered controller after correction of the LQ anti-saturation control compensator are calculated and applied to a moving body control model. According to the method, problems of actuating mechanism saturation and system data load can be solved, any expected attitude can be tracked and closed loop system asymptotical stability can be guaranteed.

The invention discloses a design method of an auto disturbance rejection controller with an anti-integral compensation function. The method includes the following steps that: a nonlinear system modelis established; a linear auto disturbance rejection controller with an anti-integral compensation function is designed for the nonlinear system model, wherein the linear auto disturbance rejection controller is composed of an extended state observer and linear feedback; and the parameters of the anti-integral compensation auto disturbance rejection controller are determined by solving a linear matrix inequality. According to the design method of the invention, the anti-integral compensation function is applied to the design of the auto disturbance rejection controller, and therefore, the performance degradation of the control system caused by actuator saturation can be offset, and the stability of a closed loop system using auto disturbance rejection control can be ensured.

The invention provides an anti-saturation self-adaptive pseudo-proportion integration differentiation (PID) sliding mode fault-tolerant control method for a high-speed train and the method can improvethe effect of tracking a desired track of a high-speed train. The method includes the following steps: establishing a high-speed train dynamic model having an actuator fault, actuator asymmetric nonlinear saturation constraint and integral quadratic disturbance; giving the position and speed of a desired track, and establishing a desired track model; establishing an actuator auxiliary saturationcompensation system; based on the established high-speed train dynamic model, desired track model and actuator auxiliary saturation compensation system, calculating a track tracking error; based on the calculated track tracking error, constructing a pseudo-PID sliding mode surface; and based on the constructed pseudo-PID sliding mode surface, determining self-adaptive control laws, wherein the self-adaptive control laws include: a nominal control law for realizing exponential stability, a compensation control law for suppressing actuator faults and the influence of integral quadratic disturbance, and a self-adaptive law. The invention relates to the technical field of rail transportation control.

The invention discloses an auto disturbance rejection control method for a space robot with actuator saturation. The method comprises the following steps: arranging a proper transition process for anexpected track and posture of a system by designing a tracking differentiator, and meanwhile, acquiring a differential signal with an expected value to make preparation for subsequent controller design; and designing a sampling expansion state observer by utilizing a discrete output signal, performing real-time estimation on the total non-linear uncertain items which are formed by the state of thespace robot system as well as coupling and external disturbance, and compensating the estimation values of the non-linear uncertain items into an error feedback control rate. By the method, adverse influence on the system by non-linear factors such as internal and external disturbance can be avoided, and the fact that an actuation mechanism implements accurate position and posture control on thespace robot within the saturation range can be guaranteed. The control strategy provided by the invention has a good control effect on the space robot system considering sampling output and with actuator saturation, and can be widely applied to other non-linear systems.

The invention discloses an adaptive robust slip form control method for a hybrid robot used for automobile electrophoretic painting transportation, and belongs to the technical field of automobile electrophoretic painting. The method comprises the following steps that: firstly, aiming at the hybrid robot to adopt a Lagrange method to establish a kinetic model of the hybrid model for carrying out trajectory planning; then, on the basis of the kinetic model, designing an adaptive superhelix slip form controller, dynamically regulating a gain through an adaptive rule to avoid the selection of anoverhigh gain so as to inhibit slip form control buffeting; meanwhile, introducing a disturbance observer to estimate and compensate uncertainty in the hybrid robot and improve the anti-interference performance of the system; and finally, combining the disturbance observer with the adaptive slip form controller to form an adaptive robust slip form controller. By use of the method, the robustness and the anti-interference performance of the hybrid robot control system can be enhanced, in addition, the problems of slip form control buffeting and executor saturation can be solved, and the high-performance control of the hybrid robot used for automobile electrophoretic painting transportation can be realized.

The invention discloses an optimal input-saturation-resistant control method based on sliding-mode control for a quadrotor aircraft. A sliding-mode control method is provided by combining the optimal control since actuator saturation exists in the quadrotor aircraft. On the premise of ensuring that a referred performance index function J achieves an optimum value, system sliding-mode surface parameters and switching time are obtained through calculation, a corresponding sliding-mode surface and sliding-mode control law are designed through comparing the switching time, thereby the optimal controller is formed. The optimal input-saturation-resistant control method simplifies the design steps of the controller by solving an inequation, allows the referred control law to be the optimal control under the condition of actuator input saturation according to the performance index function J, effectively increases control precision and response speed of the quadrotor aircraft, and can provide controller design basis for the quadrotor aircraft with actuator input saturation. The optimal input-saturation-resistant control method is used for input-saturation-resistant control of the quadrotor aircraft with parameter uncertainties and external disturbance.

The invention relates to a quadrotor autonomous ship landing method based on saturated adaptive sliding mode control. The method comprises steps that firstly, quadrotor and unmanned six-DOF models are established, through coordinate transformation, a relative kinematics and relative dynamics model between the two is established; secondly, an outer ring of a relative position controller is designed; thirdly, an inner ring of the relative position controller is designed; fourthly, relative height control design is carried out, expected relative zero height is provided, a control input quantity of a quadrotor is calculated, and height difference between the quadrotor and an unmanned ship is eliminated; and fifthly, relative height control design is carried out, expected relative zero attitude is provided, other three control quantities of the quadrotor are calculated, attitude between the quadrotor and the unmanned plane is eliminated, and the quadrotor is made to stably land on the unmanned ship. The method is advantaged in that a performer saturation problem is effectively solved, influence of model uncertainty and external interference are inhibited, the system is guaranteed to be global unanimous and bounded, and the landing point error of the quadrotor is guaranteed to be in a permitted scope.

The invention provides a method for controlling the strip shape of cold-rolled strip steel. The method for controlling the strip shape of the cold-rolled strip steel comprises the steps of receiving target strip shape distribution signals and actual strip shape distribution signals, and calculating discrete type strip shape deviation values; receiving real-time position signals of a roll pouring device, a working roller bending device and a middle roller bending device of a rolling mill, and calculating the maximum movement stroke and the minimum movement stroke can be achieved by each transmission device of the rolling mill in a current control cycle; forming state vectors of a particle swarm optimization algorithm through the control output quantity of the roller pouring device, the control output quantity of the working roller bending device and the control output quantity of the middle roller bending device of the rolling mill, and generating N1 sets of state vector initial population particles of the particle swarm optimization algorithm and an index evaluation function in a particle swarm optimization learning process; calculating the optimal control output quantity of the roller pouring device, the optimal control output quantity of the working roller bending device and the optimal control output quantity of the middle roller bending device, and transmitting the optimal control output quantities to a basic automation grade PLC of a strip shape control system to complete on-line adjustment. The method for controlling the strip shape of the cold-rolled strip steel fundamentally eradicates the possibility of the occurrence of the phenomenon of saturation of an actuator in the control process of the strip shape of the cold-rolled strip.

The invention discloses a coordination control method based on the modeling of an actuator saturation multi-intelligent system and relates to the field of multi-intelligent systems. The method comprises the following steps of firstly, establishing an object subsystem mathematical model that meets the production scheduling requirements and the information flow rule constraints of the production process; secondly, establishing an information interaction network among all subsystems through statistical analysis, determining a leader system and a tracker system, and obtaining a self-adaptive coupling weight among network parameters and subsystems by utilizing relevant indexes; thirdly, respectively constructing a low-gain controller and a high-gain controller through solving out the feasible solutions of controllers; finally, applying low-high gain adaptive control laws to each subsystem to realize the tracking control of the leader system for the tracker system. According to the technical scheme of the invention, the obtained controller can be applied to various nonlinear dynamic systems and nonlinear input variables. Meanwhile, the method can also be directly applied to existing distributed control systems. Based on the method, the control cost is reduced, and the control precision is improved.

The invention discloses an active disturbance rejection control method of a spacecraft considering network transmission and actuator saturation. The method includes the steps that firstly, a proper transition process is arranged for a desired attitude of a system by designing a tracking differentiator, and meanwhile a differential signal of an expected value is obtained to prepare for subsequent controller design; and then a nonlinear sampling extended state observer is designed by using an attitude angle measurement signal output from a network protocol, real-time estimation of a state in a spacecraft system and nonlinear uncertain items formed by coupling, external interference and so on is carried out, and an estimated value of the nonlinear uncertain items is compensated to an error feedback control rate containing an anti-saturation compensator. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation can not only avoid the adverse effect of nonlinear factors such as internal and external interference on the system, but also ensure that an actuator can precisely control the spacecraft attitude within the saturation range, and provide guarantee for successful completion of space operation tasks. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation has good control effect, and can be widely used in other nonlinear networked control systems.

The invention discloses a low-gain feedback control method for urban riverway water level. At present, the existing domestic riverway water level control methods rarely consider the effects of actuator saturation, model parameter uncertainty and external disturbance on riverway water level control, so that the riverway water level can not be controlled timely and effectively and thus waterloggingoccurs occasionally in city. The method comprises: establishing a riverway water level system state space model; designing an ellipsoid set; designing a low-gain feedback controller; establishing a closed-loop system state space model; designing an average dwell time switching law; analyzing stability of the closed-loop system; analyzing H infinity performances of the closed-loop system; and calculating the gain of the low-gain feedback controller. According to the invention, on the basis of the low gain feedback technology and switching system control theory, effective controlling of the lowwater level, intermediate water level, and high water level is realized. And an accurate riverway water level control system model is established to control the riverway water level timey and effectively.

The invention relates to an adaptive fixed time attitude tracking control method taking the problem of performer constraint into consideration of a rigid aircraft. A sliding mode control method is used aimed at the problem in attitude tracking of the rigid aircraft with concentrated nondeterminacy, and an adaptive technology is combined to design a nonsingular fixed time adaptive controller. Design of the sliding mode surface of nonsingular fixed time ensures fixed time convergence of the system state, and solves the problem of singular values. The system nondeterminacy is estimated via adaptive update rules, and it is not required to know upper boundary information of nondeterminacy in advance. Boundary control with fixed time consistency of the attitude tracking error and angular velocity error is realized under condition that external interference and inertia moment are uncertain and a performer is saturated or has a fault.

The invention provides a multi-rotor aircraft yaw anti-saturation control method and a multi-rotor aircraft, not only can improve aircraft yaw control performance, but also effectively inhibits a yawanti-saturation phenomenon, enhances robustness of aircrafts and further has properties of small quantity of control parameters, easy engineering adjustment and convenient engineering realization; theapplication scope is wide, the method does not depend on models, the method is suitable for most of saturated control systems having performers, and relatively strong practicality is realized; according to different system states, different corresponding control strategies are adopted, system anti-disturbance capability can be improved on the condition that the system is guaranteed to be stable,the saturation phenomenon is inhibited, and the actual application value is realized.

The invention discloses a gain switching method of a spacecraft rendezvous system and maximal attraction domain estimation. The method comprises steps that firstly, a spacecraft rendezvous relative movement model is established, secondly, the gain switching method of the spacecraft rendezvous system is proposed, and lastly, the maximal attraction domain estimation of a closed loop system can be given through the gain switching method. According to the method, a spacecraft asymmetric performer saturation control problem is converted into a performer symmetric saturation control problem, controller calculation only requires solving linear matrix inequalities, calculation is simple and easy to carry out, dynamic performance of the closed loop system is improved, and the maximal attraction domain estimation of the closed loop system is further given.

The invention discloses an event trigger control method of a saturated nonlinear networked industrial control system. The method comprises the following steps: establishing a saturated nonlinear networked industrial control system state space model, designing a saturated nonlinear networked industrial control system state feedback controller based on event triggering, establishing a closed-loop system state space model, analyzing the stability and the passivity of a closed-loop system, and solving a feedback controller of the saturated nonlinear networked industrial control system based on event triggering. By designing the state feedback controller based on event triggering, the problem that the system cannot continuously, effectively and safely operate due to the fact that the influenceof state saturation, actuator saturation and external interference on the control performance of the industrial control system is rarely considered at the same time in an existing control method of the industrial control system is solved. The method can be used for effective control and safe operation of a complex networked nonlinear industrial control system.

The invention provides a spacecraft attitude control method considering task time constraints. The method comprises the steps of establishing a kinetic model and a kinematic model of a spacecraft attitude error according to parameter uncertainty, unmodeled dynamics and external disturbance in a spacecraft model, introducing a preset performance function to constrain steady-state and transient-state performance of an attitude loop tracking error of the spacecraft according to the established kinetic model and kinematic model, and designing a controller according to the constraint; designing a linear extended state observer, selecting an appropriate gain of the linear extended state observer, and obtaining a system state and a total disturbance estimation value; and enabling the tracking error of the system to converge to a preset area under the condition of actuator saturation and partial failure. Tracking control over the spacecraft attitude considering task time constraints is achieved, the requirements for stability and precision of attitude tracking are met, and good robustness is achieved.

The invention provides a double-rigid-body characteristic point saturation fixed time relative pose tracking control method. The method comprises the steps: establishing a pose kinetic equation of a tracker and a target device based on a Newton-Euler method; establishing a relative pose kinetic equation considering model uncertainty according to the established respective pose kinetic equations ofthe two rigid bodies and the relative pose and the relative speed between the two rigid body feature points; designing a fixed time disturbance observer according to the established relative pose kinetic equation; designing a non-linear saturation compensator according to the established fixed-time non-singular terminal sliding variable so as to solve the saturation effect of an actuator; and combining the established fixed-time disturbance observer and the nonlinear saturation compensator to obtain a model-based robust adaptive controller. The invention relates to the field of control of anautonomous moving body in a three-dimensional space and spacecrafts.

The invention discloses an automobile active suspension anti-saturation control method based on self-adaptive control, and relates to an anti-saturation control method. To solve the problems in the prior art that the output power of an actuator needs to be considered, the saturation value of the actuator is known, and a linear control method cannot well solve nonlinear problems in a suspension system, the automobile active suspension anti-saturation control method based on self-adaptive control is provided. The method comprises the following steps: 1, establishing a saturated actuator mathematical model; 2, establishing a nonlinear model of a 1 / 4 automobile active suspension system of the saturated actuator; 3, designing an anti-saturation controller by utilizing the 1 / 4 automobile active suspension system of the saturated actuator; 4, checking the anti-saturation controller according to a liapunov function method. The automobile active suspension anti-saturation control method is applied to the field of anti-saturation control.

The invention discloses a speed control method for a loaded quadrotor unmanned aerial vehicle with known model parameters. The method comprises the following steps: 1) establishing a kinetic model ofthe loaded quadrotor unmanned aerial vehicle; 2) setting a speed tracking error ev = v-v* and ew = w-w* of the unmanned aerial vehicle, 3) additionally arranging a sensor on the unmanned aerial vehicle to measure swing angles alpha and beta in the flight process, and calculating a time-varying gain matrix B; and 4) designing a controller of a translation subsystem and a rotation subsystem of the loaded quadrotor unmanned aerial vehicle with known model parameters. According to the method, flight speed control of the loaded unmanned aerial vehicle under the actual conditions of a time-varying gain matrix, actuator saturation, actuator faults and the like is considered; the problem in controller design under time varying of a gain matrix after loading is solved, the proposed controller not only can ensure that all internal signals in a closed-loop system are bounded and continuous, but also can ensure that final errors converge in a small compact set, and it can be ensured that state constraint conditions are not violated in the process of obtaining good trajectory tracking performance.

The invention relates to a designing method of a self-adaption backstepping controller of a full vehicle active suspension system. The method comprises the following steps of 1, building a full vehicle active suspension non-linear model; 2, determining the self-adaption backstepping controller, wherein the self-adaption backstepping controller comprises a front right suspension controller, a front left suspension controller, a rear right suspension controller and a rear left suspension controller and all the controllers are connected to actuators corresponding to suspensions respectively; 3, determining a self-adaption control target; 4, determining a control law of the self-adaption backstepping controller by combining the full vehicle active suspension non-linear model and the self-adaption control target. Compared with the prior art, according to the designing method of the self-adaption backstepping controller of the full vehicle active suspension system, the driving comfort of vehicles is improved, meanwhile the vehicle driving safety, the suspension travel, the actuator saturation phenomenon and the like can all be satisfied, and the controllers of the design perform control more precisely and more reliably.