68 results about "Closed-loop pole" patented technology

The invention provides an inertial system spacecraft attitude control/angular momentum management method including four steps. The invention aims to solve the problems of control moment gyro angular momentum accumulation caused by gravitation gradient moment and other interference moments in an inertial system, the gravitation gradient moment is adopted to balance the gestures, and a space station angular momentum management controller based on pole assignment is designed. A space station linear model is established under the inertial system, the infeasibility of the inertial system angular momentum management in the pitch axis direction is analyzed, the pitch axis is decoupled from a rolling/yaw axis, and the CMG angular momentum in the pitch axis direction is not restrained, constant disturbance, disturbance being one-time of the track frequency, and disturbance being twice of the track frequency are brought into a state equation to suppress the influence to the pitch axis gestures, and a linear quadratic algorithm based on pole assignment is adopted to solve a feedback gain matrix. The algorithm prevents the selection of cost matrix Q, and based on the requirement of the system performance, the closed-loop poles can be configured to a specified area at the left side of a complex plane imaginary axis, and at the end, the feasibility of the algorithm is verified by the simulation results.

The invention relates to a self-adaption quasi-PRD control method for a photovoltaic grid-connected inverter. The self-adaption quasi-PRD control method for the photovoltaic grid-connected inverter relates to the technical field of photovoltaic grid-connected inverter control, and aims to solve the problems that the existing photovoltaic grid-connected inverter has poor adaptability on power grid impedance change, and the stability of a photovoltaic grid-connected system is poor in a weak current grid. The method comprises the following steps of injecting disturbance current with specific frequency into a power grid through a disturbance current injection method; then obtaining a relational expression of current controller parameters and power grid impedance based on the principle of closed loop pole parameter configuration; when the power grid impedance Rg and power grid inductance Lg are changed, realizing self-adapting adjustment on controller parameters Kp, Kr and Kd so as to adapt to the ever-changing power grid impedance, so that the adaptability and the stability of the photovoltaic grid-connected inverter control system are improved. The self-adaption quasi-PRD control method for the photovoltaic grid-connected inverter can be used for controlling the photovoltaic grid-connected inverter.

The invention discloses a closed loop control method comprising a multi-microgrid power distribution network. A micorgrid is subjected to equivalence processing to establish a power distribution network closed loop optimization control model which takes the microgrid into the account; active and reactive output of the microgrid is used as a control variable; the minimum voltage difference of two sides of a switching-on point is used as a control target; a constraint condition comprises power balance constraint, node voltage upper and lower limit constraint, the limiting value of the active and reactive output of the microgrid and the maximum allowing tide constraint of a line; the genetic algorithm of a belt sparse block migration strategy is combined to carry out optimization regulation on the operation state of each microgrid; and the voltage difference of two sides of a closed loop point can be effectively reduced so as to reduce closed loop current and improve the success rate of the loop closing operation. The closed loop control method has the advantage of comprehensive model, the microgrid controllability can be fully utilized, and the theoretical basis can be provided for the thermal conductivity loop closing operation after the microgrid is accessed into the power distribution network.

The invention discloses a method for designing a controller of a time-varying aircraft model with uncertainty, which is used for solving the technical problem that the existing robust control theory lacks design steps, so the flight controller is hard to design directly. The technical scheme is as follows: the time-varying system segmentation robust stability and solvability conditions are given, selection of desired closed-loop poles of linear time-varying system state feedback is directly utilized and a constraint condition inequality direct design feedback matrix is given according to the characteristic that all the real parts of all the desired closed-loop poles are negative, so that the engineering technicians in the research field directly design the flight controller for the time-varying aircraft model with uncertainty obtained through wind tunnel or flight tests, thus solving the technical problem that the current researches only give the robust stability inequality but can not directly design the flight controller.

The invention discloses a method for designing a controller of a multiple time lag aircraft model, which is used for solving the technical problem that the existing robust control theory lacks the design step, so the flight controller is hard to design directly. The technical scheme is as follows: the multiple lag system segmentation robust stability and solvability conditions are given, selection of desired closed-loop poles of linear system state feedback is directly utilized and a constraint condition inequality direct design feedback matrix is given according to the characteristic that all the real parts of all the desired closed-loop poles are negative, so that the engineering technicians in the research field directly design the flight controller for the aircraft model with multiple time lag uncertainty obtained through wind tunnel or flight tests, thus solving the technical problem that the current research results only give the robust stability inequality but can not directly design the flight controller.

The invention discloses a method for designing a controller of a multi-interval aircraft model, which is used for solving the technical problem that the existing robust control theory lacks design steps, so the flight controller is hard to design directly. The technical scheme is as follows: the multi-interval system robust stability and solvability conditions are given, selection of desired closed-loop poles of linear system state feedback is directly utilized and a constraint condition inequality direct design feedback matrix is given according to the characteristic that all the real parts of all the desired closed-loop poles are negative, so that the engineering technicians in the research field directly design the flight controller for the multi-interval aircraft system model obtained through wind tunnel or flight tests, thus solving the technical problem that the current researches only give the robust stability inequality but can not directly design the flight controller.

The invention discloses a robust flight controller design method which is used for solving the technical problem that the existing robust control theory lacks design steps, so the flight controller is hard to design directly. The technical scheme is as follows: the system robust stability and solvability conditions are given, selection of desired closed-loop poles of linear system state feedback is directly utilized and a constraint condition inequality direct design feedback matrix is given according to the characteristic that all the real parts of all the desired closed-loop poles are negative, so that the engineering technicians in the research field directly design the flight controller for the aircraft model with uncertainty obtained through wind tunnel or flight tests, thus solving the technical problem that the current researches only give the robust stability inequality but can not directly design the flight controller.

The invention discloses a virtual multi-closed loop-based disturbance measurement feedforward suppression method. The virtual multi-closed loop-based disturbance measurement feedforward suppression method is used for improving the disturbance suppression capability of a control system stable platform so as to meet the demand of a higher-accuracy stable control system. A virtual gyro is obtained bya method of integrating an accelerator and a position sensor, and a fiber gyro of the stable platform is substituted by the virtual gyro. On the basis that virtual multi-closed loop control is achieved by the virtual gyro, the substituted fiber gyro is arranged on a carrier rack and is used for measuring an external disturbance speed, and an ideal feedforward compensation controller is used for feedforwarding the external disturbance to a control loop so as to actively suppress the influence of disturbance. On the premise that the system stability is not completely affected, the load and space requirement of the stable platform is effectively reduced, the disturbance suppression capability of the system is effectively improved, so that the stable platform obtains higher stability accuracy.

The invention provides a robust gain scheduling control method based on regional pole assignment. The realization principle is as follows: the controlled object is divided into a linear time invariant part and a parameter module by the method, wherein the parameter module is used for reflecting the nonlinear characteristic, time variant characteristic and certain uncertainty of the object; the nominal part is linear time invariant and the parametric variation part varies along with variation of the parameter module of the controlled object, thus ensuring the closed-loop system to satisfy the robust stability and robustness and have specified dynamic characteristics; the performance indexes are written into integral quadratic constraints under a unified framework according to the index requirements; in particular, the dynamic characteristics can be directly reflected by closed-loop poles on the position of the complex plane; therefore the index requirements of the dynamic characteristics are realized through regional pole constraints; and the constraints given by the performance index requirements are transformed into linear matrix inequality (LMI) systems and a solver in an LMI toolbox provided by a matrix laboratory (MATLAB) is utilized for solving, thus finally obtaining the controller satisfying the requirements.

The present invention provides a closed loop control method in an artificial pancreas and a system using the method, comprising sensing an activity level of a patient by at least one motion sensor and providing signals to at least one processer; then adjusting a series of related algorithms depending partly on the signals by the processer to provide more accurate and reliable data that is the basis of desirable treatment plans, and sending corresponding instructions by the processer for automatic operations of the artificial pancreas to realize a closed loop control.

The invention discloses a method for designing a controller of an aircraft model with uncertainty, which is used for solving the technical problem that the existing robust control theory lacks design steps, so the flight controller is hard to design directly. The method has the following beneficial effects: the system robust stability and solvability conditions are given, selection of desired closed-loop poles of linear system state feedback is directly utilized and a constraint condition inequality direct design feedback matrix is given according to the characteristic that all the real parts of all the desired closed-loop poles are negative, so that the engineering technicians in the research field directly design the flight controller for the aircraft model with uncertainty obtained through wind tunnel or flight tests, thus solving the technical problem that the current researches only give the robust stability inequality but can not directly design the flight controller.

The invention relates to a method for achieving target capturing stability of a space robot under continuous collision conditions. A method of changing the closed-loop pole of a system is adopted, thestability margin of the system is improved, and it is guaranteed that the control system can still keep stable under the condition that the control system suffers from short-time repeated impacting.A pseudo-inverse based control moment distribution method is adopted, the advantages that output distribution optimization is achieved, the output quantity is smooth, and the output quantity is achieved under any conditions are achieved, and the dynamic performance of the system is effectively improved. The method can be widely applied to a target capturing and stabilization control method of thespace mechanical arm robot, the method can achieve target capturing stability under the continuous collision conditions and reduce the requirement for the thrust of a thruster, fuel consumption can bereduced, capturing of the space mechanical arm robot on targets can be effectively reduced, and the capturing process is safe and reliable.

The invention discloses an active power filter closed loop control method based on a decoupling resonance regulator array. According to the control method, from the basic closed loop control structure, the novel resonance regulator array with a decoupling function is introduced, thus closed loop control of the active power filter system is realized. According to the control method, the robustness and the integral compensation property of the system are improved, and subharmonic compensation and higher harmonic effective compensation can be conveniently selected, no complex harmonic separation algorithm is not needed by a control system, thus the control system is simple and reliable, is easy to realize, is greatly improved in compensation property of the active power filter device, and has more actual engineering application value.

The invention discloses a modeling quality monitoring method and a system based on a model prediction controller. The method comprises steps: the model prediction controller is used to control operation of a closed loop control system, and process output, process input and process external excitation are acquired; tracking errors of the closed loop control system are acquired; based on the process output and the process external excitation, a mixed higher-order autoregressive model is built for orthogonal projection, and a process estimation interference updating vector is obtained; a matrix model for the process external excitation is built, and a process estimation interference updating extension vector is obtained; and a process model quality monitoring index and a whole model quality index are used to detect process model mismatch and interference model mismatch in the closed loop control system, and the modeling quality of the closed loop control system is further monitored. The method and the system have the advantages of high feasibility, few resources consumed for processing, and high monitoring result accuracy.

The invention discloses a dominant dynamic elimination control system and control method for voltage-controlled inverters, which belong to the technical field of control of distributed power supply grid-connected inverters. The method includes the following steps: a time-domain state space model of a three-phase inverter in an alpha-beta coordinate system is established with complex variables; a compact and concise state feedback control structure based on complex variables is designed, and state feedback and feed-forward control of the system are separated to enable the closed-loop pole and the closed-loop zero of the system to be configured independently; the closed-loop pole position of the system is optimized by state feedback control in order to optimize the motion mode of state variables; and the closed-loop zero is used to offset the dominant closed-loop pole, so as to eliminate the slow dynamic process of the system. Because complex variables are introduced, the closed-loop zero of the system can be configured arbitrarily in the whole complex plane, the closed-loop zero can coincide with the dominant closed-loop pole, the dominant slow dynamic process introduced by a controller can be eliminated, and the dynamic response speed of the system can be improved.

The invention relates to a fractional order differential compensation type VSG control method, which comprises the following steps: S1. In a closed-loop control loop of VSG grid-connected output active power Pout, a fractional-order differential compensation forward channel is added, wherein the fractional-order differential order is u, so that a closed-loop zero point is added on a closed-loop transfer function G1(s) of the VSG grid-connected output active power Pout, and the position of a closed-loop pole is changed, so as to obtain a closed-loop transfer function G3(s) of the fractional order differential compensation type VSG grid-connected output active power Pout, wherein u is more than or equal to 0 but less than or equal to 1;S2,.An improved biogeography optimization algorithm (IBBO) is used to solve the optimal u, and then an optimal closed-loop transfer function G3(s) is obtained. According to the invention, by adding the closed-loop zero point and introducing the adjustableparameter u at the same time, the contradiction between the dynamic performance and the steady-state performance adjustment of the VSG is decoupled, namely the steady-state performance of the system is ensured to be unchanged, and meanwhile, the degree of freedom of the dynamic performance of the system is increased by changing the position of the zero pole, and the dynamic performance of the active power is improved.

The invention provides a longitudinal flight model cluster man-machine closed-loop composite root locus multi-stage PID robust controller design method. According to the method, a model cluster composed of amplitude-frequency properties and phase-frequency properties within a whole envelope is directly determined and obtained through a sweep-frequency flight test under the condition that different heights and Mach numbers are given; according to military standard requirements for amplitude-frequency margins and phase margins within a flight envelope, closed-loop pole distribution limiting indicators under a corresponding root locus description are given, and the stage number and parameter values of a multi-stage PID robust controller are determined by additionally arranging a multi-stage PID controller according to the closed-loop pole distribution limiting indicators and a model identification method in system identification within the whole envelope of a flying machine; a low-altitude flight controller is designed by starting from the concept of closed-loop pole distribution limiting under the root locus description, wherein the low-altitude flight controller accords with the whole flight envelop and is free of pilot induced oscillation, low in overshoot and stable.

The invention provides a design method for a longitudinal flight model cluster flutter-restraining composite root-locus compensation robust controller. According to the design method, a model cluster composed of amplitude-frequency characteristics and phase-frequency characteristics in a whole envelope is determined directly through frequency sweep flight tests with different heights and different Mach numbers given; a closed-loop pole distribution limiting index described by a corresponding root locus is given according to military standard requirements for amplitude-frequency margin and phase margin, a multi-stage tandem lag-lead compensating controller is additionally arranged, and therefore the number of stages and parameter values of a multi-stage tandem lag-lead compensation robust controller are determined through a model identification method in a closed-loop pole distribution limiting index and system identification process in the whole envelope of an air vehicle; a low-altitude flight robust controller which is capable of restraining flutter, small in overshoot and steady and accords with a whole flight envelope is designed from the conception of closed-loop pole distribution limiting described by a root locus.

The invention provides a design method of a longitudinal flight model cluster composite root-locus multi-level PID (proportion integration differentiation) controller. The design method includes: directly determining and acquiring a model cluster constituted according to amplitude-frequency and phase-frequency characteristics within the full envelop through sweep flight tests on set conditions of different heights and different Mach numbers; according to military standard requirements on amplitude-frequency margin and phase margin, providing the closed-loop pole distribution limit index corresponding to root-locus description, determining number of levels and parameter values of the multi-level PID controller by a model identification method applied to system identification according to requirements of the closed-loop pole distribution limit index within the full envelope of an aircraft after adding the multi-level PID controller; designing the small-overshoot stable low-altitude flight controller capable of meeting requirement of the flight full envelop from the concept of root-locus description based closed-loop pole distribution limit.

The invention relates to an asynchronous traction motor flux linkage observation method based on an iron loss model. Based on an asynchronous traction motor equivalent circuit considering the iron loss under a two-phase stationary coordinate system, an open loop state observer considering the iron loss is designed; a discrete algorithm for the open loop state observer is improved, and an improved open loop state observer is obtained; and with stator current observation errors as negative feedbacks, a feedback matrix is designed to carry out pole configuration on a closed loop state observer. Through steps such as design of the state observer considering the iron loss, design of the state observer discrete method and closed loop pole configuration, the convergence rate and the observation accuracy of the state observer are improved.

The invention discloses an LPV model based Boost converter's robust variable gain controlling method which is performed through the following steps: firstly introducing a linear parameter varying model for the Boost converter and polytope optimizing technologies; secondly, based on a linear matrix inequality (LMI) best optimizing method, using state feedback to configure a closed loop pole to a special zone meeting the requirement of dynamic responses; and with the consequence, designing a robust H controller for the Boost converter based on LPV. According to the invention, the designed LPV controller enables a Boost converter to maintain stable voltage output and good dynamic characteristics in conditions where sudden changes occur in load resistance or inputted voltage as well as where load disturbs current.

The invention relates to an adaptive PI double-closed loop control method for a static var generator. The method includes the following steps that: a grid voltage is sampled, a grid angle is obtained,the upper bus-bar voltage and lower bus-bar voltage of a direct-current bus-bar are collected; a total bus voltage is calculated; an active axis voltage stabilized direct-current component is calculated; an alternating-current active current component required by three-phase voltage stabilization is calculated; a direct-current component is calculated; the total command of a current loop is calculated; an adaptive PI regulator is adopted to perform control, so that three-phase modulation waves can be obtained; modulation is performed, so that driving pulses are obtained; and an inverter is driven to obtain reactive current output. With the adaptive PI regulator used in a double-closed loop control system adopted, the defects of low response speed and poor following performance of a traditional regulator when the operation conditions of the system change can be eliminated; PI parameters are automatically adjusted according to the change of the operating conditions; and therefore, the whole control system is adjusted to operate in an optimal working state. Thus, the adaptive PI double-closed loop control method can effectively adapt to application scenes in which a plurality of working conditions change and has a broad application prospect.

The invention provides a method for designing a flutter-suppression composite root locus compensation robust controller for the multi-loop model cluster of an aircraft. The method comprises the following steps of: directly determining to acquire the model cluster composed of amplitude-frequency and phase-frequency characteristics in a full envelope by virtue of a sweep-frequency flight test in different given heights and Mach number conditions; giving a closed-loop pole distribution limit index under the corresponding root locus description according to standard requirements on an amplitude-frequency margin and a phase margin in a flight envelope, determining the stage number and parameter values of the multi-stage serial lagging-leading compensation robust controller by adding the multi-stage serial lagging-leading compensation controller, and by virtue of the closed-loop pole distribution limit index in the full envelope of the aircraft and a model identification method in system identification; and designing the low-altitude flight robust controller meeting the full flight envelope, capable of suppressing flutter, low in overshoot and stable from the concept of closed-loop pole distribution under the root locus description.

The invention discloses a power supply design method based on frequency domain analysis. The method comprises the following steps: step one, assessing a test platform, measuring an open-loop transfer function of the test platform, and determining a design object; step two, loading a test object, according to a test parameter, obtaining a compensation parameter, and drawing a Bode diagram of the compensation parameter, and then superposing the Bode diagram of the compensation parameter and the Bode diagram of the open-loop transfer function to obtain a closed-loop curve; step three, adjusting the parameter of an error amplifier, selecting a parameter value, and debugging the selected parameter value in a specifically applied circuit board to obtain a Bode diagram response curve of a whole loop; and step four, confirming a test result, obtaining the Bode diagram of a closed loop on the test platform, and comparing the Bode diagram of the closed loop on the test platform with a computer simulation graph so as to confirm whether the two match each other. According to the invention, the design period is greatly reduced, the product quality is enhanced, and the research and development efficiency is improved.

The invention provides a method for designing an aircraft multi-loop model cluster composite root locus compensating robust controller. According to the method for designing the aircraft multi-loop model cluster composite root locus compensating robust controller, under the conditions of different given heights and different given Mach numbers, a model cluster formed by amplitude-frequency characteristics and phase-frequency characteristics in a full envelope curve is determined and acquired directly through frequency sweeping flight tests; according to requirements of military standards for amplitude-frequency margins and phase margins in a flight envelope curve, closed-loop pole distribution limiting indexes under corresponding root locus descriptions are given, the series and the parameter values of a multi-level series lag-lead compensating robust controller are determined by adding the multi-level series lag-lead compensating robust controller and through the closed-loop pole distribution limiting indexes in the full envelope curve of an aircraft and a model recognition method in system recognition, and the low-attitude flight robust controller which accords with the full flight envelope curve and is small in overshoot and stable is designed from the concept of closed-loop pole distribution limiting under the root locus descriptions.

The invention provides a design method of a longitudinal flight model cluster flutter-suppression composite root-locus multi-level PID (proportion integration differentiation) robust controller. The design method includes: directly determining and acquiring a model cluster which is constituted according to amplitude-frequency and phase-frequency characteristics within the full envelop through sweep flight tests on set conditions of different heights and different Mach numbers; according to military standard requirements on amplitude-frequency margin and phase margin, providing the closed-loop pole distribution limit index corresponding to root-locus description, determining number of levels and parameter values of the multi-level PID robust controller by a model identification method applied to system identification according to requirements of the closed-loop pole distribution limit index within the full envelope of an aircraft after adding the multi-level PID controller; designing the small-overshoot stable low-altitude flight controller capable of suppressing flutter and meeting requirement of the flight full envelop from the concept of root-locus description based closed-loop pole distribution limit.

The invention provides a method for designing an aircraft multi-loop model cluster composite root locus compensating controller. According to the method for designing the aircraft multi-loop model cluster composite root locus compensating controller, under the conditions of different given heights and different given Mach numbers, a model cluster formed by amplitude-frequency characteristics and phase-frequency characteristics in a full envelope curve is determined and acquired directly through frequency sweeping flight tests; according to requirements of military standards for amplitude-frequency margins and phase margins in a flight envelope curve, closed-loop pole distribution limiting indexes under corresponding root locus descriptions are given, the series and the parameter values of a multi-level series lag-lead compensating controller are determined by adding the multi-level series lag-lead compensating controller and through the closed-loop pole distribution limiting indexes in the full envelope curve of an aircraft and a model recognition method in system recognition, and the low-attitude flight controller which accords with the full flight envelope curve and is small in overshoot and stable is designed from the concept of closed-loop pole distribution limiting under the root locus descriptions.