83 results about "Closed-loop transfer function" patented technology

The invention discloses an LADRC control system based on a linear expansion tracking differentiator and a parameter setting method of the LADRC control system, according to the control system, the n + 1-order linear expansion tracking differentiator is designed, high-order differential signals are increased, and lagging and estimation errors of a standard LADRC during signal tracking are effectively solved. The problem that overshoot exists in closed-loop transfer function step response after linear LADRC and a control object are combined is solved. The setting method has clear and specific theoretical guidance and clear and reasonable debugging rules, is more suitable for field debugging habits, and avoids the problems of fuzzy parameter interpretation and unclear debugging process caused by a traditional experience setting formula.

The invention provides a network following type and network constructing type energy storage combined planning method and device, and belongs to the field of power system planning. The method comprises the following steps: in a to-be-planned grid following type energy storage and grid construction type energy storage power system, carrying out joint modeling on a grid following type converter, a grid construction type converter and a fed alternating current power grid, so as to obtain a closed loop transfer function of the power system; based on the closed-loop transfer function, constructing a small-interference stability security domain oriented to energy storage joint planning; and converting the small-interference stability security domain into a small-interference stability security constraint, and further establishing a multi-type energy storage joint planning model to obtain a joint planning scheme of following network type energy storage and constructing network type energy storage. According to the method, the influence of the operation condition of the converter on small interference stability can be considered, power system optimization targets such as new energy consumption and the like are considered, and combined optimization configuration of network following type and network construction type energy storage is realized.

The invention discloses an anti-interference flight control method for a multi-rotor unmanned aerial vehicle. The method comprises the following steps: establishing an attitude dynamic model of the multi-rotor unmanned aerial vehicle; according to a moment of momentum theorem and an Euler equation, establishing an unmanned aerial vehicle attitude kinetic equation; setting a control moment in the man-machine attitude kinetic equation as a dependent variable, and performing first-order Taylor expansion at any point; adding expectation into the expanded kinetic equation to obtain an improved incremental nonlinear dynamic inverse controller; using real-time measured values of motion variables of the multi-rotor unmanned aerial vehicle in the improved incremental nonlinear dynamic inverse controller, and optimizing the improved incremental nonlinear dynamic inverse controller by adopting a control closed-loop transfer function of an attitude angular acceleration loop and a disturbance closed-loop transfer function of the attitude angular acceleration loop; and controlling the attitude of the multi-rotor unmanned aerial vehicle by using the optimized improved incremental nonlinear dynamic inverse controller. According to the method, the dependence of the unmanned aerial vehicle control method on the model can be reduced, and the stability of the multi-rotor unmanned aerial vehicle is improved.

The invention relates to a method for evaluating the minimum inertia demand of a multi-type energy storage power system, and the method comprises the steps: firstly, building a power system frequency response closed-loop transfer function containing electrochemical energy storage and flywheel energy storage in combination with thermal power, wind power and photovoltaic system frequency response models; then, based on the frequency response closed-loop transfer function of the power system, an initial value theorem and a final value theorem are respectively utilized to obtain an initial frequency change rate and a steady-state frequency deviation after the power system encounters disturbance; according to the initial frequency change rate and the steady-state frequency deviation, an evaluation value of the minimum inertia demand of the power system is obtained based on the initial frequency change rate security constraint and the maximum frequency deviation security constraint; and finally comparing the two evaluation values, wherein the larger value is the minimum inertia demand evaluation value. Based on a traditional system frequency response model, multiple types of energy storage and new energy units are integrated, and the actual demand of a modern novel power system for minimum inertia demand evaluation is better met.

The present invention discloses a normalized evaluation method and system for a grid-connected inverter, belonging to the technical field of power quality control of power grids. The evaluation method not only evaluates the stability of the grid-connected inverter, but also evaluates the rapid control performance of the grid-connected inverter. The specific steps are: normalizing the filter parameters, calculating and simplifying the transfer function of the controlled object of the grid-connected inverter, calculating the control closed-loop transfer function of the grid-connected inverter, solving the normalized control parameters, controlling the grid-connected inverter, and calculating the normalized instability evaluation index S of the grid-connected inverter. inv and the normalized evaluation index N of the grid-connected inverter control rapidity inv The normalized evaluation index of the control rapidity of the grid-connected inverter obtained by the present invention provides a direction for the subsequent parameter design and performance optimization of the grid-connected inverter.

The invention discloses an interference type fiber-optic gyroscope error suppression method based on adaptive phase modulation, which comprises the following steps of: modeling a closed-loop working model of an interference type fiber-optic gyroscope to obtain an open-loop transfer function and a closed-loop transfer function of the fiber-optic gyroscope; analyzing steady-state errors under slope input and acceleration input signals according to the open-loop and closed-loop transfer functions; according to the transfer function, analyzing and establishing a relationship between the modulation phase and the signal-to-noise ratio and the random walk coefficient of the fiber-optic gyroscope; according to the rotation angular acceleration of the fiber-optic gyroscope, the modulation depth of phase modulation is adaptively adjusted through the relation between the steady-state error and the modulation phase and the signal-to-noise ratio and the random walk coefficient of the fiber-optic gyroscope, so that the angular rate tracking error is inhibited, and the measurement precision is improved. When the interference type fiber-optic gyroscope is in the high maneuvering mode, the phase can be adaptively adjusted and modulated according to the input rotation angular rate, the open-loop gain is improved, and the output error is reduced, so that the overall performance of the fiber-optic inertial navigation IMU in the high maneuvering mode is improved.

The invention discloses a network construction type converter control parameter setting method for improving the active supporting capability, and the method comprises the steps: firstly inputting the known output active power limit of a to-be-solved network construction type converter; inputting a step disturbance amplitude, a damping coefficient initial value 0.1, a damping coefficient maximum value, a damping coefficient search number and an inertia time constant set by the to-be-solved grid-constructing converter; secondly, according to a closed-loop transfer function formula of output active power and grid-connected point angular frequency of the network construction type converter, obtaining an active output response function of the network construction type converter; and finally, calculating the damping ratio, response time and adjustment time of the active power output by the grid-forming converter, and obtaining a damping coefficient parameter range by combining the requirement of the national standard GB / T 38983.1-2020 on the active frequency modulation capability of the virtual synchronous machine. The method can be used as a support basis for the control parameter design of the network-constructing converter, the active support capability of the network-constructing converter is improved, and the safe and stable operation of a power system is ensured.

The invention relates to a three-phase four-bridge-arm flexible interconnection device and a switching control method, the three-phase four-bridge-arm flexible interconnection device in a back-to-back design is adopted, a main converter station adopts UdcQ control, a slave converter station adopts transient damping VSG control, a power difference value is obtained through a power instruction value and a feedback value of the slave converter station, and the three-phase four-bridge-arm flexible interconnection device and the switching control method are used for switching the three-phase four-bridge-arm flexible interconnection device. An engine power angle is obtained through a rotor mechanical equation, a function relation between the power angle and inverter output is obtained based on a linearization model, a VSG active loop closed-loop transfer function is obtained, a VSG signal model is established, and output power is controlled through an input power instruction and an input system frequency of the VSG signal model. When the operation mode of the flexible interconnection device is switched, smooth transition of voltage and current on the direct current side can be achieved, and inertia and damping support can be provided for a power grid during steady-state operation. Compared with the prior art, the method has the advantages of high stability, high reliability and the like.

The invention discloses a dynamic interaction and instability risk analysis method between energy storage modules of an energy storage power station, and the method comprises the steps: firstly building a linearization model of an energy storage integrated system, and recognizing the interconnection relation among the energy storage modules, an AC network and an external power system; a transfer function of an energy storage module is derived under a d-q coordinate system, a closed-loop transfer function model is constructed, a characteristic equation is extracted, and oscillation modes and stability of the energy storage module under different control strategies are analyzed. Research finds that the system stability is influenced by factors such as power amplitude, line parameters and control parameters, and an optimization design scheme is proposed to improve the system stability. In addition, the method also considers the risk of subsynchronous oscillation, and provides a theoretical basis and practical guidance for a safe and efficient energy storage integrated system. The method promotes the application of the energy storage technology in the power system, and enhances the performance and reliability of the system.

The invention relates to the technical field of servo system control, in particular to a noise measurement suppression method and device based on axial angle tracking angular position estimation. The method comprises the following steps: determining a first measurement angle after sine transformation and a second measurement angle after cosine transformation based on the first measurement angle and the second measurement angle; simplifying the first measurement angle after sine transformation and the second measurement angle after cosine transformation to obtain a simplified first measurement angle and a simplified second measurement angle; based on the simplified first measurement angle and the simplified second measurement angle, determining a representation relation between a phase discriminator tracking error of the servo system and a phase-locked loop output angle; determining an input of the servo system based on the representation relationship; determining an estimated angle value based on the input of the servo system and a preset closed-loop transfer function; and controlling the servo system based on the estimated angle value. Therefore, the control precision of the servo system can be improved.

This invention discloses a method for designing an additional stabilizer to suppress low-frequency oscillations in a doubly-fed induction generator (DFIG) wind turbine. The method includes: constructing the input and output terminals of the additional stabilizer and designing the control loop; plotting the Bode plot of the closed-loop transfer function of the original system to determine the dominant oscillation frequency w. d and the phase lag value θ h Perform parameter tuning calculations for the phase compensation stage in the control loop; select the proportional coefficient K of the isolation stage of the additional stabilizer. e The quality coefficient ξ of the second-order bandstop filter with added stabilizer s and resonance coefficient K s Initialize the values; calculate the time δt required to suppress the disturbance and perform iterative calculations; and obtain the optimal parameter K. e ξ s and K s The values ​​are then substituted into the expressions for the isolation stage and the second-order band-stop filter. The additional stabilizer and design method for suppressing low-frequency oscillations in doubly-fed induction generator (DFIG) wind turbines provided by this invention can effectively suppress low-frequency oscillations in DFIG grid-connected systems and significantly enhance the system's stability under small disturbances.

The invention discloses a doubly-fed fan stability improving method and device, relates to the technical field of new energy power generation, and is applied to a doubly-fed fan grid-connected system, a doubly-fed fan in the doubly-fed fan grid-connected system adopts a phase-locked loop design, and in the doubly-fed fan stability improving method, the doubly-fed fan grid-connected system is modeled under an ideal power grid to improve the stability of the doubly-fed fan. Determining a closed-loop transfer function and a closed-loop error function of the phase-locked loop, and calculating error responses of a phase step and a frequency step of the doubly-fed fan grid-connected system under the under-damping and over-damping conditions based on the closed-loop transfer function and the closed-loop error function; the negative influence of the preset phase-locked loop parameter on the stability of the doubly-fed fan grid-connected system under the condition of the low-short-circuit-ratio weak power grid is obtained, a signal processing unit is additionally arranged on the doubly-fed fan grid-connected system under the ideal power grid based on the error response and the negative influence, and the filter parameter of the doubly-fed fan grid-connected system is set, so that the doubly-fed fan grid-connected system is stable, and the stability of the doubly-fed fan grid-connected system is improved. And small disturbance stability and large disturbance stability are considered.

This invention discloses a method for calculating the parameters of a constant AC voltage controller in a flexible DC converter station, including obtaining the short-circuit ratio S of the flexible DC converter station connected to a weak AC system. scr Obtain the equivalent capacitance C at the AC system connection point of the flexible DC converter station. pcc Obtain the simplified AC voltage closed-loop transfer function F. uu (s); Obtain the initial value K of the simplified AC voltage closed-loop transfer function unit step response. stepu and equivalent time constant τ u ; Calculate the constant AC voltage controller parameter k puac and k iuac Obtain the active power controller parameters and verify the calculated constant AC voltage controller parameters k. puac and k iuac Does the parameter constraint condition meet? This invention, through the proposed method for calculating the parameters of the constant AC voltage controller in flexible DC converter stations, reduces the time spent by engineering researchers in selecting outer loop controller parameters and improves research efficiency.

This application discloses a method and apparatus for tuning control parameters of a grid-type converter. The method includes: solving the closed-loop transfer function of the first current control loop; using the Routh criterion to obtain the inequality constraints that the active power-frequency outer loop control parameters should satisfy under preset stability requirements; solving the inequality constraints under preset dynamic performance requirements to tune the active power-frequency outer loop control parameters; solving the closed-loop transfer function of the second current control loop to tune the reactive power-voltage outer loop control parameters; determining the parameter selection range of virtual inductance and virtual resistance based on the converter inductance to tune the virtual impedance control parameters; and solving the closed-loop transfer function of the third current control loop to solve the equality constraints that the current inner loop control parameters should satisfy under preset dynamic performance requirements to tune the current inner loop control parameters. This solves the technical problems in related technologies where parameter tuning based on experience or trial and error is inefficient and makes it difficult to find optimal control parameters.

The invention provides a system model construction method and device and a computer storage medium, the method is applied to a computer device in a control system, and the control system comprises a control device, an output sensor and a controller. Firstly, frequency response data, measured by an output sensor, of the control equipment are obtained according to a preset time interval, and then a closed-loop transfer function used for describing the relation between an input signal and an output signal of the control equipment on computer equipment is obtained. The method comprises the steps that firstly, a closed-loop transfer function is obtained, then iteration is conducted on the closed-loop transfer function and frequency response data, finally, iteration values generated by two adjacent iterations are compared, and when the change amplitude of the iteration values generated by the two adjacent iterations is smaller than a preset threshold value, the newest system model to be constructed serves as a constructed system model. Therefore, the measured frequency response data and the closed-loop transfer function are utilized to carry out multiple iterations, so that an accurate system model is constructed, and the stability and the reliability of control equipment are improved.

An acoustic feedback control method for a low-time-delay acoustic reinforcement system comprises the following steps: constructing an acoustic reinforcement system model, establishing a closed-loop transfer function, and determining a system stability condition; constructing an acoustic feedback path, generating an open-loop training data set, and simulating an acoustic feedback signal in a critical unstable state; extracting time-frequency characteristics of the input signal, and designing a complex spectral mapping target of the neural network; constructing a full-sub-band packet long-short term memory network which comprises an encoder, a full-band and sub-band processing module and a decoder, training the network by adopting a mixed amplitude spectrum and complex spectrum loss function, and optimizing a signal reconstruction strategy to reduce time delay; finely adjusting the network in a simulated closed-loop system to adapt to an actual acoustic environment and nonlinear distortion, and limiting the amplitude of an output signal through hard tailoring; and deploying the fine-tuned model to a real sound reinforcement system, and cooperatively inhibiting sound feedback with a frequency shift method. According to the method, sound feedback can be effectively inhibited under the condition of relatively low time delay, the quality and intelligibility of voice are improved, and the maximum stable gain of a sound reinforcement system is improved.

The application discloses a permanent magnet synchronous motor decoupling control method and device, equipment and storage medium, wherein a d-axis disturbance value, a q-axis disturbance value, a preset resistance value, a preset d-axis inductance and a preset q-axis inductance are input into a permanent magnet synchronous motor stator voltage equation to obtain a d-axis and q-axis current change rate equation; a d-axis controlled function and a q-axis controlled function are obtained according to the d-axis current change rate equation, the q-axis current change rate equation, a d-axis control function and a q-axis control function; a closed-loop transfer function is obtained according to a d-axis adjustment function, a q-axis adjustment function, the d-axis controlled function and the q-axis controlled function; and the permanent magnet synchronous motor is controlled according to the closed-loop transfer function. In the application, the closed-loop transfer function is represented by determined parameters, so that when the environment changes, the controller parameters do not need to be reset, and the decoupling efficiency is improved.

The application provides a multi-machine parallel control method, device and equipment of an energy storage converter and a storage medium. The method comprises the following steps: firstly, a grid-connected system in parallel with the energy storage converter is disassembled into multiple equivalent circuits under separate excitation, and a transfer function between a response current of each equivalent circuit and an excitation source is established. Subsequently, a Bode diagram of the transfer function changing with the number of parallel connections is determined, and a frequency response closed-loop transfer function of each energy storage converter is obtained according to the transfer function and a power expression of the energy storage converter to a common bus voltage. Finally, control parameters are determined in combination with the Bode diagram and the closed-loop transfer function, and multi-machine parallel control is realized. The method discloses the interaction of the frequency responses among the energy storage converters, and provides a theoretical basis for system control parameter selection and frequency optimization control.

The invention relates to the field of industrial systems, in particular to a control method and device of an industrial system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a measurement parameter value of a controlled object in the industrial system at a current moment; inputting the measurement parameter value, a preset parameter value of the controlled object at the current moment and a difference value between the preset parameter value and the measurement parameter value into a control coefficient determination model to obtain a control coefficient of the controlled object at the current moment; and under a closed-loop transfer function of a controller established based on a preset condition, determining a control parameter of the controlled object at the current moment according to the control coefficient, so as to control the controlled object based on the control parameter, the preset condition is that the transfer function of the non-time-delay part of the Smith predictor is the same as the transfer function of the non-time-delay part of the controlled object, and the time-delay factor of the Smith predictor is the same as the time-delay factor of the controlled object. According to the invention, the control effect of the lagging link on the industrial system can be eliminated.

The application belongs to the field of intelligent traffic management and control, and particularly relates to a hybrid traffic flow cooperative control method based on H∞ direct strategy search, comprising the following steps: S1, establishing a linear state space model of a hybrid traffic system; S2, taking minimization of H∞ norm of a closed-loop transfer function from w(t) to z(t) as an optimization target, and constructing a controller optimization problem with K as an optimization variable; S3, solving the controller optimization problem of S2 by using a direct strategy search method to obtain an optimized gain matrix K*; S4, configuring the K* in each AV; in the process of system operation, each AV acquires or estimates x(t) in real time, and calculates and executes an acceleration control instruction according to a control law u(t)=‑K* x(t). The method can realize strong robust inhibition of non-smooth and time-varying disturbances in the hybrid traffic flow, and ensure that the control strategy has theoretically provable stability and performance boundary.

The present invention relates to the field of power electronics technology, and specifically discloses a universal control method for LC and LCL grid-connected inverters, including: establishing a universal mathematical model for the AC side that is applicable to both the LC grid-connected inverter and the LCL grid-connected inverter; obtaining the current control block diagrams of the LC grid-connected inverter and the LCL grid-connected inverter respectively according to the universal mathematical model for the AC side; obtaining the corresponding closed-loop transfer functions according to the current control block diagram to achieve accurate current tracking of the LC grid-connected inverter and the LCL grid-connected inverter; converting the current control block diagram of the LCL grid-connected inverter into the current feedback and capacitor voltage feedback control block diagram of the LCL grid-connected inverter side, and then obtaining the open-loop transfer function of the LCL grid-connected inverter to achieve resonance suppression of the LCL grid-connected inverter. The present invention utilizes the inductor current and capacitor voltage on the inverter side to respectively achieve accurate current control and resonance suppression, does not require additional sensors when hardware changes, and has good algorithm versatility.

The application discloses a network-constructing type converter control parameter setting method for improving active support capability, which comprises the following steps: firstly, inputting the known output active power limit of a network-constructing type converter to be solved, inputting the set step disturbance amplitude of the network-constructing type converter to be solved, inputting the initial value 0.1 of a damping coefficient, inputting the maximum value of the damping coefficient, inputting the search number of the damping coefficient, and inputting the inertia time constant; secondly, obtaining an active output response function of the network-constructing type converter according to a closed-loop transfer function formula of the active power output of the network-constructing type converter and the grid point angular frequency; and finally, calculating the damping ratio, the response time and the regulation time of the active power output of the network-constructing type converter, and obtaining a damping coefficient parameter range in combination with the requirement of the national standard GB / T 38983.1-2020 on the active frequency modulation capability of a virtual synchronous machine. The method can be used as a support basis for the design of the control parameters of the network-constructing type converter, improves the active support capability of the network-constructing type converter, and guarantees the safe and stable operation of a power system.

The invention relates to an online control law adjustment evaluation method based on pulse response identification. The method comprises the following steps: selecting a state point to be identified of an aircraft and pulse excitation and response data acquired in real time, fitting a fitted pulse time domain response and a fitted pulse frequency domain response, and forming an identification model with fitting parameters to perform online fitting identification. Then, a closed-loop transfer function with a controller is derived according to the automatic control principle, and expected closed-loop poles are selected according to flight quality requirements of similar aircraft models. The expected poles are built into an onboard online design program. The controller's undetermined gain is calculated according to an undetermined coefficient method and applied to the controller to obtain a closed-loop control system based on an open-loop identification model and a controller. Finally, a step excitation is added to the closed-loop control system of the aircraft based on the control law model to obtain a step response of the closed-loop system, and various indicators are calculated and compared with expected indicators to evaluate whether the controller meets the design requirements, thereby ensuring that the aircraft still has good stability, safety and high efficiency in the identification test.

The invention discloses a method for calculating the active power boundary of a virtual synchronous type network construction wind turbine generator. The method comprises the following steps: 1, constructing a closed-loop transfer function; 2, calculating a phase angle increment; 3, calculating reactive power increment caused by phase angle change; 4, q-axis current is obtained through calculation, and a current limit contour line composed of the maximum d-axis current and the maximum q-axis current on the grid side is formed; 5, converting the current limit contour line into a grid-side active-reactive power boundary contour line; 6, adding the reactive power increment and the reactive power of the current unit, substituting the result into the active-reactive power boundary contour line of the network side, and obtaining the maximum active power boundary value of the network construction type wind turbine generator under the corresponding maximum network side terminal voltage limitation; according to the method, the mutual coupling influence of the active power and the reactive power of the grid-forming type wind turbine generator is considered, the active power boundary value of the grid-forming type wind turbine generator is obtained, and the situation that the unit operation exceeds the power limit due to the power coupling effect in the active and reactive power changing process of the unit is avoided.

The invention provides a grid-connected inverter circulating current estimation and suppression method and device based on a virtual synchronous machine, and the method comprises the steps: constructing an active power distribution network optical storage area cluster structure comprising a double-parallel grid-connected inverter interface converter and a hybrid energy storage device, and deducing a dynamic model of the double-parallel grid-connected inverter interface converter; extracting a closed-loop transfer function of the output power, the active power reference value, the actual output active power and the system frequency to form an extended state observer with a loop oscillation component estimation function; a total disturbance observed quantity is introduced into a control law based on an observation result of a model-free observer with oscillation estimation on a generalized disturbance reconstruction state, so that the system is converted into an active disturbance rejection state from a passive disturbance rejection state, and the model is simplified into a double-integrator series structure; pole assignment is also needed; according to the invention, the electric energy quality of the networking type optical storage cluster is effectively improved.

The application provides a virtual synchronous generator control method and system, and belongs to the technical field of virtual synchronous generator control. The value of the grid frequency observed by a low-bandwidth frequency-locked loop, a phase-locked loop or a high-bandwidth frequency-locked loop or phase-locked loop after low-pass filtering is used as a feedforward value of the frequency of the virtual synchronous generator. When the grid frequency observed by the low-bandwidth frequency-locked loop or phase-locked loop is used as the feedforward value, the poles of the equivalent closed-loop transfer function of the frequency-locked loop or phase-locked loop and the zeros of the active-frequency transfer function of the virtual synchronous generator are cancelled. When the value of the grid frequency obtained by using the high-bandwidth frequency-locked loop or phase-locked loop and after low-pass filtering is used as the feedforward value, the poles of the low-pass filter transfer function and the zeros of the active-frequency transfer function of the virtual synchronous generator are cancelled. The application can eliminate the steady-state error of the active power regulation of the virtual synchronous generator, enhance the effect of suppressing the grid frequency change in the low-frequency band, and improve the effect of the virtual synchronous generator on the inertia support of the grid.

The invention discloses a design method of an additional stabilizer for suppressing low-frequency oscillation of a doubly-fed fan, which comprises the following steps of: constructing an input end and an output end of the additional stabilizer, and designing a control link; performing closed-loop transfer function Bode diagram drawing on the original system, and determining a dominant oscillation frequency wd and a phase lag value theta h; performing parameter setting calculation on a phase compensation link in the control link; selecting an isolation link proportionality coefficient Ke of the additional stabilizer, a second-order band elimination filter quality coefficient xis of the additional stabilizer and an initial value of a resonance coefficient Ks; calculating a time length delta t required for disturbance suppression, and performing iterative calculation; and obtaining optimal parameters Ke, xis and Ks, and substituting the optimal parameters into expressions of the isolation link and the second-order band elimination filter. According to the additional stabilizer for suppressing the low-frequency oscillation of the doubly-fed fan and the design method, the low-frequency oscillation phenomenon of a doubly-fed fan grid-connected system can be effectively suppressed, and the small-disturbance stability of the system is effectively enhanced.

The invention discloses a vehicle control method and device. According to the obtained vehicle structure parameters, the vehicle motion parameters, the transverse and longitudinal control saturation functions and the standard robust controller model, a state-space equation of a closed-loop system of the vehicle is constructed, and according to the state-space equation of the closed-loop system, a closed-loop transfer function corresponding to the state-space equation of the closed-loop system is determined. Thirdly, constructing a convex optimization inequality according to the state-space equation of the closed-loop system and the performance index of the closed-loop transfer function, and solving the convex optimization inequality to obtain a solution of the convex optimization inequality; and finally, based on the solution of the convex optimization inequality, constructing an optimal robust controller model, and performing transverse and longitudinal control on the vehicle based on the optimal robust controller model. Therefore, the hardware performance of the vehicle is considered in the calculation process, a calculation result conforming to the performance limit of the vehicle is obtained, and the problem of saturation nonlinearity existing in the steering wheel angle, acceleration and deceleration of the vehicle is solved.

The present invention discloses a gain-scheduled autopilot design method based on radial basis functions, belonging to the field of aircraft control technology. The method comprises the following steps: obtaining a gain-scheduled vector and a value range, an LPV model of a nonlinear system, a selected controller structure, and a control system design index; selecting sample points uniformly distributed in the value space of the gain-scheduled vector as characteristic points for gain adjustment of a multi-objective non-smooth optimization algorithm; determining constraints in the form of H∞ norms of closed-loop transfer functions according to the control system design indexes, and using them to establish an optimization problem for gain adjustment at the characteristic points; solving the optimization problem established at each characteristic point, and using them to adjust the controller gain; using a radial basis function model to fit the gain surface of each structural controller respectively, and obtain an RBF surface of all gains; and adjusting the controller gain change according to the RBF curve of all gains, and obtaining a gain-scheduled controller based on the radial basis function.

A current compensator design method and compensation method for suppressing voltage overshoot in the weak magnetic field area of ​​a permanent magnet synchronous motor, relating to the field of motor control. The invention solves the problem that in the existing voltage closed-loop weak magnetic field method, due to the existence of the voltage closed-loop, the weak magnetic field regulator starts to output a negative d-axis current only when the voltage vector amplitude exceeds the voltage limit, resulting in voltage overshoot in the dynamic process, thereby deteriorating the weak magnetic field dynamic performance. The method includes: replacing the traditional voltage amplitude closed-loop with a q-axis voltage closed-loop; constructing a current compensation closed-loop transfer function and performing frequency domain analysis to obtain a continuous domain form of a current compensator; discretizing the current compensator in the continuous domain; inputting the q-axis voltage error into the discretized current compensator to output a negative q-axis current compensation value. The method has the advantages of simple implementation and strong versatility, and can be used to improve the dynamic performance of weak magnetic field control of permanent magnet synchronous motors.