72 results about "Composite controller" patented technology

The invention discloses a dynamic trajectory control method for an SCARA (selective compliance assembly robot arm) robot. According to the kinematics model, a homogeneous transformation matrix is used for analyzing the coordinate transformation relation between each joint and the connecting rod, and an initial pose and a target pose are determined; establishing a kinetic model based on a Lagrange equation, and determining kinetic parameters needing to be identified; performing parameter identification by adopting a random weight particle swarm optimization algorithm; according to an identification result, a sliding mode robust item RBF neural network adaptive controller is constructed, real-time track control is achieved, and the end manipulator is made to move to a target pose along a preset dynamic track; a real-time pose is detected through a sensor and compared with a target pose, and arrival is judged when the error is smaller than a threshold value. Model precision and identification efficiency are improved through modeling and efficient parameter identification, the composite controller effectively compensates uncertainty, disturbance and nonlinear factors of the model, closed-loop control and online adjustment are achieved, and trajectory tracking precision, system stability and dynamic response speed are improved.

The invention belongs to the technical field of power electronics of power supply or power distribution, and provides a control method of a three-phase four-wire inverter, a controller and an inversion control system. A first control component is generated by using a phase angle, an inversion side three-phase current sampling value and a proportional integral compensator; a second control component and a third control component are generated by using a power grid voltage angular frequency, a neutral line current sampling value, a repetitive controller and a proportional resonance controller, the three control components are combined to control an inverter power switch tube, a proportional integral compensator is still adopted, the algorithm is simple, parameters are easy to design, and the reliability is high. And meanwhile, a repetitive-proportional resonance (RC-PR) composite controller is utilized to realize suppression of neutral line fundamental wave and harmonic current, and the method has faster dynamic response to load abrupt change, so that optimization of dynamic performance and steady-state performance is realized.

The invention discloses a permanent magnet synchronous motor PI double-loop control method based on deep reinforcement learning. The method comprises the following steps: establishing a permanent magnet synchronous motor double-loop coupling mathematical model; a traditional FOC composite controller is constructed; designing a state feedback and reward mechanism of the double-ring TD3; constructing a speed loop and current loop TD3 + PI composite controller; and carrying out system stability analysis. According to the method, a system is divided into an inner ring and an outer ring based on hybrid cooperative control fusing deep reinforcement learning and classical control, the problem that robustness is insufficient under system disturbance through PI control and the problem that tracking precision is reduced due to load sudden change and noise interference in PMSM operation are combined, nonlinear disturbance is dynamically compensated through the strategy learning ability of a TD3 algorithm, and the tracking precision is improved. Meanwhile, soft update is introduced to improve convergence stability, and a compound control strategy based on double-loop TD3 + PI is provided. According to the invention, complex non-linear processing is simplified, and the stability of the system and the accuracy of rotating speed tracking are improved at the same time.

The invention discloses a distributed spacecraft low-communication attitude fine control method based on event triggering, and aims to solve the problems of high communication frequency, serious resource waste and difficulty in effective compensation of multi-source interference in the prior art. According to the method, a spacecraft attitude deep coupling model is constructed, and the dynamic influence of compound interference such as centroid change and flexible vibration is comprehensively considered; designing an event triggering mechanism based on the control signal variation, and updating a control instruction as required to reduce the communication frequency; and a self-adaptive composite controller is constructed, interference and communication errors are estimated and compensated on line, and the attitude control precision is ensured. According to the method, only 75 times of communication is triggered in 50-second simulation, meanwhile, the attitude tracking error is controlled within 5 * 10 <-3 > rad, and the method has the advantages of being low in communication load, high in control precision, high in anti-interference capacity and the like and is suitable for a distributed spacecraft system with strict requirements for attitude stability and communication resource consumption.

The invention belongs to the technical field of robot control, and discloses a visual servo intelligent robust control method for a mobile mechanical arm for a complex operation task, which comprises the following steps of: 1, acquiring a working scene image, and calculating a space coordinate of a target feature point in real time through a projection transformation model; step 2, dynamically inhibiting visual measurement noise by adopting adaptive Kalman filtering, generating a feedforward compensation signal through an integral sliding mode observer, and decoupling chassis slippage disturbance; step 3, inputting the pose signal into a radial RBF neural network, designing an RBF gain scheduler, and adjusting an output proportion-integral gain in real time to suppress external time-varying disturbance; 4, adopting a hybrid visual servo mode switching mechanism, and generating a mobile platform control instruction through an integral sliding mode surface in a position servo mode; and 5, designing a three-order composite controller to drive the mechanical arm so as to realize accurate grabbing. According to the method, the grabbing deviation caused by kinematics uncertainty of the mobile platform and dynamic environment disturbance is eliminated.

The invention discloses a curved surface film covering flatness self-adaptive control method based on machine vision, and relates to the technical field of mechanical arm control. The system comprises a machine vision sensing module, a robot end effector, a composite controller and a distributed clamping jaw array. The method comprises the following steps: acquiring a fringe projection image sequence and dynamic trajectory data of an end effector; performing phase calculation and three-dimensional reconstruction on the image sequence, constructing a digital elevation model and calculating flatness error data; inputting the dynamic trajectory data into a feedforward controller to generate a compensation instruction, inputting the flatness error data into a feedback controller to generate a correction instruction, and superposing to obtain a comprehensive correction instruction; and acquiring a strain sensitivity matrix, distributing the comprehensive correction instruction into displacement execution parameters of each clamping jaw by utilizing pseudo inverse operation, and issuing and executing the displacement execution parameters. According to the method, real-time sensing and active intervention of dynamic deformation are realized, and the yield and batch consistency of curved surface film coating are remarkably improved.

The invention relates to the technical field of automatic control, and discloses a beverage sterile cold filling line adaptive PID closed-loop control system and a control method thereof, and the system comprises a process event perception and prediction module which is used for analyzing a production instruction into a process event containing future working condition change information; the event-based adaptive identification strategy module is used for dynamically adjusting a forgetting factor of an identification algorithm according to a process event and improving the identification sensitivity during working condition switching; the dynamic coupling factor online identification module is used for identifying a dynamic coupling factor matrix of the system in real time; and a predictive feedforward-feedback compound controller. According to the method, the problems of large overshoot and long stabilization time caused by parameter time varying and multivariable strong coupling in dynamic processes such as formula switching of a production line are solved, and the adaptive capacity, robustness and control precision of a control system are remarkably improved.

The invention provides a driving anti-slip control method, device and equipment for an electrically driven vehicle based on road surface recognition and a medium. The method comprises the following steps: establishing a vehicle system model comprising a single-wheel dynamics model and a motor model; a road surface recognizer is constructed based on the Burckhardt tire mathematical model and similar road surface matching, the road surface recognizer adopts a double-layer screening strategy to carry out similar road surface matching, and the optimal slip rate and the maximum road surface adhesion coefficient of the current road surface are recognized through the road surface recognizer; a composite PID-SMC controller is constructed based on the optimal slip rate and the real-time slip rate of the wheels; based on the slip rate error, a smooth switching function is adopted to determine the weight factor of a sliding mode controller, the total anti-slip correction torque is calculated, and the weights of the two controllers are adaptively adjusted for smooth control, so that the technical problem that the buffeting phenomenon is still difficult to completely eliminate under high-gain switching of the distributed electric drive vehicle is solved.

The invention relates to the technical field of pressure control, and discloses a pressure control method, system and equipment for a vacuum butterfly valve and a storage medium, and the method comprises the steps: obtaining a pressure control error signal and an error change rate according to the internal pressure of a cavity and a preset target pressure; determining a calculation result of the composite controller based on the pressure control error signal and the error change rate; inputting a calculation result of the composite controller into a smooth switching function, calculating a mixed output quantity, and searching an optimal smooth factor and an error switching threshold value of the smooth switching function in a current environment through a particle swarm optimization algorithm; performing nonlinear compensation on the mixed output quantity of the composite controller by adopting a compensation function, converting the control quantity subjected to nonlinear compensation into the rotation step number of a stepping motor through motor driving, and controlling the rotation angle of the butterfly valve by adopting the stepping motor; the control precision and the dynamic performance are improved.

The present application relates to a kind of four-legged robot single leg sliding mode control method based on interference observer, belong to robot control technical field.First, the trajectory of four-legged robot single leg in swing phase is established;Then, the kinematic model of four-legged robot single leg is established, to realize the conversion of foot target position and corresponding joint angle;On this basis, non-singular terminal sliding mode controller is designed to deal with the dynamics control under the condition of no interference;Finally, combined with sliding mode controller and interference estimation, the final composite control strategy is designed, the stable tracking of robot joint angle is realized, so as to improve the anti-interference performance of single leg system.The present application utilizes the combination of finite time interference observer and non-singular terminal sliding mode controller, designs a kind of composite controller, to improve the foot trajectory tracking accuracy and system robustness of four-legged robot, eliminate the uncertainty caused by external disturbance and modeling error suffered by robot.

This invention discloses a distributed, event-triggered, low-communication fine-grained attitude control method for spacecraft, aiming to overcome the problems of high communication frequency, severe resource waste, and difficulty in effectively compensating for multi-source interference in existing technologies. This method constructs a deeply coupled attitude model for the spacecraft, comprehensively considering the dynamic effects of combined interferences such as center-of-mass changes and flexural vibrations; designs an event-triggered mechanism based on changes in control signals to update control commands as needed, thereby reducing the communication frequency; and constructs an adaptive composite controller to estimate and compensate for interference and communication errors online, ensuring attitude control accuracy. In a 50-second simulation, this method triggers only 75 communications while controlling the attitude tracking error to within 5 × 10⁻⁶. ‑3 Within rad, it has the advantages of low communication load, high control precision, and strong anti-interference capability, and is suitable for distributed spacecraft systems with strict requirements for attitude stability and communication resource consumption.

The application discloses an anti-unwinding flexible spacecraft attitude tracking composite control method, first, based on the quaternion method, a flexible spacecraft attitude tracking error kinematics and dynamics model is established; then, the flexible accessory vibration mode, external environmental disturbance and model uncertainty are regarded as a lumped disturbance, a generalized proportional integral observer is designed, and the lumped disturbance is observed and estimated; finally, a non-singular terminal sliding mode surface is constructed, the lumped disturbance observation and estimation compensation of the generalized proportional integral observer is taken as a feedforward signal, and a feedforward-feedback anti-unwinding attitude tracking composite controller is designed. Through determining appropriate control gain, the closed-loop attitude tracking error system is globally finite time stable, and the anti-unwinding effect can be realized. The application can realize finite time attitude tracking of the flexible spacecraft, has high attitude tracking precision and strong robustness.

The invention discloses an intelligent traction power supply system power adjusting method and system. Comprising the following steps: calculating real-time transfer power, and calculating compensation current in real time by combining a power transfer error and negative sequence current; calculating a current tracking value based on the current inner loop instruction value and the voltage synchronization signal; designing a feedforward-feedback composite controller, and respectively calculating a feedforward compensation quantity and a feedback control quantity; based on the feedback control quantity and the feedforward compensation quantity, the total duty ratio of the PWM modulation signal is calculated, and a railway power regulator is driven to output an actual current value; the control method and system provided by the invention are low in engineering implementation cost, adaptive to the RPC application scene of the traction substation, and easy to popularize.

The embodiment of the invention discloses a specified time anti-interference motor control system and method, and the method comprises the steps: building a mathematical model of a permanent magnet synchronous motor through motor mechanism analysis and parameter measurement setting, designing a practical specified time disturbance observer, and estimating the lumped interference of a system in real time; and a specified time self-adaptive anti-interference composite controller is constructed based on a backstepping method and a dynamic inverse method, so that accurate control of the rotating speed of the motor is realized. According to the system, virtual control quantity is designed through a backstepping method, and a controller adopts an instruction filter and an interference adaptive compensation mechanism to realize effective compensation of system uncertainty, modeling errors and external disturbance. The method can effectively cope with uncertainty caused by system parameter perturbation, unmodeled dynamics and external load dramatic change, gives consideration to dynamic and static performance, has the advantages of closed-loop bounded stability, adaptive disturbance compensation and strong interference resistance, and is suitable for rotating speed control of a motor system under complex working conditions.

The invention discloses a high-pressure large-displacement composite controller device integrating flow control, which comprises a shell, and a variable piston, a return spring, a power control valve and a pressure control valve which are arranged in the shell, and the power control valve and the pressure control valve are respectively communicated with the large end and the small end of the variable piston through control oil ways; the hydraulic system is characterized by further comprising a flow control valve, an oil inlet of the flow control valve is communicated with a high-pressure control oil way, and an oil outlet of the flow control valve is communicated with the large end of the variable piston through a power control valve. The flow control valve is provided with a feedback oil port; a valve element of the flow control valve moves based on the balance relation between the feedback pressure of the feedback oil port and the preset spring force so as to control connection and disconnection from the high-pressure control oil way to the large end of the variable piston, and then the displacement of the pump is adjusted to stabilize the output flow. The energy efficiency can be remarkably improved, the coordination of composite actions is improved, the response speed and the control precision are enhanced, and the high-pressure large-flow compact requirement is met.

The invention relates to an impact load-oriented electro-hydraulic servo active suspension feedback linearization sliding mode robust control method, which belongs to the technical field of vehicle active suspension and electro-hydraulic servo control, and comprises the following steps of: firstly, establishing a quarter vehicle two-degree-of-freedom active suspension model; the method comprises the following steps: step 2, constructing a nonlinear dynamic model of the electro-hydraulic servo actuator of the valve-controlled cylinder; step 3, designing a feedback linearization sliding mode composite controller and giving a stability proof; and step 4, carrying out controller parameter setting and simulation comparison. According to the feedback linearization sliding mode robust control method provided by the invention, the nonlinearity and parameter uncertainty of the actuator can be effectively compensated under the impact working conditions of a deceleration strip and the like, the piston displacement tracking error and sliding mode buffeting are remarkably reduced, sprung mass vibration is reduced, the vehicle driving smoothness and attitude stability are improved, and the method is suitable for large-scale popularization and application. The method is suitable for the field of vehicle hydraulic active suspension control.

The invention relates to a rotating speed regulation compound control method and system for a variable-speed pumped storage unit in a power master control mode. The method comprises the following steps: acquiring a rotating speed instruction, a power instruction change signal and an actual unit rotating speed change signal to a compound controller for processing; the composite controller comprises a power disturbance compensation feedforward controller, a rotation speed input compensation feedforward controller and a unit rotation speed PID feedback controller. In the process of processing the input signal, a genetic algorithm is used for optimizing and setting a composite adjustment coefficient in the composite controller, and a control signal is output in a coordinated manner; and the control signal is input to a guide vane servo module in the hydraulic speed regulation system, and the output of the water turbine module is regulated. The method can compensate power and rotating speed instruction signal changes in the load increasing and decreasing process of the variable-speed pumped storage unit in advance, guarantees the rotating speed adjustment stability and accuracy of the unit, quickly responds to input and disturbance changes, improves the dynamic response speed, reduces torque unbalance impact, and inhibits large fluctuation of the rotating speed.

This invention proposes a method for enhancing the stability of power hardware-in-the-loop systems based on DDPG-RP. First, an equivalent circuit model of the system containing grid fault disturbances is established, its dynamic interaction characteristics are analyzed, and the impedance matching conditions for stable operation are determined. Based on this, a phase-compensated and enhanced repetitive-voltage feedforward composite controller is designed. An upper-level intelligent controller is constructed by combining this with a deep deterministic policy gradient algorithm. These two controllers are deployed in the bottom and upper-level control units, respectively, forming a hierarchical collaborative control architecture for grid fault simulation. A test platform is built based on this architecture. After offline training and online deployment of the deep reinforcement learning controller, a three-phase short-circuit fault condition is simulated using a high-power grid-connected interface device to verify its dynamic response and stability. This invention, relying on hierarchical collaboration and intelligent optimization, effectively solves the problem of traditional control systems struggling to balance stability and performance under complex faults, significantly improving system adaptability and robustness.

The application relates to the technical field of process control, in particular to a pH dynamic regulation method and system in a plant calcium extraction process, which comprises the following steps: constructing a pH-temperature and calcium dissolution rate lookup table model; based on the model, a multi-stage optimal control problem with the minimum total time as the target is established, and a dynamic programming algorithm is used for solving, so that continuous optimal pH and temperature control trajectories are generated; a compound controller combining feedforward and feedback is designed to accurately track the trajectories; an online trajectory correction mechanism is established, when it is monitored in real time that the process state seriously deviates from the expectation, the re-planning can be automatically triggered, the control strategy is dynamically adjusted and updated. The application deeply integrates process modeling, optimal control and adaptive adjustment, realizes dynamic optimization and closed-loop control of the whole cycle of the plant calcium extraction process, significantly shortens the extraction time, and improves the extraction rate of calcium and the stability of the quality of the final product.

The invention discloses a fixed-time anti-interference control system and method for an eddy-current hybrid power system, and the method comprises the steps: obtaining a disturbance affine form nonlinear mathematical model of a turbine engine of the eddy-current hybrid power system through system identification, and designing a fixed-time disturbance observer to estimate the lumped interference of the system in real time; a feed-forward signal measurer is designed to measure and calculate a feed-forward quantity in real time, and a fixed-time anti-interference feed-forward composite controller is constructed based on a nonlinear backstepping method and a dynamic inverse method, so that accurate control of the rotating speed of a turbine engine in the eddy-current hybrid power system is realized. The system designs a virtual control quantity through a nonlinear backstepping method, and a controller adopts a non-smooth instruction filter and an interference and feed-forward compensation mechanism to realize effective compensation for the uncertainty of the system. The method has high control precision, good anti-interference capability and closed-loop stability, and is suitable for rotating speed control of the turbine engine in the eddy-current hybrid power system under complex working conditions.

This invention discloses a forklift operation control optimization method and system based on disturbance observation technology, belonging to the field of electric forklift control technology. The method includes: real-time acquisition of forklift operation data; analysis of forklift motion state variables through multi-source sensor information fusion to establish dynamic parameter mapping relationships; construction of a high-order sliding mode observer using measured values ​​and predicted values ​​from the forklift's full-condition dynamics model as inputs to evaluate disturbance source interference and generate motion compensation corrections; construction of a feedforward-feedback fusion composite controller to generate yaw moment pre-compensation commands based on disturbance source interference evaluation results, dynamically correcting forklift trajectory tracking errors; and real-time monitoring of the distance between the forklift's operating point and the instability boundary, triggering a torque redistribution strategy when approaching the instability boundary. This invention significantly improves forklift operation performance under complex conditions by deeply integrating real-time sensor data, dynamic modeling, and intelligent control algorithms.

The invention discloses a four-rotor unmanned aerial vehicle anti-interference control method based on an all-wheel-drive system theory, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: carrying out the mathematical reconstruction of a four-rotor unmanned aerial vehicle under-actuated model considering disturbance, representing a roll angle and a pitch angle as the functions of a position state and a yaw angle, introducing a virtual control quantity, and carrying out the calculation of a four-rotor unmanned aerial vehicle under-actuated model. Carrying out high-order derivation on the position state; a composite controller is designed for the mixed-order all-drive model, and the output of the controller comprises a feedforward compensation item used for offsetting system nonlinearity and total disturbance and a feedback control item used for achieving error system pole assignment; a linear expansion state observer used for estimating unmeasurable states and total disturbance in all channels on line and a first-order dynamic compensator used for providing additional control freedom degree are integrated in the composite controller. The method realizes active observation and compensation of unknown disturbance, and has the advantages of high control precision, strong anti-interference capability, good robustness and simple and convenient controller parameter setting.

The application discloses a kind of construction methods of cooperative robot joint system composite controller, by initial value PI control module and extreme value optimization adaptive PI control module constitute input actual speed, speed error and dq axis current, output is the speed controller of control voltage;Position sensorless control module is constituted by sliding mode observer and arctangent function, by nonlinear tracking differentiator, nonlinear state error feedback controller, neural network compensator, two adjustable gains and three-order extended state observer constitute position controller;Actual speed is output by rotor position angle according to first-order differential tracker, and composite controller is jointly constituted by position controller, speed controller and first-order differential tracker;The application will conventional three closed-loop control be simplified into position-current double closed-loop, while being combined with sensorless control method, so that the requirement of control system to external hardware and motor parameters is reduced, while having very strong static, dynamic characteristics and robustness.

A system and method for improved production line control system communication are disclosed. The production line control system includes a plurality of components, such as a master component and client components. At least one of the master component and client components is configured to implement or run a composite controller. The composite controller is configured to communicate effectively with each of the plurality of components, to receive information from each of the plurality of components, to determine composite information of the production line control system based on the information received from each of the plurality of components, to generate a user interface that displays information about each of the plurality of components and the composite production line control system, and to send commands to the controllers of each of the plurality of components.

The application discloses a kind of permanent magnet synchronous motor current restriction speed regulation methods based on control barrier function, belong to motor control field, this method estimates the matching and non-matching multi-source disturbance in system by disturbance observer, then based on disturbance estimation information, construct control barrier function as motor current restriction, construct control Lyapunov function as constraint to guarantee the stability of motor closed-loop speed regulation system, to construct current restriction composite controller, and as current restriction controller under non-series control structure, to realize permanent magnet synchronous motor servo system under the speed control of disturbance influence;The application uses the composite control method based on disturbance observer to eliminate the influence of multi-source disturbance on speed tracking and current restriction, while realizing high-precision speed tracking, guarantee strict current restriction.

This invention discloses a dynamic compensation method for multi-source errors in CNC machine tools under complex working conditions, belonging to the field of precision control technology for CNC machine tools. This method constructs a distributed sensor network to collect multi-physics field data such as temperature field, cutting force, vibration, and environmental parameters in real time, establishes a geometric-thermal-mechanical coupling error propagation model, and uses an improved variational mode decomposition algorithm to achieve high-precision decoupling of multi-source errors. Based on a bidirectional LSTM deep learning network, dynamic compensation amounts are predicted, and combined with a feedforward-feedback composite controller and adaptive coupling matrix adjustment, multi-axis collaborative compensation commands are generated. The compensation effect is evaluated online using a laser interferometer, triggering dynamic updates of model parameters and forming a closed-loop optimization mechanism. This invention overcomes the limitations of traditional single error compensation, solves the problem of real-time analysis and dynamic suppression of multi-physics field coupled errors under complex working conditions, significantly improves the machining accuracy and adaptive capability of CNC machine tools, and is suitable for high-precision machining scenarios such as aerospace precision parts and optical molds.

The invention provides a polyurethane safety production control method based on active disturbance rejection and sliding mode control. The method comprises the following steps: respectively constructing an online state observer, an active disturbance rejection controller, a sliding mode controller, a composite controller, a system identifier, a risk predictor and a three-level cooperative defense module; collecting degree data; estimating the weight-average molecular weight through an online state observer, and calculating a corresponding control quantity through the active-disturbance-rejection controller, a sliding mode controller or a composite controller based on the estimated weight-average molecular weight according to the disturbance compensation capability of the active-disturbance-rejection controller so as to adjust the dripping rate of a chain extender; future pressure and material temperature tracks are predicted through the system identifier, the space-time curvature is calculated through the risk predictor based on the predicted pressure and material temperature tracks, and a third-level intervention instruction is triggered through the third-level cooperative defense module based on the space-time curvature. And the production system can be controlled more flexibly, accurately and safely.

The present application belongs to the technical field of high-voltage fee control and negative control in the electric power industry, and particularly relates to a kind of intelligent high-voltage fee control and negative control terminal, comprising a first terminal and a second terminal, the first terminal is electrically connected to the metering box through the metering cable, the second terminal is electrically connected to the fee control switch, and the fee control switch is electrically connected to the metering box. The first terminal of the present application can not only implement local fee control, but also can analyze the received collection terminal round control command, issue multiple round control commands to the second terminal through wireless remote transmission technology, and complete the switch jump and closing task by the corresponding second composite controller of the second terminal, realizing multiple round wireless remote control. According to the different metering methods, the present application can realize high-supply high-metering high-voltage side multi-point switch control, high-supply high-metering low-voltage side multi-point switch control, and high-supply low-metering low-voltage side control, and is not limited by the installation position of the metering point, and can realize indoor, outdoor, pole-mounted and floor-mounted installation.

The invention discloses an adaptive robust constraint following control method for a stable holder of a photography unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle control, and the method comprises the steps: firstly, building a full-working-condition dynamic model containing uncertainty and disturbance through a Lagrange equation based on the building of a holder system kinematics model; converting the expected trajectory of the photographic lens into a second-order constraint equation, and constructing a constraint tracking error index; designing a composite controller comprising a nominal control item and an adaptive robust compensation item, solving a servo constraint force, and embedding a fixed threshold anti-jitter strategy; the unknown uncertainty of the system is estimated in real time through the self-adaptive law with the leakage item, and the control compensation strength is updated; and finally, verifying the stability of the system through the Lyapunov theory, and completing simulation and physical testing. According to the method, the trajectory tracking precision and the motion stability of the holder are improved, the problems of buffeting control, weak anti-interference capability and parameter drift in the prior art are solved, and the method has extremely high engineering practicability.

The invention provides a micro-nano satellite multi-constraint fine control method based on actuator dynamics, and belongs to the field of spacecraft control, and the method comprises the steps: considering the electromechanical characteristics of a reaction wheel, and building a micro-nano satellite attitude deep coupling model containing the dynamic characteristics of the reaction wheel; aiming at reaction wheel axle friction and counter electromotive force interference, designing a double-interference observer to accurately estimate the reaction wheel axle friction and counter electromotive force interference; designing a nonlinear state-dependent obstacle function to convert a constraint state into a tracking control variable according to the star rotating speed and reaction wheel current physical constraint; and a composite controller is constructed by combining a double-interference observer and a nonlinear state-dependent barrier function, and the design of the high-precision controller of the micro-nano satellite is completed. According to the method, the problem of various physical constraints in micro-nano satellite control can be solved, the interference of the reaction wheel is compensated, and the method has the characteristics of high reliability and high accuracy.