91 results about "Composite controller" patented technology

The invention discloses a forklift operation control optimization method and system based on a disturbance observation technology, and relates to the technical field of electric forklift control, and the method comprises the steps: collecting the operation data of a forklift operation process in real time, sensing and fusing through multi-source sensing information, analyzing the state variable of forklift movement, and building a dynamic parameter mapping relation; taking the measured value and the predicted value of the forklift all-condition dynamic model as input, constructing a high-order sliding-mode observer, evaluating disturbance source interference, and generating a motion compensation correction amount; a feed-forward-feedback fused composite controller is constructed, a yawing moment pre-compensation instruction is generated based on a disturbance source disturbance evaluation result, and a forklift trajectory tracking error is dynamically corrected; and monitoring the distance between the operation point of the forklift and the instability boundary in real time, and triggering a torque redistribution strategy when the distance is close to the instability boundary. Through deep fusion of real-time sensing data, dynamic modeling and an intelligent control algorithm, the working performance of the forklift under complex working conditions is remarkably improved.

The invention discloses an energy efficiency management system for low-carbon and energy-saving operation of building electromechanical equipment, and belongs to the technical field of building energy saving and intelligent control. The system comprises a data acquisition module, an energy efficiency analysis module, an optimization decision module and an execution control module; the data acquisition module acquires information such as equipment operation parameters in real time through the heterogeneous sensor network and the LoRaWAN edge gateway; the energy efficiency analysis module performs multi-dimensional evaluation on the basis of a dynamic energy efficiency reference algorithm by fusing an equipment energy efficiency ratio, carbon emission per unit area and the like; the optimization decision module adopts a mixed integer nonlinear programming algorithm, simulates working conditions through a mixed digital twin model, and generates a control strategy for collaborative optimization of energy consumption, carbon emission and equipment life; the execution control module dynamically adjusts equipment parameters by using a fuzzy PID composite controller; the method breaks through the limitation of static evaluation and single-target optimization of a traditional system, the comprehensive energy efficiency can be improved by 15%-30%, carbon emission is reduced by 20% or above, the service life of equipment is prolonged, and the credibility requirement of carbon checking is met.

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 ground-to-ground heterogeneous cluster formation control method and system based on an adjustable funnel algorithm, and relates to the technical field of distributed formation maneuvering control, and the method comprises the steps: building a dynamic model of a ground-to-ground heterogeneous cluster, and building an undirected graph representing an interaction topological structure of the ground-to-ground heterogeneous cluster; modeling a distributed safety critical formation maneuvering control problem of the air-ground heterogeneous cluster; a fully distributed dynamic compensator facing each follower and a formation maneuvering controller based on an adjustable funnel algorithm are designed, and then a safety-critical control framework based on a disturbance observer is adopted to construct a composite controller; and acquiring a virtual navigator signal and inputting the virtual navigator signal to the constructed various controllers to obtain an actual formation control signal of each follower, and executing distributed safety-critical formation maneuvering control on the followers. Through a distributed safety critical formation maneuvering strategy based on an adjustable funnel method, collision / obstacle avoidance and disturbance suppression of an air-ground heterogeneous cluster can be 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 an unmanned system dual-time scale security cooperative control method and system under FDI attacks, and relates to the technical field of unmanned system security collaboration.The method comprises the steps that a communication topological graph and an unmanned system dynamic model with dual-time scale characteristics are established firstly, then a bounded FDI attack model and a dynamic observation error model are established, and the dynamic observation error model is established; the method comprises the following steps of: firstly, carrying out fast and slow decomposition on a follower, constructing a distributed elastic observer, then analyzing sufficient conditions of observation error convergence, secondly, carrying out fast and slow decomposition on the follower, constructing a novel composite controller and a dynamic output error system model, and finally, analyzing sufficient conditions of consistent adjustment output of a leader and the follower under FDI attack. According to the method, the ill-conditioned numerical problem of an adjustment equation caused by the dual-time scale characteristic is avoided, the FDI attack is eliminated in real time and is not influenced by the attack occurrence time and probability, and the output consistency of the leader and the follower in the unmanned system is effectively realized.

The invention discloses an annular permanent magnet linear synchronous motor speed feedforward compound control method considering disturbance compensation, and the method comprises the steps: taking an annular permanent magnet linear synchronous motor TPMLSM as a control object, and building a voltage model of the TPMLSM under a three-phase static coordinate system; based on this, establishing a control model under a d-q rotating coordinate system; determining a speed loop transfer function of the TPMLSM based on conventional integral proportion (PI) control, introducing a feed-forward controller on the basis, and designing a TPMLSM speed feed-forward composite controller through the transfer function of the feed-forward controller; a quasi-resonance extended state observer (ESO) is used for observing external disturbance, a disturbance observation value is equivalent to a q-axis current disturbance quantity, and feedforward compensation is carried out on the q-axis current disturbance quantity to a speed ring for output, so that the anti-disturbance capability of the speed ring is improved; proportional control is introduced into disturbance observation items of the ESO disturbance observer, dynamic response of the disturbance observer under low bandwidth is accelerated, the dynamic response of a motor control system is improved, and the anti-disturbance capability of the system is enhanced.

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 discloses an unmanned aerial vehicle control method and device based on fractional order superhelix and electronic equipment. The method comprises the following steps: establishing a dynamic model corresponding to the multi-rotor unmanned aerial vehicle; determining an extended state observer corresponding to the kinetic model; according to the dynamic model, a fractional order super-spiral controller corresponding to the multi-rotor unmanned aerial vehicle is determined, the fractional order super-spiral controller is used for keeping the system state of the multi-rotor unmanned aerial vehicle on a sliding mode surface by adjusting control signal parameters of the multi-rotor unmanned aerial vehicle, and the sliding mode surface is used for defining the expected state of the multi-rotor unmanned aerial vehicle; the fractional order super-spiral controller comprises a non-smooth item, and the non-smooth item is used for smoothing a control signal when a system state approaches a sliding mode surface so as to reduce buffeting of the system state; and constructing a composite controller according to the extended state observer and the fractional order superhelix controller. The technical problem that the control effect on the unmanned aerial vehicle is poor due to the buffeting phenomenon of sliding mode control in the related technology is solved.

The invention discloses an anti-frequency interference V2G converter low harmonic combination control method, the V2G converter is a voltage type PWM rectifier, and the method is characterized in that a voltage outer loop controller in the control method adopts a proportional integral controller, a moving average filter is directly connected in series to the output of the voltage outer loop controller; interference of periodic signals in the direct current bus voltage on the current reference signals is suppressed, so that the amplitude of the current reference signals is pure direct current quantity; in the current loop controller, a repetitive controller is used as a feedforward controller and is combined with a weighted average deadbeat controller, an insertion type composite controller is constructed, coefficients are rapidly updated by adopting a Lagrange interpolation method, and a delay value is continuously controlled, so that the repetitive controller and a moving average filter have frequency self-adaptive characteristics; the problem of performance degradation of a traditional fixed frequency controller during frequency fluctuation is solved, and the anti-frequency interference characteristic of the converter is enhanced.

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 discloses a multi-stage oxidation treatment system for high-salinity wastewater and an optimized operation method, and relates to the technical field of high-salinity wastewater, the method comprises the following steps: collecting oxidation parameters of each stage of reaction tank through an integrated sensor and a processor; setting a target degradation efficiency, a maximum oxidant adding threshold value and a byproduct concentration threshold value based on the initial water quality; adjusting the adding amount of each stage of oxidizing agent through a sliding mode-PID composite controller; setting a dynamic oxidant parameter regulation strategy, and dynamically adjusting the oxidant mixing speed and reaction time according to the real-time temperature and pH value; if the by-product concentration of any stage is greater than 1.2 times of the by-product concentration threshold value, or the accumulated medicament cost exceeds the set medicament cost threshold value, updating the target degradation efficiency, the maximum oxidant adding threshold value and the by-product concentration threshold value, and triggering an alarm. The problems that in the multi-stage oxidation process, the adding amount of each stage of oxidizing agent is difficult to accurately control, the optimal degradation effect is achieved, and meanwhile the agent cost is reduced are solved.

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 discloses a multi-vector model predictive control method for a dual three-phase permanent magnet synchronous generator considering a harmonic space, which comprises the following steps: selecting three voltage vectors to construct a target voltage vector in each control sector, substituting the target voltage vector into a discrete predictive control model to obtain a predictive current at the next moment, and further constructing a value function to obtain a predictive current at the next moment; and selecting an optimal virtual voltage vector set of the two subspaces and action time of the optimal virtual voltage vector through a minimum value function, combining control of the two subspaces into a control period, recalculating a switching sequence PWM signal, and acting on the rectifier. In the process of selecting the optimal virtual voltage vector set of the two subspaces, a superhelix integral sliding mode observer is used for observing current disturbance, and a composite controller is used for conducting zero static error tracking on harmonic waves in the z1z2 subspace. Under the condition that the dynamic performance is not affected, the fundamental wave space control performance is improved, the harmonic current is suppressed, and the steady-state performance of the DTP-PMSG is 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 invention discloses an electromagnetic type integral lifting construction device and a control method thereof, and the electromagnetic type integral lifting construction device comprises an electromagnetic lifter which is connected with a lifted structure through a steel strand; the electromagnetic lifter comprises an upper anchorage device, a lower anchorage device, an electromagnetic telescopic cylinder and a composite controller, the composite controller controls telescopic motion of the electromagnetic telescopic cylinder and magnetic poles of electromagnets in the upper anchorage device and the lower anchorage device according to instructions issued by the computer control system, and when the magnetic poles of the electromagnets are changed, the anchorage devices lock the steel strands or unlock the steel strands; in the lifting process, after the electromagnetic telescopic cylinder reaches the preset single-time elongation amount, the lower anchorage device is opened, the upper anchorage device is locked, the telescopic end moves downwards and retracts, and the lifted structure is kept static; after the telescopic end completely retracts, the upper anchorage device is opened, the lower anchorage device is locked, then the telescopic end extends upwards, and the lifted structure moves upwards; and the structure to be lifted is lifted step by step by repeating the steps. The device is small in occupied area, and full-automatic control of the lifting construction process can be achieved.

The invention discloses a novel sensorless control method for a permanent magnet synchronous traction motor, and relates to the technical field of high-speed train permanent magnet synchronous traction motor control methods. The method comprises the following steps: establishing mathematical models of the built-in permanent magnet synchronous traction motor under an alpha-beta coordinate system and a d-q coordinate system; designing a novel super-spiral sliding-mode observer, constructing a back electromotive force adaptive law, designing a current inner loop active-disturbance-rejection controller, and introducing a novel nonlinear function to improve the active-disturbance-rejection controller; a rotating speed outer ring sliding mode active-disturbance-rejection composite controller based on an improved exponential reaching law is designed, counter electromotive force is estimated in real time through a super-spiral sliding mode observer, a rotating speed signal and a position signal are extracted in combination with a phase-locked loop and input to a current inner ring active-disturbance-rejection controller and the rotating speed outer ring sliding mode active-disturbance-rejection composite controller to generate a control instruction, and the control instruction is sent to a current inner ring sliding mode active-disturbance-rejection controller. And finally, sensorless control of the traction motor is realized. According to the method, faults of the mechanical speed / position sensor can be effectively avoided, and the robustness of the control system is 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 present invention discloses a current sharing control method for a parallel DC buck converter system, suitable for high-precision control of the output voltage and inductor current sharing of the parallel DC buck converter system. The method adopts a voltage tracking approach. First, an extended state observer is designed to observe and estimate disturbances such as input voltage fluctuations and load resistance changes. Based on this, a sliding mode controller is designed to obtain a composite controller for controlling the parallel DC buck converter system. This controller can quickly and accurately track the target voltage and achieve current sharing control even in the presence of disturbances such as input voltage fluctuations and load resistance changes. The present invention is simple to implement and requires minimal parameter adjustment. It not only improves the parallel DC buck converter system's ability to quickly track a reference signal, but also effectively reduces the steady-state fluctuations of the parallel power electronic DC buck converter, meeting the application requirements of high-performance power electronic buck converter systems.

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 present invention discloses an optimization method for active disturbance rejection composite control of a high-speed aircraft based on adaptive dynamic programming, belonging to the field of attitude control of high-speed aircraft. The composite controller designed by this method includes two parts: a steady-state controller and a dynamic controller. First, a second-order tracking differentiator and a neural network disturbance observer are designed based on the nominal model, which are used to obtain differential commands and compensate for uncertain disturbances respectively. Then, a sliding mode surface is constructed according to the tracking error and its derivative, and a steady-state controller is designed to ensure the balance stability of the attitude system. Finally, a dynamic controller is designed based on the action-dependent adaptive dynamic programming method. This controller consists of an action network and a critic network, which is used to approximate the optimal solution of the Hamilton equation, can ensure that the system can quickly track dynamic commands and adaptively optimize the parameters of the neural network controller online, and effectively improve the tracking performance of the attitude system.

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.