229 results about "Controller design" patented technology

The invention belongs to the technical field of hypersonic flight vehicle control, and relates to a rigid-elastic coupling-oriented active and passive integrated control method for a hypersonic flight vehicle. The invention aims to realize stable tracking control of the elastic hypersonic flight vehicle. The method comprises the following steps: constructing a longitudinal dynamic model of the elastic hypersonic aircraft; self-adaptive identification of the elastic vibration frequency is realized through a cascaded self-adaptive filter; an elastic modal filtering estimation method is designed, and high-precision and low-cost elastic modal state quantity is provided for subsequent active feedback controller design; and then rigid-elastic coupling model decomposition is carried out, the control performance is ensured by using active disturbance rejection passive control for a rigid body subsystem, an RBF neural network is introduced for an elastic subsystem, an elastic mode is actively inhibited by using sliding mode control, and stable tracking of a reference instruction is realized. The method is an active and passive integrated control method for the hypersonic flight vehicle oriented to rigid-elastic coupling, and the application prospect is wide.

The invention discloses a hydroelectric generating set speed regulation control method considering excitation coordination. The method comprises the steps that 1, system state information is collected and preprocessed; step 2, on-line identification of excitation speed regulation coupling characteristics; 3, decomposing a multi-time-scale control target; step 4, designing a self-adaptive multivariable controller; 5, working condition self-adaptive parameter optimization; step 6, intelligently inhibiting the water attack effect; 7, multi-machine cooperative reactive power optimization control is carried out; 8, optimizing and executing a control strategy in real time; the technical problems that excitation speed regulation dynamic coupling, multi-time scale response mismatch, multi-machine cooperative control and the like in a hydroelectric generating set control system cannot be comprehensively solved in the prior art are solved, and the regulation response speed and the system operation safety are improved while the frequency and voltage stability is ensured.

The application belongs to the technical field of motor drive control, and discloses a permanent magnet synchronous motor current loop control method based on a predictive nonlinear active disturbance rejection, which comprises the following steps: step 1, establishing a permanent magnet synchronous motor control system model considering time delay; step 2, establishing a current loop extended state observer with time delay compensation; and step 3, designing a nonlinear current feedback control law based on finite time convergence. The application establishes a discrete domain extended model for the current loop of the permanent magnet synchronous motor, and proposes a high-performance nonlinear active disturbance rejection current control method for the permanent magnet synchronous motor. The high-frequency response current controller designed by the application is composed of a predictive extended state observer and a nonlinear current feedback control law, and can solve the problem that the frequency response of the permanent magnet synchronous motor drive is limited due to the digital delay in the motor digital control system and the low-pass filter delay in the current feedback channel, and improve the anti-disturbance performance when the motor parameters change.

The invention discloses a multi-spacecraft attitude and orbit coupling all-drive convergence time controller generation method, which is applied to the technical field of aerospace and comprises the following steps: establishing a multi-spacecraft attitude and orbit coupling error system all-drive model based on all-drive characteristics of a tracking error model; wherein the multi-spacecraft attitude and orbit coupling error system all-drive model is a pseudo-linear system model aiming at the stability problem of a multi-spacecraft attitude and orbit coupling error system; aiming at the multi-spacecraft attitude and orbit coupling error system all-drive model, constructing an all-drive convergence time controller based on an all-drive system method, a sliding mode control method and a preset time control method, and adjusting the convergence time of the system based on the all-drive convergence time controller; the all-drive convergence time controller is a controller designed based on a preset time parameter and an adjustable time parameter. According to the method for adjusting the preset time through attitude and orbit coupling, the multiple spacecrafts can maneuver to the expected attitude and orbit within the preset time, formation is completed, and the formation efficiency is improved.

The invention belongs to the field of aero-engine control, and particularly relates to a variable cycle engine active disturbance rejection control system which comprises a tracking differentiator, an expansion state observer, an error nonlinear feedback unit and a disturbance compensation unit. The tracking differentiator can obtain the target rotating speed or pressure ratio of the engine and generate the tracking trajectory of the target. The extended state observer can collect the state quantity of the engine and the control quantity of the disturbance compensation unit to generate disturbance estimation and state estimation. The method does not depend on an object accurate model, and only needs to estimate the system dynamics online through an extended state observer. Compared with a traditional PID which needs to repeatedly set parameters (such as a proportionality coefficient and integral time) for different working conditions, control parameters (such as the tracking speed of TD, the bandwidth of an extended state observer and the gain of nonlinear feedback) of the algorithm only need to be calibrated based on the typical working conditions of the engine, and the design complexity and the maintenance cost of the controller are greatly reduced.

The application discloses a kind of LADRC control methods based on DAB converter, comprising: with the unit value of transmission power as control quantity, LADRC control is carried out through DAB converter linear large signal model;Wherein, the DAB converter linear large signal model is based on single-sided asymmetric duty cycle modulation method, and the control of output voltage is realized by directly controlling quantized transmission power.The control method proposed in the application improves the traditional linear active disturbance rejection controller under the premise of guaranteeing system performance, and optimizes the parameter setting process.Finally, it is verified through a simulation platform, and the overall efficiency in the full power range is significantly improved.The control proposed has better robustness than the traditional PI control, and greatly simplifies the problem of too many parameters and difficult to value in the design of traditional ADRC controller.

The invention discloses an unmanned aerial vehicle guaranteed performance trajectory control method, and relates to the field of unmanned aerial vehicle tracking control, and the method comprises the following operation steps: S1, carrying out the longitudinal dynamics modeling of a fixed-wing unmanned aerial vehicle; s2, constructing a T-S fuzzy model; s3, a Fuzzy-GCC controller is designed; s4, the LMI of guaranteed performance control is solved; and S5, intelligently optimizing the parameters. According to the unmanned aerial vehicle guaranteed performance trajectory control method, the control models of the fixed-wing unmanned aerial vehicle can be integrated to obtain a unified form, so that the control law design and parameter tuning of the fixed-wing unmanned aerial vehicle are greatly simplified, a complex propulsion system and a longitudinal controller are decoupled through a lookup table, and the control efficiency of the fixed-wing unmanned aerial vehicle is improved. According to the method, the complexity and nonlinearity of the whole model are remarkably reduced while the control precision is kept, a T-S fuzzy model for longitudinal control of the fixed-wing unmanned aerial vehicle is deduced, and a GCC method and a stability criterion thereof are proposed based on the model, so that the global asymptotic stability of the designed nonlinear state feedback controller is ensured.

The application discloses a master-slave space mining robot adaptive control system based on IAVOA, which comprises the following steps: a master-slave kinematic model of the space mining robot is established according to the structure and motion characteristics of the space mining robot, and then a trajectory tracking control system of the space mining robot is established; in the controller design process, the direct feedback linearization theory is adopted to realize the global accurate linearization of the nonlinear system of the space mining robot, and the kinematic problem of the space mining robot is greatly simplified; the optimal initialization of the algorithm population is realized by introducing the Henon chaotic mapping population initialization and elite population strategy; the external storage library can help the vulture population to select more solution space, and avoid generating a large number of same non-inferior solutions; the adaptive optimization adjustment of the control parameter of the space mining robot control system can be realized, the complex working environment on the surface of the asteroid can be effectively coped with, and the accurate control of the motion of the system on the space mining robot can be realized.

The invention discloses a position synchronization control method for multiple permanent magnet synchronous motors based on a distributed observer. The position synchronization control method comprises the following steps: S1, establishing a mathematical model of a multi-permanent magnet synchronous motor system consisting of N permanent magnet synchronous motors; s2, dividing the motor into an informed motor group and an uninformed motor group according to whether the leader information can be directly acquired or not, and describing a position synchronization control problem of the multiple permanent magnet synchronous motors as a collaborative output adjustment problem of a multi-agent system; s3, establishing a directed communication topology to describe an information transfer relationship between agents in a multi-agent system formed by the external system and the multi-permanent magnet synchronous motor system; and S4, a cascade structure is adopted for controller design, a distributed observer is designed for the position-speed rings of the two motor sets, a PI controller is designed for the current rings, and a final controller is given. According to the method, the position synchronization control of the plurality of permanent magnet synchronous motors can be realized without speed information, and the method has anti-disturbance capability and good tracking performance.

A controller design for a dual input single output (DISO) system is applied to a robot for printing layouts at construction sites. The differential drive robot has a separately controlled linear actuator that moves the print head perpendicularly to the fore-aft axis of the robot. The output is the lateral position of the print head; the sum of the position of the linear actuator (faster stage) relative to a reference point on the front of the robot, which is determined by the steering of the robot (slower stage). Both are measurable. The controller coordinates the action of the separately controlled linear actuator and the differential steering to achieve fast convergence and sub-millimeter tracking. Simulations and experimental results demonstrate the effectiveness of the approach.

This invention belongs to the field of active magnetic compensation technology for magnetic shielding devices, and discloses a control method and system for disturbance suppression in an active magnetic compensation system based on a superspiral finite-time disturbance. The method includes: establishing the differential equation of the active magnetic compensation system with abrupt disturbance terms; designing a finite-time extended state observer based on the differential equation; and designing a superspiral finite-time controller based on the disturbance observer based on the finite-time extended state observer to suppress disturbances. The finite-time extended state observer designed in this invention can quantitatively observe unknown system states and uncertain abrupt disturbances, providing prior information for controller design and improving the system's anti-disturbance capability. Because this invention designs a superspiral finite-time controller based on the disturbance observer, the system state can stabilize within a finite time, effectively improving the response speed and control accuracy of the active magnetic compensation system.

The invention discloses a predefined time sliding mode control method based on an improved cascade non-linear extended state observer, so as to realize higher-performance and more reliable control of an uncertain non-linear system, and the method comprises the following steps: 1, providing an inequality based on PTC based on PTC basic definition, and aiding the design of a PTC controller with an adjustable characteristic; 2, aiming at the inequality proposed in the step 1, designing an adjustable PTSMC in combination with a sliding mode control algorithm; and step 3, for non-matching disturbance widely existing in a non-linear system, providing an improved non-linear extended state observer, and compensating an adjustable PTSMC algorithm. The invention provides a novel PTC (Positive Temperature Coefficient)-based inequality and auxiliary controller design. And meanwhile, the designed controller has a better convergence speed. An adjustable predefined time sliding mode controller is designed based on an inequality, and the control performance of the system is effectively improved. The design of ICNLESO can observe and compensate system disturbance in real time, and the anti-interference performance of the system is enhanced.

The application discloses an energy balance-based asymmetric temperature control system simulation modeling method, and belongs to the technical field of industrial temperature control system modeling and simulation. Firstly, a temperature rising step experiment and a temperature falling step experiment are performed, steady-state data is acquired, a balance point power function is derived, equivalent verification is performed, a temperature rising curve and a temperature falling curve are derived, and identification parameters are derived. A net power deviation is defined, the identification parameters are subjected to smooth transition, gain parameters are acquired, a first-order linear differential model is established, a first-order backward difference method is adopted for discretization, recursion is performed based on a set simulation step, and a recursion model is acquired. A plurality of recursion models are derived based on repetition of the simulation step, a temperature response curve of the temperature control system is established, and simulation modeling is completed. The method only needs two step experiments, real-time parameters are calculated through the net power deviation, real smooth and continuous dynamic simulation is realized, and a reliable simulation method is provided for temperature digital twinning and temperature controller design.

The invention discloses a fixed-wing unmanned aerial vehicle flight control method based on active disturbance rejection control, and belongs to the technical field of fixed-wing unmanned aerial vehicle flight control. The problem that the attitude control performance is poor due to the fact that aerodynamic interference of the propeller is not considered in an existing method is solved. According to the method, aerodynamic interference factors of propellers are systematically introduced into modeling and control design, namely, reaction torque and gyroscopic moment are introduced into the modeling and control design, and a flight control system of the fixed-wing unmanned aerial vehicle is designed based on an active disturbance rejection control strategy; and dynamic and external disturbances which are not covered by the model are estimated and compensated in real time, so that the attitude control performance of the fixed-wing unmanned aerial vehicle is improved. Meanwhile, under various given input signals, simulation verification is performed on the performance of the active-disturbance-rejection controller designed by the invention, which shows that the performance of the active-disturbance-rejection controller designed by the invention can meet design indexes. The method can be applied to flight control of the fixed-wing unmanned aerial vehicle.

The invention discloses a control method and device for an active folding arm deformation aircraft, a medium and a product, and relates to the field of aircraft control, and the method comprises the steps: obtaining a real-time output angle value of a servo motor through PID control based on expected deformation configuration; designing an inertia self-adaptive estimation mechanism based on a coordinate system represented by kinematics and kinetic equations and a variable theoretical value during attitude determination, determining a current inertia matrix estimation value by adopting a recursive least square method, adding a kinetic model, and setting a sliding mode backstepping control rate; damping and feed-forward compensation optimization are carried out by adopting a set control rate, a current rotating speed value of the power servo motor is determined by combining a time-varying distribution matrix, an actual position and an attitude angle are determined by considering a real-time output angle value, and the actual position and the attitude angle are fed back to a position and attitude controller. According to the method, the control rate and the feedback term related to the inertia in the controller design can be corrected in real time, and the sudden change problem of the inertia is solved, so that the adaptability to the uncertainty of the aircraft structure is effectively enhanced.

An aero-engine surge active control system based on fuzzy controller switching is provided. The present invention selects a basic controller with the most appropriate current state for switching control according to the operating state of a compressor based on the principle of fuzzy switching, and can realize large-range, adaptive and performance-optimized surge active control. Controllers designed by the present invention realize large-range surge active control through fuzzy switching, so that the effective operating ranges of the controllers are expanded and the reliability of the controllers is improved. The designed controllers can be applied to the active control of surge caused by various causes, so that the adaptability of the controllers is improved and is closer to the actual operating condition of the engine. Some optimization indexes are added in the design process of the controllers, which can realize optimal control under corresponding optimization objectives.

This invention relates to an AUV close-range docking method based on sliding mode adaptive control under ocean current interference. The controller design eliminates decoupling of the AUV's motion and incorporates an integral term in the sliding mode adaptive controller design, employing Integral Sliding Mode Adaptive Control (ISMAC) to minimize chattering during the AUV's approach motion. Finally, in designing the control parameters, overshoot is minimized at the expense of settling time to ensure successful docking. Furthermore, the estimation of ocean current velocity gives the system a certain degree of anti-interference capability, demonstrating its robustness.

The application discloses an iterative learning control evolution method for an automatic driving vehicle in a circulation scenario and relates to the field of automatic driving vehicle control. First, an offline controller is designed for the automatic driving vehicle in the circulation scenario, and reference states in the corresponding scenario are obtained. Then, based on the reference states and considering the influence factors that are difficult to traverse in the offline controller design, an online controller is designed. Finally, the online controller is continuously evolved through iterative learning until the learning process converges, and the optimal control effect is achieved. Based on the optimal control effect, the motion state of the automatic driving vehicle converges to the expected state in the circulation scenario, and the task in the corresponding scenario is executed. The application guarantees the effectiveness and real-time performance of the online controller, avoids the error accumulation in the iterative process, and improves the safety of the unmanned system.

The invention discloses an input and output quick response inversion control method for a three-phase grid-connected converter, and relates to the technical field of AC-DC converter control, and the method comprises the steps: building a mathematical model of the converter according to the main circuit topology and working principle of the three-phase grid-connected converter; acquiring three-phase voltage and three-phase current at a grid-connected position of the converter and voltage and current at a direct-current input end; a grid-connected current reference value and an input voltage reference value of the system are set, and an inversion sliding mode controller is designed; the expected duty ratio of the system is obtained through the controller, and a corresponding driving signal is generated according to the expected duty ratio, so that the circuit works in an expected rectification or inversion state. According to the invention, inversion control is used for design, so that the design of the controller is structured, the theoretical derivation process is simple, and the stability of the system can be ensured; and in combination with sliding mode control, the insensitivity of the system during external disturbance or parameter change is enhanced, and the robustness of the system is effectively improved.

The invention discloses a robot self-adaptive trajectory control method based on a radial basis function neural network, belongs to the field of intelligent equipment control, remarkably reduces huge calculation burden in a traditional optimization strategy, avoids time and operation space cost caused by the huge calculation burden, does not need to depend on a model training learning process before control, and improves the control precision. Therefore, the trajectory tracking control precision of the continuum robot is effectively improved. The method mainly comprises the following steps: constructing a continuum robot nominal dynamic model through a Lagrange algorithm; designing a radial basis function neural network function for approximation estimation of Coriolis force, gravity, elastic force and external interference in subsequent controller design; subtracting the actual output from the ideal output of the system to form a tracking error z1, and constructing a first error variable; designing a Lyapunov candidate function for the integral of the first error variable, and designing a first virtual controller; the method is mainly used for track control of the continuum robot.

The invention provides a mechanical arm event trigger control transient analysis and trigger controller design method based on response characteristics. The mechanical arm event trigger control transient analysis and trigger controller design method comprises the following steps that 1, a mechanical arm input and output response model is constructed; 2, system input serves as a piecewise function, and a trigger control transient relation is analyzed; and step 3, proposing a new time constraint event triggering strategy to avoid a sesame phenomenon. According to the method, the transient process is combined, the time constraint condition is introduced, the mechanical arm event triggering control strategy is established, the false triggering frequency is reduced, the sesame phenomenon is avoided, and the communication overhead is reduced.

The invention belongs to the technical field of reusable launch vehicle control, and particularly relates to a strong-robustness fault-tolerant control method for a reusable launch vehicle. The invention aims to provide the strong-robustness stable control method adaptive to the reusable vehicle under the condition that the control surface is stuck, so as to solve the problem that the task safety is seriously threatened due to sudden drop or even out of control of the control efficiency of the aircraft when the control surface of the reusable vehicle is stuck. The method comprises the following steps: constructing a six-degree-of-freedom model of the reusable vehicle and a control surface jamming fault model; introducing a nonlinear dynamic inverse theory to design a reference controller; and an extended state observer is designed to estimate system disturbance, so that the robustness of the control system is improved. The method is a strong-robustness stable control method for the reusable vehicle under the control surface jamming fault condition, and has a wide application prospect.

The invention discloses a multi-unmanned ship formation predefined time distributed control method, and relates to the technical field of under-actuated multi-unmanned ship formation control, and the method comprises the following steps: (1), building a horizontal plane motion mathematical model of a three-degree-of-freedom unmanned ship; (2) defining an ideal offset vector and an actual offset vector of the ith unmanned ship relative to the jth unmanned ship; step (3), constructing a communication topology of the unmanned ship formation system, and defining a distributed position error vector; (4) designing a predefined time surging virtual control law and a predefined time yawing virtual control law of the ith unmanned ship; (5) designing a predefined time surging control law and a predefined time yawing control law of the ith unmanned ship; and (6) performing simulation verification. The invention aims to combine the design of the distributed controller with the predefined time control strategy, so that the tracking error can be stably converged within the preset time, thereby improving the transient response performance and the steady state control precision of the system, and achieving the rapidity, robustness and distributed characteristics of the formation control of multiple unmanned ships.

The invention relates to the technical field of nonlinear control, and discloses a transverse and lateral attitude controller design method based on an all-wheel-drive system method and interference compensation. The method comprises the following steps: establishing an aircraft transverse and lateral coupling model; according to the transverse and lateral coupling model of the aircraft, calculating a reference control instruction by using an all-drive system method; and obtaining an interference compensation attitude controller by using an active disturbance rejection method, and compensating the reference control instruction through the interference compensation attitude controller to obtain a compensated control instruction. The controller designed by the invention can well track the attitude instruction.

A multi-agent system encirclement control method triggered by intermittent dynamic events under hybrid attacks comprises the following steps: S1, constructing a directed communication topology and a Laplacian matrix of a multi-agent system according to an actual task; s2, constructing a multi-agent system model including uncertain disturbance, nonlinear dynamics and false data injection attacks; s3, designing a sliding-mode observer and a double-layer attack detection mechanism for denial of service attack and false data injection attack; s4, designing a fixed time encircling controller of the intermittent dynamic event triggered multi-agent system; s5, the controller designed in the step S4 is used for achieving encircling control within fixed time, and the upper bound of convergence time is obtained; and S6, continuously operating until the encircling control of the multi-agent system is completed. The invention aims to solve the problem of safe, efficient and rapid encircling control when a multi-agent system is subjected to DoS attack, FDI attack and external disturbance at the same time.

This invention provides a sliding mode control method for a floating-based space robot that integrates a decoupled dynamics model, belonging to the field of controller design technology. This invention establishes contact determination indices and floating-based stability indices for the floating-based space robot; constructs a logical switching index and a globally unified control law; determines the operating mode of the floating-based space robot based on the logical switching index; and controls the floating-based space robot based on the globally unified control law. The globally unified control law of this invention includes a full-dimensional sliding mode control law and a reduced-dimensional sliding mode control law, which can minimize control abrupt changes and system oscillations that may occur during switching, improving the adaptability and task execution continuity of the space robot in multi-task scenarios. Through the collaborative design of full-dimensional and reduced-dimensional controllers, smooth switching between different control modes is achieved, ensuring the global stability of the system in different control modes and during their switching processes.

The application discloses a design method of a fractional order nonlinear system fuzzy fault-tolerant controller for a flexible mechanical arm, and comprises the following steps: constructing a fractional order nonlinear system with external disturbance and actuator fault; estimating a nonlinear part in the fractional order nonlinear system based on a fuzzy logic system; defining a coordinate transformation related to a tracking error; and designing a finite time adaptive fuzzy fault-tolerant controller by combining a fractional order dynamic surface control method with a backstepping method. According to the application, the output of the fractional order nonlinear system can track a reference signal in a finite time, and all signals in the closed loop system are also bounded in the finite time. Finally, the controller is applied to a flexible mechanical arm system.

The application provides a robot formation control method and system based on a distributed observer, and a medium, relates to the field of artificial intelligence, and the method comprises the following steps: establishing a mobile robot mathematical model system; the robots in the mobile robot mathematical model system comprise a leader and a follower; obtaining three-dimensional state information of the leader; designing a time-varying distributed observer by introducing a time-varying gain; estimating the information of the leader within a specified finite time T through the time-varying distributed observer combined with the three-dimensional state information, and determining the observed state of the leader; designing a local controller; through the local controller, the observed state of the leader is combined to control the follower to monitor and track the state of the leader in real time, and the formation control target is completed. Through the introduction of the time-varying distributed observer and the flexible design of the local controller, the adaptability of the system in the dynamic and nonlinear environment is improved.

The invention relates to a universal swing-up stabilization control method for a vertical multi-link mechanical arm with a single passive joint, which belongs to the technical field of robot control and comprises the following steps: S1, establishing a mechanical arm dynamic model with a single passive joint configuration by adopting a Lagrangian method; s2, designing a system track based on initial and target states of the system; s3, designing a switching condition through a track error threshold value and a parameter coupling relation; s4, performing off-line optimization on the trajectory parameters by adopting an ant colony optimization algorithm; s5, designing a sliding mode tracking controller for avoiding singular values; and S6, designing a stabilizer.

The present application belongs to the technical field of autonomous underwater vehicle control, and relates to a preset time adaptive tracking control method for autonomous underwater vehicle. The present application firstly establishes a three-degree-of-freedom dynamic model of the autonomous underwater vehicle, constructs a non-time-varying scale function for preset time coordinate transformation, realizes preset time control through the method of non-time-varying scale function coordinate transformation, reduces the complexity of the controller design process, and ensures that the tracking error can converge to a small neighborhood of the origin within the preset time without relying on the initial conditions; the MTN approximation technique is combined with the adaptive backstepping method to develop a novel adaptive network control scheme; the Lyapunov stability theory is used to prove that all signals in the closed-loop system remain bounded, and the rationality of the proposed scheme is verified through simulation. The method of the present application reduces the complexity of the controller design process while ensuring the stability of the system.