533 results about "Controller design" patented technology

The invention discloses a wind power grid-connected oscillation suppression method and system based on a self-adaptive damping controller, and relates to the technical field of oscillation suppression of a power system. According to the method, a self-adaptive damping controller structure is designed, and parameter setting is completed; then building a wind power grid-connected system simulation model; after voltage signals are collected, an FFT processing method is used for identifying oscillation frequency, and whether an unstable oscillation mode exists in the system or not is judged; if unstable oscillation exists, a self-adaptive damping controller is connected between the wind power plant side and the power grid side; the self-adaptive damping controller filters out signal components causing system oscillation and performs phase modulation; a signal component generated by the self-adaptive damping controller is injected into the power grid and counteracts with an original signal, and oscillation suppression is achieved. According to the self-adaptive damping controller designed by the invention, the oscillation frequency identification module and the phase shift parameter calculation module are introduced, so that measured data can be fully utilized, control link parameters are adjusted according to vibration frequency changes, and oscillation is effectively suppressed.

The invention discloses a data-based predefined time heterogeneous multi-agent formation collision avoidance method. The method comprises the following steps: establishing a nonlinear heterogeneous multi-agent system; designing a bimodal artificial potential field function to perform dynamic obstacle avoidance and prevent regional escape; establishing a self-adaptive robust controller used for generating an obstacle avoidance safety motion trail of the root leader; designing a self-adaptive formation zooming mechanism of the leader, and constructing a predefined time affine observer of the follower based on the self-adaptive formation zooming mechanism; designing a unified obstacle function; constructing a virtual control law for processing tracking errors based on the unified obstacle function; designing a neural network estimator; designing controllers of the leader and the follower according to the virtual control law; and forming a collision avoidance decision of the heterogeneous multi-agent formation based on a self-adaptive robust controller, a predefined time affine observer, a neural network estimator and controllers of the leader and the follower. According to the method, safe, efficient and robust cooperative control of the formation in a complex environment is realized, and the safety and task execution efficiency of the heterogeneous multi-agent formation in a limited and unknown environment are remarkably improved.

The invention discloses a fixed-wing unmanned aerial vehicle trajectory tracking control system and method based on a disturbance observer. The system acquires various state data of the unmanned aerial vehicle through the data acquisition module, the interference observer module estimates external interference in real time based on a dynamic model, the trajectory planning module generates an optimized trajectory according to tasks and environments, and the controller module realizes accurate control by adopting a model prediction control and sliding mode control composite strategy. And the execution mechanism driving module executes the control instruction. The method comprises the steps of data acquisition, interference estimation, trajectory planning, controller design and calculation, actuating mechanism driving and the like. The method can effectively improve the trajectory tracking accuracy and stability of the fixed-wing unmanned aerial vehicle in a complex environment, and has a wide application prospect.

The invention belongs to the technical field of position tracking control of rigid multi-joint mechanical arms, and discloses a fuzzy self-adaptive visual servo control method and system for a multi-joint mechanical arm system for placing bobbins in a textile workshop, and the method comprises the steps: constructing an image error model according to the positions of feature points on an image plane; the fuzzy logic system is used for processing uncertain items in the system, the instruction filtering and fuzzy self-adaption technology is used for achieving tracking control over the expected trajectory of the system, the problem of calculation complexity is solved, and adverse effects caused by filtering errors are eliminated. In the process of changing the bobbins, the bobbins are placed on a creel through a multi-degree-of-freedom robotic arm, a clamping jaw at the tail end of the robotic arm is required to accurately grab the bobbins for feeding and discharging, and the requirement for accurate and rapid control of the robotic arm is met, so that research on visual servo control of the robotic arm is of great significance. The method has a good control effect, the problem of calculation complexity in the design process of the controller is solved, the trajectory tracking error is smaller, and the system robustness is higher.

The invention relates to the technical field of power supply, and particularly discloses a peak and frequency regulation heat supply method for a multi-element energy storage coupling coal power unit, which is used for solving the problems that only active frequency is optimized, electric heating coordination and charge state constraint are lacked and time delay compensation is insufficient in the prior art. The method provided by the invention comprises the steps of system modeling, controller design, coupling constraint, adaptive parameter adjustment, delay compensation and distributed consensus. According to the method, a dual-domain electric power-thermal interconnection model is constructed, a cooperative controller based on delay compensation distributed model prediction control is designed, electric-thermal cooperative penalty and charge state constraint are introduced into a target function, a prediction window and weight parameters are adaptively adjusted, and network delay is identified and compensated online. And a consensus algorithm is adopted to realize multi-region power-heat collaborative optimization.

The invention provides a distributed formation control method driven by a recursive balance network under a communication attack, and relates to the technical field of cooperative control of a multi-agent system, and the method comprises the steps: constructing a distributed multi-agent system model, and constructing an RBN controller heterogeneous communication network architecture and a DoS attack model; the RBN controller design is optimized, the distributed RBN controller architecture is realized, the stability of the RBN controller is analyzed based on the shrinkage mapping theory, and the exponential convergence of the system state difference is proved by constructing a Lyapunov function; training the optimized RBN controller by adopting a difficulty priority confrontation training strategy, designing a multi-objective loss function, and dynamically adjusting the training weight of each difficulty level; and simulating the distributed multi-agent system optimized by the above steps, testing the robustness of the distributed multi-agent system under incremental DoS attack intensity, and performing comparative analysis of heterogeneous and isomorphic communication network configuration and comprehensive performance comparison of an RBN controller and a traditional MPC method.

The invention provides a mechanical arm predefined time trajectory tracking control method and system based on time delay estimation, and relates to the technical field of multi-degree-of-freedom mechanical arm trajectory tracking control. Constructing a predefined time error conversion function to define a system error and conversion error system, designing a barrier function and a feedback control rate based on the conversion error system, and designing a Lyapunov function to prove the stability of the system so as to track an expected trajectory; according to the method, time delay information is deeply fused, dependence on a complex model approximate structure is not needed, stable convergence of the mechanical arm system state within predefined time can be achieved when a mathematical model is not accurate, the system control performance and robustness are effectively improved, and the requirement of modern industry for mechanical arm high-performance control is met.

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 invention provides a fault-tolerant control method for preset performance of a morphing aircraft based on sliding-mode control. The fault-tolerant control method comprises the following steps: establishing a longitudinal nonlinear dynamic model of the morphing aircraft; based on the longitudinal nonlinear dynamic model of the morphing aircraft, establishing a longitudinal nonlinear dynamic model of the morphing aircraft under the fault condition of the execution mechanism; the method comprises the following steps: extracting a speed subsystem and an attitude subsystem aiming at a longitudinal nonlinear dynamic model of a morphing aircraft under an execution mechanism fault condition; carrying out sliding-mode control-based preset performance fault-tolerant controller design on the attitude subsystem; aiming at a speed subsystem, combining an attitude subsystem controller, and carrying out sliding mode control-based preset performance fault-tolerant controller design; the two designed controllers are utilized to realize the fault-tolerant control of the variant aircraft under the condition of executing mechanism fault. The sliding mode control and the preset performance control are combined, so that the conservative property is improved by quick response, the fault-tolerant capability is enhanced by switching the control law, and the stability is improved.

The invention provides a finite time cooperative tracking control method based on an adaptive RBF neural network, and belongs to the technical field of networked multi-agent control strategies. Constructing a dynamic mathematical model of a high-order all-drive uncertain nonlinear multi-agent system comprising a virtual leader and a follower; according to a cooperative tracking control target and uncertain items in the system, constructing an error dynamic system comprising an adaptive RBF neural network estimation compensation item; designing a finite time integral sliding mode surface based on a high-order all-drive system theory; designing linearization parameters of a finite time integral sliding mode surface based on a pole assignment method according to system dynamic performance and finite time convergence requirements, and obtaining a finite time integral sliding mode controller; and designing a self-adaptive updating law of an upper bound of an RBF neural network weight and an approximate error, and substituting the network weight and the approximate error into a finite time integral sliding mode controller to realize cooperative tracking control of finite time.

The invention provides an active-disturbance-rejection control method for an electromagnetic bearing two-level digital switching power amplifier embedded with model information. The method comprises the steps that an electromagnetic bearing two-level digital switching power amplifier mathematical model suitable for controller design is established based on the Fourier series theory and coil current characteristics; a direct current component in the mathematical model is defined as a modeling disturbance term, and feedforward compensation is directly carried out in the control law; parameter perturbation and an unmodeled part in the mathematical model are defined as unknown perturbation items, and real-time estimation is carried out through an extended state observer; a current item and a control input item in the mathematical model are used as known model information to be embedded into the design of the extended state observer; designing a feedback control law to carry out real-time compensation on the current item, the modeling disturbance item and the unknown disturbance item; a zero-order retainer and a current observer are adopted to carry out discretization processing on the controller, and the discretization processing is realized on a digital control platform based on a DSP (Digital Signal Processor). The method is high in current response speed and high in control precision.

The invention is suitable for the technical field of automatic driving vehicle control, and provides an automatic driving track rapid tracking control method based on online neural network learning, which comprises the following steps: firstly, designing an adaptive model prediction controller, then making a data set and training a fuzzy radial basis function neural network; then, online learning of the fuzzy radial basis function neural network is carried out; and finally, accelerated optimization of the training process of the fuzzy radial basis function neural network is carried out. The automatic driving track rapid tracking controller based on online neural network learning provided by the invention has the remarkable advantages that the neural network model is trained by using control data of MPC (model predictive control), and a nonlinear relation is fitted to approximate the MPC, so that the calculation efficiency is effectively improved, and the rapidity of the controller is improved; the controller can collect real-time data, update a data set and learn new neural network weight parameters online in the process of tracking a reference trajectory, and shows better adaptability and precision compared with a traditional model prediction controller.

The invention discloses an intelligent adaptive fault-tolerant control method for an aircraft. According to the method, the extended state observer with fixed time convergence is designed to obtain the lumped disturbance including the fault influence, the design of the super-spiral sliding mode controller is completed under the preset performance control framework, and the compensation of the total disturbance is generated by means of the good robustness of the sliding mode controller and in combination with the observer. The influence of aircraft faults on a control system is effectively reduced, the preset performance super-spiral sliding mode controller can realize rapid and accurate tracking of a control instruction in a short time, overshoot and oscillation in the control process are reduced, and the influence of buffeting of a traditional sliding mode algorithm on the aircraft control system is reduced; meanwhile, a reinforcement learning agent is designed to carry out online self-adaptive adjustment on parameters of the super-spiral sliding mode controller with the preset performance, so that performance reduction of the controller caused by various sudden faults which occur randomly and have random fault types is dealt with, and the influence of the faults on aircraft tasks is reduced.

The invention relates to an all-drive unmanned vehicle tracking control and torque control method based on a residual error model. The method comprises the following steps: establishing a nonlinear vehicle dynamics model and a Gaussian process-based residual error model; combining the two models to obtain a vehicle dynamics model based on the residual error model; establishing a Gaussian-model predictive control GP-MPC controller for path tracking by taking transverse compensation and course angle minimization as optimization targets and taking a vehicle dynamics model based on a residual model as a prediction model; a multi-target torque control algorithm is designed, the optimal control quantity output by the GP-MPC controller is distributed, and the expected longitudinal force of each tire is obtained; and designing a tire longitudinal force observer and an anti-interference current control law. According to the invention, the defects of poor tracking precision and poor stability of an all-drive unmanned vehicle are effectively overcome.

The invention belongs to the field of vehicle stability control, and particularly relates to a control method suitable for integration of four-wheel independent drive and active rear wheel steering. Comprising the steps of establishing a whole vehicle dynamics model suitable for controller design, performing stable region division by combining front and rear wheel side slip angle phase planes, setting an ideal yaw velocity and an ideal side slip angle, designing a feedforward and PID feedback integrated controller, performing torque distribution and the like. According to steering wheel rotation angle input, corresponding parameters of the vehicle are combined, the vehicle stability coefficient, the ideal yaw velocity and the side slip angle are calculated, the feedforward and PID feedback integrated controller inputs the calculated rear wheel rotation angle into the controlled vehicle, the calculated additional yaw moment obtains the basic driving moment based on pedal information, and the vehicle stability coefficient, the ideal yaw velocity and the side slip angle are calculated. Torques corresponding to four wheels are input to a controlled vehicle through torque distribution, so that the purpose of integrated control is achieved, and the vehicle handling stability is improved.

The invention discloses a two-degree-of-freedom helicopter optimal tracking controller design method based on disturbance observation, and relates to the technical field of two-degree-of-freedom helicopter control, and the method comprises the steps: considering the internal uncertainty and external disturbance of a system, and constructing a two-degree-of-freedom helicopter system equation; a pre-defined time nonlinear disturbance observer is introduced to estimate disturbance, coordinate transformation is constructed based on a dynamic surface control technology, a pre-defined time filter is introduced, a two-degree-of-freedom helicopter system model is decomposed into two stages of subsystems, and an optimal performance function is constructed for each subsystem. And designing an optimal virtual controller and a predefined time trajectory tracking controller. The controller designed by the invention can ensure that all signals of the whole two-degree-of-freedom helicopter are bounded within the preset time, can effectively improve the transient performance and the steady-state performance of the two-degree-of-freedom helicopter, and can ensure that the two-degree-of-freedom helicopter can still quickly and accurately track a reference trajectory within the preset time after being disturbed.

The invention relates to a hybrid energy storage control method for an urban rail transit energy router. The method comprises the following steps: S1, carrying out topological structure design and system compatibility configuration on the energy router; s2, impedance modeling and frequency division power distribution of the hybrid energy storage system are carried out; s3, fuzzy controller design and super capacitor SOC dynamic management are carried out; s4, carrying out membership function optimization and fuzzy control parameter setting; s5, multi-mode cooperative control and system operation optimization are carried out; according to the structure of the energy router and the power utilization characteristics of the rail transit system, working modes are divided, the working state of the system is optimized, and the system is kept in a reasonable working state. The method can effectively improve the utilization rate of energy and prolong the service life of the system.

The present invention discloses a fixed-time control method for a multi-motor servo system based on multi-surface sliding mode, including the modeling of a multi-motor servo system affected by friction and unknown time-varying time delay, the design of a fixed-time tracking controller, the design of a fixed-time synchronization controller, and the design of a fixed-time convergence controller. The present invention discloses a synchronization and tracking control method for a multi-motor servo system based on multi-surface sliding mode. Its technology includes the modeling of a multi-motor servo system, the design of a fixed-time tracking controller, the design of a fixed-time synchronization controller, and the design of a fixed-time convergence controller. In view of the load tracking control problem in a multi-motor servo system, the present invention designs a fixed-time tracking controller based on multi-surface sliding mode; in order to achieve speed synchronization control among multiple motors, a fixed-time synchronization controller based on multi-surface sliding mode is designed. The present invention can effectively solve the synchronization and tracking control problems of a multi-motor servo system affected by friction and unknown time-varying time delay.

The invention discloses a PINN-based magnetic levitation vehicle nonlinear predictive control method and device and a medium, and relates to the field of rail transit, and the predictive control method comprises the following steps: S1, constructing a dynamic model; s2, learning and approaching unknown dynamic and time-varying parameters in the dynamic model by adopting a physical information neural network; s3, designing an optimization cost function meeting system input and output constraints based on the unknown dynamic state of the dynamic model predicted by the physical information neural network; and S4, constructing a step-by-step variable terminal constraint set to process input time lag. In a controller design and theoretical analysis process, a non-linear dynamic form of a system is completely reserved, and a stepping variable terminal constraint set suitable for input time delay is constructed, so that the controller can still maintain stability and dynamic performance under the condition that a system state obviously deviates from a balance point. According to the method, the operation safety and the control precision of the maglev vehicle under complex working conditions such as parameter drift and time lag disturbance are effectively improved.

The invention discloses a distributed consistency control method suitable for a multi-unmanned trolley system, and designs a control strategy based on a preset time disturbance observer for the problem that communication topology dynamic change and external disturbance interference are difficult to consider at the same time. In system modeling, each trolley is modeled as a second-order nonlinear system, and external disturbance is generated by a heterogeneous external source system. In the design of the controller, a disturbance observer with a preset time convergence characteristic is introduced, and strict convergence of disturbance estimation errors can be realized in finite time. Control input is fused with three parts of neighbor state difference feedback, leader tracking and disturbance compensation, and it is ensured that the system can still achieve a consistent target in a complex dynamic environment. By constructing a combined Lyapunov function and combining a Markov jump system theory, it is proved that a system state error and a disturbance estimation error converge to zero after a preset time. A simulation result verifies the effectiveness and stability of the method under communication switching and non-ideal disturbance interference.

The invention discloses an order-lifting sliding mode robust control method for an active-passive vibration isolation system, and belongs to the technical field of vibration isolation system control, and the method comprises the steps: introducing a feed-forward control path, predicting the vibration frequency and amplitude at a future moment based on the historical state information of a controlled system, building an overall vibration isolation target model based on the prediction, and carrying out the control of the overall vibration isolation target model. Resolving a target transfer function of an active execution mechanism through kinetic analysis of the active-passive vibration isolation system, so as to calculate a feedforward control signal; the method comprises the following steps: modeling an active-passive vibration isolation system, constructing a nonsingular terminal sliding mode surface, collecting system state error information, and generating a feedback control signal of an actual controlled system through integral controller design; a feedforward control signal and a feedback control signal are reasonably coupled and superposed to serve as control input of a controlled system. According to the order-lifting sliding mode robust control method for the active-passive vibration isolation system provided by the invention, the anti-interference capability and the stability of the active-passive vibration isolation system are improved.

The invention discloses a multi-stage control method for a lower limb exoskeleton, is applied to the field of exoskeleton robots, and aims to solve the problem that the design control precision is reduced due to the uncertainty of a model in the prior art. According to the controller designed by the invention, in a high-level control layer, a human body training mode is determined by a motion intention of an operator so as to generate a reference gait track; in the middle control layer, a variable admittance controller is designed, and three training modes of human exoskeleton cooperative movement, namely a passive mode, an active mode and a passive-to-active mode, are planned. In a low-level control loop, a method with a radial basis function neural network estimation function and a fixed-time convergence controller with input dead zone compensation are provided so as to ensure that an exoskeleton joint position tracks an expected trajectory output by an admittance loop. In order to avoid the Zeno phenomenon of the designed controller, an event trigger mechanism is used to determine the execution time of sampling and transmitting signals. Finally, the effectiveness of the proposed control strategy is verified through simulation and experimental results.

The invention discloses a hydraulic system preset time dynamic surface position control method, which is based on a dynamic surface control framework, innovatively introduces a preset time-varying function, and designs a nonlinear robust position controller with preset time. Aiming at the position control problem of the hydraulic cylinder of the hydraulic system, the differential explosion problem frequently occurring in the classic backstepping control design of the hydraulic system is avoided, the influence of measurement noise on the control precision is reduced, the controller design is simplified, and the excellent transient performance of the system within the preset time is guaranteed; and the convergence time can be clearly determined and does not depend on initial conditions of the system, so that the method has high-precision tracking performance.

The invention relates to the field of power systems, in particular to a load frequency control power system non-uniform sampling controller design method based on demand response. Comprising the following steps: establishing a multi-region load frequency control power system with demand response under non-uniform sampling control; constructing an integral quadratic constraint operator to quantify uncertainty caused by non-uniform sampling data and time delay; an original system is converted into a feedback interconnection system; a corresponding consistent index stability condition is given by using an integral quadratic constraint operator and a KYP lemma; designing a controller based on state feedback control and giving a corresponding iterative algorithm; the reliability and feasibility of the controller are verified through numerical simulation.

The invention discloses a distributed driving ideal yaw target setting and stability control method, which comprises the following steps of: establishing a whole vehicle dynamics model suitable for controller design, inputting related parameters through a vehicle, combining front and rear wheel side slip angle phase planes, carrying out region division of a stable state, and carrying out target setting and stability control on the whole vehicle dynamics model. According to the method, maneuverability and stability analysis and setting are carried out on the yaw velocity, the yaw velocity is fused, steady state control and feed-forward control are generated through the first step and the second step of a three-step method, then feedback control is carried out through an LQR controller, finally, the three quantities are superposed to obtain the needed additional yaw moment, reasonable distribution control is carried out based on the additional yaw moment, and the control precision is improved. The method aims at minimizing the distribution error and reducing the tire load utilization rate, adopts a multi-target optimization torque distribution strategy to distribute the four-wheel torque, and controls the four-wheel torque of the vehicle so as to achieve the purpose of distributed driving control.

The invention discloses a road feel feedback torque control method based on steer-by-wire. The method comprises the following steps: S1, establishing a feedback torque designer based on a model; s2, acquiring a reference feedback torque through a feedback torque designer; s3, taking an error value obtained by subtracting the reference feedback torque from the real feedback torque as a state quantity; s4, a high-order all-drive system is established for a steering dynamics system, torque tracking controller control processing is conducted, personalized steering feeling is achieved through main torque and compensation torque, an HOFA method is used for converting an actual nonlinear SbW system into a linear all-drive system, the design of the controller is simplified, and a high-order all-drive system controller is used for controlling the steering dynamics system. The high-precision tracking control of the steering feedback torque is realized, and the real-time performance of the system is improved. The steering-by-wire based road feeling feedback torque control method provided by the invention has the effects of eliminating nonlinearity of an actual system, improving control performance and providing accurate and real-time steering feedback for a driver.

The present invention discloses a method for attitude fault-tolerant control of a reusable launch vehicle with performance constraints, belonging to the field of automatic control. A multivariable adaptive PI fault-tolerant controller is designed to achieve performance constraints for the attitude model of the reusable launch vehicle during the powered landing phase, considering the actual engineering applications. During the entire controller design process, the complexity brought by uncertainties, external disturbances, and engine failures is considered. First, performance constraint limits are designed for the transition variables including attitude angle error and attitude angular velocity error. Secondly, new variables are derived using performance conversion techniques, and by controlling the stability of these variables, the transition variables are restricted within the performance function. Finally, a multivariable adaptive PI fault-tolerant controller is designed to stabilize these variables. The present invention can handle the performance constraint problem during the rocket powered landing process, thereby improving the success rate of the rocket's soft landing.

The invention provides a motion control method based on a tower type pumping unit, which relates to the technical field of oil field oil production engineering, and comprises the following steps of: establishing a dynamic relationship among components of the tower type pumping unit according to energy consumption through a novel tower type pumping unit dynamic model established based on a Lagrange equation; according to the method, the relation between the variable suspension point load and the displacement and the speed at the suspension point is visually given, so that the built model can more accurately describe the motion relation at the suspension point of the tower type pumping unit, a theoretical basis is provided for designing a more accurate and more energy-saving control method, the tower type pumping unit is accurately controlled, and the operation efficiency of the tower type pumping unit is improved. A physical model of the tower type pumping unit is simplified, and controller design and fault diagnosis of the tower type pumping unit are facilitated.

The invention belongs to the technical field of automobiles, and particularly relates to an electronic mechanical braking system self-adaptive clamping force control method considering friction hindrance. Comprising the steps that 1, a proportional-integral theory is adopted to design a clamping force closed-loop controller and a fuzzy self-adaptive control parameter adjusting method of the electronic mechanical braking system, and proportional parameters and integral parameters of the clamping force closed-loop built-in controller are dynamically adjusted; secondly, feedforward compensation control based on friction estimation is designed through a third-order expansion state observer, and dynamic estimation is conducted on nonlinear friction obstruction of the electronic mechanical braking system; and step 3, the permanent magnet synchronous motor servo control comprehensively applies excitation axis zero control setting, double-axis compensation constraint and a proportional-integral algorithm to realize position closed-loop and current closed-loop controller design. According to the invention, the problems of remarkable nonlinear stiffness characteristic, nonlinear friction obstruction, electromagnetic coupling of the excitation shaft and the torque shaft of the permanent magnet synchronous motor and the like in the working process of an electronic mechanical braking system are effectively solved.