387 results about "Controller design" patented technology

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 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 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 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 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 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.

The invention belongs to the field of intelligent driving vehicle dynamics control, and discloses a three-axis vehicle fault-tolerant trajectory tracking method based on infinite time domain model predictive control, and the method comprises the steps: obtaining the current state feedback of a vehicle chassis in real time; acquiring the coordinate position of the current vehicle in real time; the method comprises the following steps: reading the speed and acceleration of a vehicle in an east-north-sky coordinate system through vehicle-mounted CAN (Controller Area Network) communication by utilizing differential positioning service fusing IMU (Inertial Measurement Unit) and GPS (Global Positioning System) of inertial navigation Modeling a vehicle dynamics model; establishing a tracking error model; establishing an optimization solution problem of steady-state reference; the generation of the reference quantity is described as an optimization solution problem; designing a trajectory tracking controller; the steering actuator controls output; the control quantity is obtained through the MPC optimization problem constructed in the sixth step, and the control quantity is the tire turning angle and is sent to a vehicle chassis through a CAN signal. According to the method, the potential relation can be mined, so that effective mapping to fault data is realized.

The invention relates to the technical field of motion redundancy parallel robot control, in particular to a method for designing a 2R1T motion redundancy parallel robot high-performance hierarchical synchronous controller based on time delay estimation, which enables a system to estimate current kinetic parameters in real time by introducing a time delay estimation technology, and enables the current kinetic parameters to be estimated in real time in a high-speed motion state. On the basis of the problems of uncertainty, nonlinearity and the like of robot dynamic parameters, dynamic data predicted in real time is used as feed-forward input, so that excessive redundant calculation is avoided, and the efficiency of a control algorithm is optimized; by introducing hierarchical synchronous control, the error difference between redundant degrees of freedom is overcome, the motion precision of a hierarchical driver and the stability of the system are ensured, and the dynamic response of the robot and the robustness of the system are optimized by taking a time delay estimation technology as dynamic feed-forward compensation; and the coordination problem of redundant degrees of freedom is disassembled into a plurality of sub-problems through layered synchronous control, so that the motion coordination and control precision of the robot is improved.

The invention discloses a state-based dynamic threshold event triggered SoC balance control method for an aviation power distribution network. The method comprises the steps of S1, platform construction and parameter initialization; s2, calculating and updating a voltage compensation item in real time; s3, triggering the design of an SoC balance controller based on a dynamic threshold event of the state; s4, reference voltage synthesis and closed-loop control; the method can be applied to an aviation power distribution network system with a plurality of battery energy storage nodes which are mutually connected in parallel, through dynamic adjustment of a trigger threshold value and cooperative correction of a droop coefficient and voltage compensation, estimation errors caused by time delay are restrained while communication overhead is remarkably reduced, SoC balance of the aviation power distribution network is achieved, and the system performance of the aviation power distribution network is improved. And bus voltage adjustment and distribution of current according to capacity proportion are considered.

The application provides a multi-agent system fixed-time encirclement control method under intermittent dynamic event triggering, and the method comprises the following steps: step S1: according to an actual task, a directed topological graph and a Laplace matrix of the multi-agent system are constructed; step S2: a dynamic model of the multi-agent system is constructed; step S3: a multi-agent system fixed-time encirclement controller under intermittent dynamic event triggering is designed; step S4: the controller designed in step S3 is used to realize the encirclement control in a fixed time, and an upper bound of a convergence time is obtained; and step S5: the method is continuously run until the encirclement control of the multi-agent system is completed.

The invention relates to the technical field of flight control, in particular to a thrust vector type short-range vertical take-off and landing aircraft hovering control method and device, and the method comprises the steps: building a thrust vector type short-range vertical take-off and landing aircraft hovering dynamic model based on the nonlinear relation of the aircraft speed, the Euler angle, the angular speed, the thrust and the torque; designing a reconfiguration controller of a power system of the thrust vector type short-range vertical take-off and landing aircraft, and designing a hovering controller of the thrust vector type short-range vertical take-off and landing aircraft; designing an extended state observer used for estimating a nonlinear term and a state derivative in the hovering dynamics model; and feeding back the estimated nonlinear term and the estimated state derivative of the extended state observer to a hovering controller so as to carry out hovering control on the thrust vector type short-distance vertical take-off and landing aircraft. Therefore, the problem that efficient decoupling and robust control of multiple execution mechanisms in an aircraft system are difficult to realize by a dynamic inverse-based hovering control method in related technologies is solved.

The invention discloses a zero-sum game-based two-degree-of-freedom helicopter safety controller design method, which relates to the technical field of two-degree-of-freedom helicopter control, and comprises the steps of constructing a system equation, introducing an attack signal and a preset performance function, decomposing into two stages of subsystems, and designing a virtual controller, an adaptive law and a self-triggering mechanism. And solving a Hamiltonian-Jacobian-Exophone equation by using a zero-sum game theory, and finally verifying the stability of the system through a Lyapunov function. According to the invention, it can be ensured that the tracking error converges to the steady-state error interval within the predetermined time, and the transient and steady-state performance of the system is significantly improved; and meanwhile, a Nussbaum function and a zero-sum game strategy are introduced to improve the attack resistance, the communication burden and actuator abrasion are reduced through a self-triggering mechanism, and the sesame effect is avoided.

The invention discloses an intelligent anti-interference control method and device for full-state dynamic constraint of a nonlinear servo system, and the method specifically comprises the steps: firstly constructing a nonlinear obstacle function, and converting a state constraint problem of the servo system into a stability control problem; then designing a multi-layer feedforward neural network and an uncertain observer, and estimating endogenous disturbance and external disturbance in the system; an intelligent anti-interference controller is designed, and feedforward compensation is carried out on internal source disturbance and external disturbance in the system; and finally, designing a neural network weight adaptive law, and selecting controller design parameters to realize a predetermined control target. According to the method, the problems of parameter uncertainty, structural uncertainty, unmodeled dynamics and external disturbance uncertainty existing in the nonlinear servo system can be solved at the same time, it is ensured that the full state of the system meets the preset dynamic constraint requirement, and the influence of differential explosion in the design process of a high-order nonlinear servo system controller is avoided; and large-scale application in industry and engineering is facilitated.

The invention relates to the technical field of multi-agent systems, in particular to a multi-agent system anti-network attack security cooperative control method, which comprises the following steps of: establishing a multi-agent system model which comprises the steps of describing the relation between agent nodes by using a directed graph and establishing an agent state space equation; a proper communication mode is selected, and a dynamic memory event triggering strategy is adopted to optimize communication resource allocation; the method comprises the following steps: constructing a partially unknown semi-Markov switching topology model by adopting a processing technology with Markov switching characteristics; selecting a controller adapted to the multi-agent system model and the security topology requirement, and designing a control protocol in a non-attack scene and an attack scene; and based on the controller, the semi-Markov switching topology model and the communication mode, a linear matrix inequality is obtained, the linear matrix inequality is solved, and anti-network attack security cooperative control of the multi-agent system is realized. According to the invention, high-reliability control of multi-agent cooperation in a complex network is realized.

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 relates to the technical field of multi-agent control, in particular to a method and a system for realizing preset performance to control multiple agents based on a barrier function. The non-linear state observer is designed to estimate the unmeasurable state in the system in real time, the dependence of a traditional control strategy on full-state information is broken through, and the adaptability and robustness of the system are improved. Besides, the inclusion error is constrained through the obstacle function, and the inclusion error is limited in a limit range, so that a preset performance constraint problem is converted into a bounded problem of the obstacle function. Explicit constraint is carried out on convergence time and range including errors through a preset performance function, and the dual requirements for rapidity and precision in an actual task are met. And a filter is introduced to replace a high-order virtual controller for derivation, so that the design complexity of the controller is effectively reduced, and the engineering implementability of the algorithm is improved.

The invention provides an optimization-free trajectory planning method for an autonomous vehicle in a highly dynamic environment. The optimization-free trajectory planning method comprises the following steps: performing path planning by using a Bezier curve; generating a plurality of smooth candidate paths without static obstacle collision through the Bezier curve; speed planning based on backstepping control: aiming at each selected candidate path, adopting a backstepping method based on a barrier Lyapunov function to carry out controller design so as to construct an accelerated speed and a distance constraint condition of the target vehicle; and optimal trajectory selection: proposing a comprehensive cost function, considering multiple evaluation indexes for evaluating the quality of the candidate paths, and selecting the optimal trajectory of the target vehicle. Compared with the prior art, the automatic driving track obtained in the scheme does not need to be subjected to complex nonlinear optimization, the calculation load is reduced, and meanwhile, the safety and the constraint satisfaction capability of the track are guaranteed through the obstacle Lyapunov function and the backstepping control.

The invention relates to the field of vehicle-mounted control systems, in particular to a vehicle-mounted control system based on a double-controller architecture, which comprises a control module, an expansion module, a power supply module, a communication self-checking module and a fault-tolerant decision execution module, and is characterized in that the control module comprises a master control unit and a slave control unit, and the expansion module provides a plurality of expandable interfaces; the power supply module can carry out power supply protection, the communication self-checking module can judge whether communication is overtime based on communication data and execute multi-dimensional fault feature combined diagnosis, and the fault-tolerant decision execution module can adjust transmission of the control module. And the working stability under severe conditions is improved.

The invention discloses an impedance modeling method, system and equipment for a network-constructed converter and a medium, and relates to the field of modeling of the network-constructed converter. The objective of the invention is to solve the problem that a chain-type network-constructing converter lacks an accurate and effective impedance model and cannot support stability analysis and controller design. According to the network construction type converter impedance modeling method, system and equipment considering the multiple harmonic characteristics and the medium, the influence of multiple harmonic components on small signals and the frequency coupling effect brought by nonlinearity of a control loop can be considered, and accurate modeling of a chain type network construction type converter is achieved; and a model foundation is laid for researching the system stability of the chain-type network-constructing converter.

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 relates to the technical field of unmanned ship safety control, and discloses an anti-spoofing-attack self-adaptive sliding mode control method and system for an unmanned ship and a medium, and the method comprises the steps: S1, constructing an unmanned ship T-S fuzzy model under the spoofing attack and external disturbance; s2, designing a dual-adaptive sliding mode observer based on the unmanned ship T-S fuzzy model constructed in S1; s3, designing a sliding mode controller based on S1 and S2; and S4, forming a closed-loop control system based on S1-S3 to perform sliding mode control: integrating the unmanned ship T-S fuzzy model constructed in S1, the dual-adaptive sliding mode observer designed in S2 and the sliding mode controller designed in S3 to form the closed-loop control system, and realizing sliding mode control. According to the method, the dynamic suppression capability of the composite threat can be remarkably improved, precise compensation of a spoofing attack signal and external disturbance of the ocean is realized, high-precision zero-flutter control is realized under the coexistence of the spoofing attack and the external disturbance, and an autonomous control solution with safety, robustness and real-time performance is provided for the unmanned ship.

The invention discloses a vehicle model nonlinear characteristic analysis and quantification method based on Volterra series, and the method comprises the following steps: building a vehicle dynamics model, and describing the basic motion characteristics of a vehicle; the transformation model is a polynomial nonlinear expression mode suitable for Volterra series analysis; calculating a kernel function of the kinetic model by adopting a harmonic detection method; a frequency multiplication signal transfer function is extracted, and the nonlinear degree is quantized; and the analytic expression of the signal transmission characteristic and the nonlinear degree of the vehicle under different driving states and environment information is obtained. Different driving parameters and environment information are introduced into the calculated kernel function, the signal transmission characteristic and the non-linear degree under the corresponding working condition can be calculated, and the calculation result can be used for effectively guiding controller design.

The present invention discloses an operator / UAV cluster hybrid intelligent collaborative control system and method, the system includes an operator trust calculation module, an operator interaction instruction module, a cluster trust calculation module, a distributed collaborative control calculation module, and a visual display module. The method of the present invention is as follows: Step 1: Given a given intelligent agent cluster model and a UAV cluster model and mapping them; Step 2: UAV cluster communication model design; Step 3: UAV cluster distributed collaborative controller design; Step 4: Human-machine mutual trust model design and trust judgment. The present invention considers the impact of external environmental interference on the UAV cluster and introduces the advantages of human operator intelligent decision-making and UAV distributed autonomous control to construct an efficient, flexible, and scalable hybrid intelligent collaborative control framework, and improves the task execution efficiency and safety of the UAV cluster in a dynamic environment.

The application discloses a constant power control method and device of a wind energy conversion system based on non-Gaussian data and a medium, establishes a performance index based on second-order information potential, and obtains optimal control input by optimizing the established performance index through a Newton method, so that the output speed and output power of the wind energy conversion system under non-Gaussian wind speed interference can track the set value, constant power control of the wind energy conversion system is realized, the fluctuation of the output power is reduced, and the service life of the wind turbine is prolonged. The application performs controller design under the condition that the interference is a non-Gaussian random variable, compared with the existing method in which noise is ignored or noise is assumed to be subject to Gaussian distribution, the application is more general and practical. Moreover, the application considers the mutual relationship between two closed loop circuits in a multivariable system, adds joint information potential in the performance index, allows variable speed during a transient period, and can obtain higher control performance.